| 摘要 |
PROBLEM TO BE SOLVED: To provide a legged robot, and a control method thereof, capable of flexibly forming various motion patterns. SOLUTION: The legged robot performs motion by changing a joint angle. It is provided with a means to calculate a center-of-gravity trajectory in stepping motion, and deform a stepping trajectory so as to generate a center-of-gravity trajectory, and a means to rotate a joint based on the generated center-of-gravity trajectory. The stepping motion includes at least either of walking motion, running motion, and stopping motion, and the center-of-gravity trajectory is calculated for designated stepping motion. Among the calculated stepping trajectory, trajectory for a single designated step is obtained, and the trajectory for the step is deformed. COPYRIGHT: (C)2009,JPO&INPIT
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