Fixed point stablization device for legged mobile body

摘要

The present invention provides a fixed point stabilization device for a legged mobile body having a generating mechanism for generating a fixed point. The present invention also provides a fixed point stabilization device for a legged mobile body comprising stabilizing means for stabilizing the fixed point in accordance with a leg grounding position of the legged mobile body. The fixed point is generated by inputting a predetermined constant torque to a joint of a leg of the legged mobile body on the basis of the energy balance in the legged mobile body, leg switching, and a leg swinging motion. The fixed point is stabilized globally by keeping the leg grounding position of the legged mobile body constant using a stopper. Further, the fixed point is stabilized locally by varying the leg grounding position of the legged mobile body in accordance with a deviation between the fixed point and a current quantity of state.