| 摘要 |
PROBLEM TO BE SOLVED: To provide a walking control device to simultaneously solve anti-falling stability and walking allowance generation of a bipedal walking robot capable of moving on real time by using an inexpensive CPU and its walking control method. SOLUTION: This walking control device and its walking control method constitute their characteristic feature of constraining movement of legs so as to passively generate walking against external force and are capable of generating stable walking capacity on real time by adaptively inclining a posture of an upper body in accordance with target walking speed after driving each joint so that an angle made by a straight line connecting especially a hip joint part and a center of gravity of an idle leg to each other with a vertical surface and its angular speed comes to be in a reflected image relation with those of a supporting leg. Additionally, it is possible to improve energy efficiency by operating an ankle to advance at constant speed while positioning the center of gravity immediately above a ZMP. COPYRIGHT: (C)2006,JPO&NCIPI
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