| 摘要 |
Provided is a technique for enabling a robot to continue its walk stably even in case the actual moving state of the robot deviates largely from a target one. The robot includes a body trunk, a pair of leg links, a group of actuators for rocking the individual leg links independently of the body trunk, and a controller for controlling the grouped actuators. The controller is programmed to control the grouped actuators thereby to realize the given center-of-gravity orbit of the robot and the given toe orbit of the leg links. The controller updates, for the time period from the grounding of one leg link to the grounding of the other leg link shot later, the center-of-gravity orbit of the robot after the other leg link was grounded, decides the grounding-scheduled position of the other leg link on the basis of the center-of-gravity updated, and updates the toe orbit of the other leg link till this leg link is grounded, on the basis of the grounding-scheduled position decided. |
