| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg type mobile robot suppressing its unstable behavior resulting from a leg joint making follow-up after the target angle separated from the actual angle, when the leg joint is again hardened in order for the actual angle of the leg joint varied in tracing the road surface shape to make follow-up after the target angle. SOLUTION: The leg type mobile robot includes a control device 14 which controls an actuator 15 to drive an ankle joint 122 of a leg link LR so that the ankle joint 122 softens when an idle leg (leg link LR) is grounded on the road surface and changes the actual angle of the ankle joint 122 in compliance with the road surface shape without putting it in follow-up after the previously set target angle. Also the control part 14 corrects the track of the target angle of the ankle joint 122 in such a way as setting off the difference between the actual angle of the ankle joint 122 and its target angle. The control part 14 puts the actual angle of the ankle joint 122 of the leg link LR as a bearing joint in follow-up after the track of the corrected target angle by controlling an actuator 15 so that the ankle joint 122 hardens. COPYRIGHT: (C)2009,JPO&INPIT
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