| 摘要 |
PROBLEM TO BE SOLVED: To provide a walking robot capable of stably walking, even when there are irregularities on a floor surface, and its walking method. SOLUTION: This walking robot 10 is provided with a means for calculating target acceleration of the walking robot 10, a means for detecting actual acceleration of the walking robot 10, a means for calculating an acceleration deviation between the target acceleration and the actual acceleration, and a means for adjusting a copy control based on the acceleration deviation. Concretely, when the acceleration deviation is large, the copy control is adjusted to be weak. COPYRIGHT: (C)2009,JPO&INPIT
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