SYSTEM WITH LEG TYPE ROBOT AND GAIT GENERATING DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a technique enabling a legged robot to walk continuously in a natural way. SOLUTION: This system includes a legged robot and a gait generating device. The gait generating device generates the center of gravity trajectory of the legged robot and foot trajectory thereof. The legged robot includes a target joint displacement amount calculating device which calculates time series data of a relative displacement amount for each joint to provide the center of gravity trajectory and foot trajectory and a joint drive device which drives each joint in accordance with the target joint displacement amount. The gait generating device generates the center of gravity trajectory when one leg is free to move while the other leg supports the legged robot weight, by using an inverted pendulum model in which a fulcrum is bi-axially rotatable about a ground point of the supporting leg. COPYRIGHT: (C)2009,JPO&INPIT