| 摘要 |
When gait parameters for specifying a gait to be generated of a mobile robot ( 1 ) are determined, the values of the priority parameters of the gait parameters are updated from the values of the priority gait parameters of predetermined base gait parameters such that the priority parameters approach and reach the original required values step by step. For every update, out of non-priority parameters other than the priority ones, the parameters to be sought are determined by seeking so that the parameters may satisfy the gait boundary condition on the dynamic model of the robot ( 1 ). Thus, the new gait parameters including the determined parameters and the updated priority parameters are determined. Lastly, the gate of the mobile robot ( 1 ) is generated using dynamic model and the new gait parameters determined when the priority parameters are made to agree with the requested value.
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