| 摘要 |
PROBLEM TO BE SOLVED: To provide a biped mobile robot which can land a sole to an appropriate position when the biped mobile robot walks on a road surface having steps, and further to provide a method of making its walking plan. SOLUTION: First, a candidate position on a floor surface to be landed by the bottom surface of a sole 131 is determined. Next, the central portion of the floor surface facing the central portion Fc of the grounding region of the bottom surface of the sole 131 is obtained when the bottom surface of the sole 131 is landed on the determined candidate position. Then, it is judged whether or not a recessed step with respect to a reference plane including the central portion of the floor surface exists within the region on the floor surface corresponding to the grounding region. When the existence of the recessed step has been judged, the candidate position to land the bottom surface of the sole 131 is corrected such that the area occupied by the recessed step within the corresponding region on the floor surface becomes smaller than a required area. COPYRIGHT: (C)2008,JPO&INPIT
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