| 摘要 |
PROBLEM TO BE SOLVED: To provide an apparatus for controlling a biped robot, which stabilizes the robot against an external force by achieving a large floor reaction moment even in a single foot supporting period with a small quantity of calculation without the interference of the control of upper body inclination with the control of foot flat posture, and can stabilize the robot without changing the walking speed in the horizontal direction. SOLUTION: A stabilizing controller 610 comprises: a target ZMP calculation section 120 for calculating a target ZMP from a walking pattern; an upper body inclination compensator 140 for calculating a ZMP deviation command value; an actual total floor reaction force central point calculating section 150 for calculating an actual total floor reaction force central point from the reaction force and the reaction force applying point detected by a force sensor; and a foot flat posture compensator 160 for making the sum of the target ZMP and the ZMP deviation command value as a total floor reaction force central point command value and for calculating the modified target foot flat posture modified such that the foot flat posture is modified so as to make the total floor reaction force central point command value coincide with the actual total floor reaction force central point. COPYRIGHT: (C)2008,JPO&INPIT
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