LEGGED ROBOT

摘要

A legged robot capable of traveling by repeating a jump cycle including a ground contact phase from touch on the ground to swing forward again and an aerial phase from swing forward to touch on the ground again, which touches the ground smoothly at the touch timing after the jump matching a scheduled timing. A measuring section (126) of a legged robot (100) measures the real aerial phase time at a k-th jump cycle. A difference section (124) calculates the time difference between the target aerial phase at the k-th jump cycle and the real aerial phase time. A target speed determining section (128) calculates the target vertical speed of the center of gravity oat the swing-forward at the (k+1)-th jump cycle so as to eliminate the time difference ?T. At the (k+1)-th jump cycle, the motors (109) of the joints are controlled so that the calculated target vertical speed may be realized. With this, at the (k+1)-th jump cycle, the time difference ?T caused at the k-th cycle can be compensated, and jumping enabling smooth touch on the ground is realized while touch-timing matches a scheduled timing.