| 摘要 |
In a legged mobile robot, a pivoting motion of a foot ( 22 ) relative to a leg is controlled such that, from an intermediate time point in a period of departure of a leg from a floor to a starting time point of a period of landing of the leg on the floor, an angle (theta) of inclination of the foot ( 22 ) of the leg relative to the floor surface gradually approaches zero. This eases impact to the foot of the leg at the time of landing on the floor and prevents a slip or spin of the sole, thereby enabling stable walking or running.
|
