| 摘要 |
A legged mobile robot and a control program for the robot. In the legged mobile robot, the produced deformed amount of a compliance mechanism (42) is determined by the target floor reaction of a foot (22), and the operation of a leg body is controlled so that the foot (22) can move in a vertical lower direction or in a lower direction perpendicular to a floor surface at a specified speed until it touches the floor surface based on the component of the deformed amount of the mechanism in the vertical direction or the direction perpendicular to the floor surface. Thus, the follow-up capability of an actual floor reaction to the target floor reaction can be increased. |
