Legged mobile robot controller, legged mobile robot and legged mobile robot control method

摘要

A legged mobile robot R, a legged mobile robot controller 1 and a legged mobile robot control method are provided to perform a loading operation to load a gripped object in parallel on a target place having a height where a stretchable range of arm portions of the legged mobile robot is enhanced with no operator's handling. The legged mobile robot R includes the arm portions R3 having links for gripping an object, and leg portions R1 having links for moving, and the arm portions R3 and the leg portions R1 are joined to a body R2 thereof. The legged mobile robot controller 1 includes a data acquisition unit 3, a whole-body cooperative motion control unit 5 and a loading detection unit 7, and controls motions of the legged mobile robot R based on posture/position data regarding a posture/position of each link of the legged mobile robot R and on an external force data regarding an external force affecting the arm portions R3.