| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg type biped robot capable of solving a problem of what kind of norm should be taken as a basis of posture correction during a period of a robot taking off and grounding on a floor as a change of a state of the robot in the middle of jumping is conventionally handled only by simple judgement of whether it takes off from or grounds on the floor. SOLUTION: This robot has an acceleration sensor 9. A foot part 6 of the robot has a switch to detect whether a sole part a back surface of which grounds on the ground grounds on the ground or not. A joint actuator is provided on a leg part 5, and its joint angle is controlled by a joint angle control means. A posture control part provided in the robot drives and controls the joint actuator so as to follow a target joint angle by carrying out center-of-gravity position correction in a direction where grounding impact of the robot is reduced and by generating a control signal of the target joint angle to be in the corrected center-of-gravity position in accordance with an acceleration detection value of the acceleration sensor 9 at an instant when the sole part grounds on the floor after taking off. COPYRIGHT: (C)2007,JPO&INPIT
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