| 摘要 |
PROBLEM TO BE SOLVED: To provide technology for returning to foot sole disposition course described by gait data by natural action in a robot walking while correcting gait data based upon deviation between the actual foot sole disposition and the foot sole disposition course described by the gait data by measuring the foot sole disposition of the actual support leg. SOLUTION: This control method includes: a process of measuring the actual foot sole disposition; a process of specifying the virtual foot sole disposition corresponding to the actual foot sole disposition; a process of calculating deviation between the actual foot sole disposition and the virtual foot sole disposition; a process of deciding the number of steps until return to the foot sole disposition course described by gait data based upon the deviation; a process of calculating the foot sole disposition course in walking based upon the gait data from the actual foot sole disposition at least up to the number of steps; a process of calculating the correction amount for each one step so that the foot sole disposition when walking up to the number of steps is performed from the actual foot sole disposition coincides with the foot sole disposition when walking up to the number of steps is performed from the virtual foot sole disposition; and a process of correcting gait data based upon the correction amount. COPYRIGHT: (C)2007,JPO&INPIT
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