| 摘要 |
PROBLEM TO BE SOLVED: To provide a technology for walking while updating the action plan based upon a difference between the measured foot sole disposition and the target foot sole disposition by measuring the actual disposition of the foot sole of a support leg in a legged robot. SOLUTION: This robot is a legged robot walking by driving joint group based upon the action plan. The legged robot includes: a means for detecting the position of a representative point of the robot seen from the coordinates system fixed on the outside of the robot; a means for detecting the direction of a representative line of the robot seen from the coordinates system fixed on the outside of the robot; a means for detecting the joint angle group of the joint group of the robot; a means for specifying the foot sole disposition of a support leg of the robot seen from the coordinates system fixed on the outside of the robot; and a means for correcting an action plan based upon the foot sole disposition of the specified support leg and the target foot sole disposition course of the support leg. COPYRIGHT: (C)2007,JPO&INPIT
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