| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot, performing stable action according to the simple control logic even if a target position of a robot arm or the like is given in real time to the robot operated according to the gait data. SOLUTION: During the robot operation, the target position of the robot arm part is output from a robot operating device 130 in real time. At this time, the center of gravity position of the robot when the trunk link and the leg link are put in the target positions and the arm part is put in the standard position is calculated. Simultaneously, the center of gravity position of the robot when the trunk link and the leg link are put in the target positions and the arm part is put in the target position output from the robot operating device 130 is calculated. The target position of the robot trunk link is corrected by the deviation. Thus, the center of gravity position of the robot is near the center of gravity position when the arm part is put in the standard position to ensure stability. Since ZMP of the robot is not taken into consideration in such a control, the operation can be achieved by simple control logic. COPYRIGHT: (C)2007,JPO&INPIT
|
