| 摘要 |
A legged mobile robot (1) and a control device for the robot, the robot comprising leg parts (22, 222, 223, 224) having leg part bodies (22m, 222m, 223m, 224m) and toe parts (22t, 222t, 223t, 224t) formed at the front end of the leg part body and allowed to bent and a bend angle holding mechanism (damper (50), friction brake (60)) capable of holding the bend angle (Thetat) of the toe part. In the control device for the robot, the bend angle of the toe part is held when the leg part leaves a floor or at a first timing (t1) before the leg part leaves the floor, and the toe part is returned to an initial position at a second timing (t2) after the leg part leaves the floor. Accordingly, since the bend angle when the leg part leaves the floor can also be continuously held after the leg part leaves the floor, the attitude of the robot can be prevented from becoming unstable by the contact of the toe part with the surface of the floor immediately after the leg part leaves the floor. Also, the stability of the robot when it stands on tiptoe can also be increased.
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