| 摘要 |
The arrangement of the element of a model (rigid body having a mass point and inertia) representing a robot (1) when determined from an instantaneous target motion of the robot (1) according to first geometrical restriction conditions is defined as a first arrangement, and then temporary correction instantaneous target motions corresponding to second and third arrangements having specified relations to the first arrangement are determined. Positional attitude at a specified part (3) (upper body) of the robot (1) is determined by weighted average of the positional attitude of these temporary correction instantaneous target motions. Motion in an instantaneous target gait obtained using a dynamic model is thereby corrected properly to enhance dynamic precision between the instantaneous target gait and floor reaction without using a dynamic model while minimizing variation in the attitude at a specified part, e.g. the upper body, of the robot as much as possible.
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