GAIT GENERATOR FOR MOBILE ROBOT

摘要

A first gait parameter for specifying a target gait is determined such that the gait boundary condition is satisfied on a first dynamic model of a gait generator having n dynamic models. The first gait parameter is modified step by step using m-th dynamic model, that is, a dynamic model other than the first dynamic model (m is an integer satisfying 2<=m<=n). Thus the m-th gait parameter satisfying the boundary condition on the m-th dynamic model is determined. The m-th gait parameter is determined by modifying the (m-1)-th gait parameter to be modified according to the extent of difference from the boundary condition of the gait generated on the m-th dynamic model using the (m-1)-th gait parameter. The target gait is generated using the n-th dynamic model and n-th gait parameter lastly determined.