| 摘要 |
PROBLEM TO BE SOLVED: To provide technology for achieving a target attitude while autonomously evaluating the stability of actuation in a legged robot. SOLUTION: This robot includes: a trunk; a leg link; an actuator group; and a controller. The controller reads a tiptoe walking figure data, calculates stable region and a stabilized ZMP trajectory, using the tiptoe walking figure data, calculates the stable center of gravity motion for achieving stable center of gravity motion, reads a target attitude pattern, calculates a transition attitude pattern from the stable attitude pattern to the target attitude pattern, calculates the transition center of gravity motion in realizing the transition attitude pattern, calculates a transition ZMP trajectory in realizing the transition center of gravity motion, outputs a transition attitude pattern to the actuator group when the transition ZMP trajectory falls in the inside of the stable region, and outputs a stable attitude pattern to the actuator group when the transition ZMP trajectory does not fall in the inside of the stable region. COPYRIGHT: (C)2007,JPO&INPIT
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