| 摘要 |
An instantaneous target motion of a robot (1) is created by using a dynamic model. From the instantaneous target motion, a first arrangement of the model elements (such as a link having a mass point and an inertia) of a model expressing the robot (1) is determined under a first geometrical constraint condition. The instantaneous target motion is corrected. From this corrected target motion, a second arrangement of the model elements is determined under a second geometrical constraint condition. The corrected target motion is determined is determined so that the moment components calculated from the difference between the first and second arrangements approaches a predetermined value. The instantaneous target motion is created by using the robot dynamic model. Thus, the robot instantaneous target gait motion created by using the dynamic model is adequately corrected without using a dynamic model, and the dynamic accuracy of the instantaneous target gait including the corrected motion is enhanced.
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