| 摘要 |
PROBLEM TO BE SOLVED: To provide technology for stably achieving action after grounding even in the case where the actual motion state during floating is largely deviated from the target motion state in a legged robot achieving the action of taking off to float and grounding. SOLUTION: In this legged robot, a joint angle is varied to achieve the action of taking off to float and grounding. The robot includes: a means for detecting the speed of the center of gravity in taking off; a means for generating the trajectory of the center of gravity from taking off to grounding based upon the detected speed of the center of gravity in taking off; a means for generating the trajectory of the center of gravity after grounding based upon the generated trajectory of the center of gravity from taking off to grounding; a means for generating the trajectory of a tip toe of a leg link up to grounding based upon the generated trajectory of the center of gravity after grounding; a means for generating the secular data of a target value of the joint angle based upon the generated trajectory of the center of gravity and the trajectory of the tip toe of the leg link; and a means for rotating the joint based upon the generated aged data of a target value of the joint angle. COPYRIGHT: (C)2006,JPO&NCIPI
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