| 摘要 |
PROBLEM TO BE SOLVED: To generate gait pattern to make a robot carry out working to move an object so as to secure stability of a posture of the robot even when action force between the robot and the object in the future slips out of a target value. SOLUTION: Whether it is possible to satisfy a specified dynamic restricting condition or not in generating target gait pattern after a specified point of time is determined when a track of the action force between the robot and the object changes to a track different from a target track at the specified point of time in the future in generating the new target gait pattern. The target track of the action force between the robot and the object, etc. are re-decided after correcting a moving plan of the object and the new target gait pattern is generated by using it in the case when it is impossible to satisfy it. COPYRIGHT: (C)2006,JPO&NCIPI
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