| 摘要 |
PROBLEM TO BE SOLVED: To realize efficient gliding by suitably utilizing a support leg replacement time. SOLUTION: Basically similarly to a control algorithm in the bipedal case, support legs are switched alternately between right and left movable legs through the both-leg support period. When the one-leg gliding period and switching between the gliding legs occurs, the locus of ZMP is controlled to keep the contact between the passive wheel and the floor surface in a stable surface contact. In switching the support legs, it is necessary to keep the consistency about the gliding speed and the gliding direction at the foot part and the position relationship between both soles at the floor surface between the supporting leg and the grounding leg. It is, however, possible to eliminate the need of keeping the consistency by instantaneously replacing the support legs. COPYRIGHT: (C)2006,JPO&NCIPI
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