| 摘要 |
The allowable range of a controlled object variable such as the floor reaction force momentum vertical component, the floor reaction force momentum floor surface normal direction component, the robot angular momentum change rate vertical component, or the angular momentum change rate floor surface normal direction component are set. At least the tentative instantaneous value of a target motion is inputted into a dynamics model. A model controlled object variable instantaneous value, i.e., the output of the dynamics model is determined. The tentative instantaneous value of the target motion is corrected so that at least the model controlled object variable instantaneous value may be within the allowable range, thereby determining the instantaneous value of the target motion.
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