| 摘要 |
<p>A technique with which a legged robot can walk while stretching leg link groups (ground contact leg, particularly). A legged robot has a trunk, leg links swingably connected at their base ends to the trunk and having toes at their tips; a means for correcting, based on actual walking conditions, previously prepared gait data; a means for specifying the base end positions based on a target trunk position of the corrected gait data; a means for calculating for each leg, when the specified base end positions are moved in the vertical direction, a vertical movement amount when the distance from a target toe position of the corrected gait data is a predetermined distance; a means for selecting the maximum movement amount in the vertical direction from the movement amount calculated for each leg; and a means for changing, in the vertical direction by the vertical movement amount selected by the selection means, the vertical coordinate of the target trunk position of the corrected gait data.</p> |
