| 摘要 |
PROBLEM TO BE SOLVED: To provide a gait generating device and a control device of legged mobile robot, generating a target gait for securing continuous stability of a robot even if external force suddenly changes in the environment where the external force is suitably applied to a robot. SOLUTION: This gait generating device includes: a means for determining a target trajectory of external force applied to the robot 1; a means for determining a parameter of a target gait (this time gait) for a predetermined period of time on the basis of the target trajectory of the external force; a means for determining a parameter of virtual periodic gait following this time gait on the basis of target trajectory of the external force; a means for correcting a this time gait parameter so that the upper part of the body motion trajectory of the robot 1 of this time gait converges on the upper part of the body motion trajectory of the periodic gait; and a means for successively determining the instantaneous value of this time gait on the basis of the corrected this time gait parameter. COPYRIGHT: (C)2006,JPO&NCIPI
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