| 摘要 |
The present invention provides a biped (two-footed) walking mobile system, its walk controller, and walk control method therefore, which are to realize enhancing an walk stability, as well as a consumed energy saving. A walk controller ( 30 ) of a biped walking mobile system forms a gait data by a gait forming part ( 33 ) based on parameters from a gait stabilizing part ( 32 ), and drive-controls drive means of respective joint portions ( 15 L, 15 R- 20 L, 20 R) of each leg portion based on said gait data. In this case, the walk controller ( 30 ) is so constituted as to selectively witch a powered mode to conduct ordinary drive-control and a passive mode to drive-control the drive means similarly with passive joints, whereby drive-controlling respective joint portions. The walk controller ( 30 ) preferably switches the drive and passive modes with respect to, for example, joint portions of knee and foot portions, or switches to the powered mode for kick-up and landing during walking motion, and to the passive mode for a free foot state.
|
