GAIT PRODUCING DEVICE FOR MOVING ROBOT

摘要

A tentative motion as the tentative value of the target motion of a robot (1) is prepared so as to satisfy on a first dynamic model the target value of a floor reaction force moment horizontal component and the allowable range of a translating floor reaction force horizontal component by using the first dynamic model of the moving robot (1). The difference between a floor reaction force produced on a second dynamic model having a higher dynamic accuracy than the first dynamic model and a floor reaction force produced on the first dynamic model is determined as a floor reaction force error by this tentative motion. A target motion formed by correcting a tentative motion is produced on the first dynamic model base on this floor reaction force error. A target motion is produced so that a floor reaction force error added to a floor reaction force produced thereby on the first dynamic model satisfies the above target value and allowable range.