CONTROL DEVICE FOR MOBILE BODY

摘要

Ground contact sections (10) of a mobile body (1) (mobile robot) having three or more ground contact sections (10) are classified into a tree structure such that each of the ground contact sections (10) is a leaf node and that an intermediate section is present between the leaf node and a root node having all the leaf nodes as descendent nodes. For each node (C-th node) having child nodes, the amount of correction of target relative heights of ground contact sections (10) of the C-th node are determined. The above determination is made such that a deviation (attitude inclination deviation) between an actual attitude inclination of a predetermined section such as at least a base body (36) and a target attitude inclination nears zero. Joints of the mobile body (1) are operated to satisfy the target relative heights obtained by composing the correction amounts.