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 amounts 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 relative relationship between an actual floor reaction force of each child node of the C-th node approaches a target floor reaction force of each child node of the C-th node. Joints of the mobile body (1) are operated to satisfy the target relative heights obtained by composing the correction amounts.