| 摘要 |
PROBLEM TO BE SOLVED: To adopt a state of a knee joint part being completely stretched like human walking action during the walking action. SOLUTION: In a program for generating a motion pattern of a robot, one of joint angles on at least one of leg parts is arbitrarily preset, and a joint angle except the preset joint angle is obtained by adding change to at least a part of a toe track and/or a waist track based on a prescribed restraint condition in a state where the toe track which is the track of a toe part, and the waist track which is the track of a waist part, are temporarily set, and thereafter calculating reverse kinematic analysis concerning the arbitrary toe track and/or waist track. COPYRIGHT: (C)2005,JPO&NCIPI
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