| 摘要 |
PROBLEM TO BE SOLVED: To properly control actual overall floor reactions and actual individual sole floor reactions that work on a leg-mobile robot, especially a bipedal robot, so that it can walk not only on widely but also locally inclined rough road surfaces in stable attitudes. SOLUTION: The controller detects the robot's attitude inclinations, determines the compensated overall floor reaction moments around target overall floor reaction center points, distributes them to each sole, and decides the robot's sole positions and attitudes so that they are rotated at predetermined angles around the target overall floor reaction center points and the target individual sole floor reaction center points. COPYRIGHT: (C)2005,JPO&NCIPI
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