| 摘要 |
PROBLEM TO BE SOLVED: To stably control an attitude, by adopting motion for intentionally sliding a foot. SOLUTION: Among landing points of a robot, an optional landing point is designated for sliding, and a sliding speed is also controlled. A target orbit is generated, by setting a ZMP orbit for passing a ZMP in the vicinity of an unsliding landing point. When controlling operation, an optional slide is realized even on a road surface nonuniform in a friction state, by adaptively correcting the ZMP by information provided from a sliding speed sensor and a sliding speed estimator mounted on the robot. Walking stability can be improved, by inserting a motion for enhancing the visual effect such as a dance, or a heel sliding period. COPYRIGHT: (C)2005,JPO&NCIPI
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