| 摘要 |
PROBLEM TO BE SOLVED: To quickly calculate data for instructing a body trunk position time-serially, required for walking, without overturning a robot, from data for instructing a position of a left tiptoe and a right tiptoe time-serially. SOLUTION: This device is characterized by having a making device of data for commanding a tiptoe position of the robot, a device for calculating a target ZMP (zero moment point) position from the tiptoe position, a device for converting the target ZMP position into a linearly calculable dimension from the body trunk position and its acceleration, a device for commanding the body trunk position and the acceleration to a dynamical model of the robot, a device for calculating a ZMP position provided when following the commanded tiptoe position and the body trunk position on the basis of the dynamical model of the robot, a device for converting the calculated ZMP position into the dimension, and a device for incrementally-decrementally correcting the body trunk position and the acceleration commanded by a commanding device, so that a value of conversion of the target ZMP position coincides with a value of conversion of the ZMP position calculated from the dynamical model. COPYRIGHT: (C)2005,JPO&NCIPI
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