OPERATION CONTROLLER OF LEG TYPE MOBILE ROBOT AND ITS OPERATION CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To improve performance of an entire control system by preventing departure from a running condition. SOLUTION: This operation controller has a running state monitoring section for monitoring a running state based on a ZMP calculated from a floor reaction force acting on a leg part, and performs a suppressing operation for avoiding departure from the running condition in response to the running state. The controller has an effect of operating the ZMP to a region satisfying the running condition by the suppressing operation, or an effect of expanding or moving a stable region. The controller further has a function of keeping the running condition good by using a suppressing operation also as a shock absorbing operation of absorbing an impulse force applied to a leg type mobile robot, and moderating an effect to the leg type mobile robot and its running environment. COPYRIGHT: (C)2004,JPO