DEVICE FOR GENERATING MOTION OF LEGGED MOBILE ROBOT

摘要

A model ZMP (full model ZMP) is calculated using a dynamic model (inverted full model) (100c2) expressing the relation between the motion of a robot and the floor reaction force. A ZMP reduced value of a full model corrected moment around a desired ZMP is calculated (determined) on the basis of the error (full model ZMP error) between the calculated model ZMP and the desired ZMP, and the corrected desired position of the upper part of the body is calculated (determined). The orientation is corrected using the calculated ZMP reduced value and the corrected desired upper part position. The generated gait precisely satisfies the dynamic balance condition.