| 摘要 |
<p>A method and a device for controlling the walking of a legged robot for stably controlling the attitude thereof, the method comprising the steps of controlling the attitude of the robot with different control characteristics in each coordinate axis direction by using, as a control coordinate system, a sole coordinate system at least having coordinate axes in a direction connecting the soles of both legs to each other and a direction orthogonal to that direction in a horizontal plane basically on a sole position basis: the device comprising a sole position sensor for detecting the sole position of a ground-contact leg, a ground-contact leg sensor for detecting the state of the ground-contact leg or an action generating device for generating the state of the ground-contact leg, a control device for controlling the walking by using, as the control coordinate system, a coordinate system with reference to a direction for connecting the soles of the ground-contact legs to each other according to the detected sole position and state of the ground-contact leg, and a leg part actuator controlled by the control device.</p> |
