SELF-POSITION ESTIMATING DEVICE FOR LEG TYPE MOVABLE ROBOTS

摘要

On the basis of a deviation between the detected or estimated value of the actual attitude of a predetermined region of the upper body (3) or the like of a robot (1), and the posture of a target gait, the amount of attitude rotation deviation change as the amount of time-dependent change in this deviation is found. Supposing that the robot (1) has turned around a certain axis of rotation by this amount of rotation deviation change, the position of the robot (1) (for example, ground-engaging position) is estimated. Further, the accuracy of the estimated position is improved by correcting the estimated position of the robot (1) by inertial navigation system according to the difference between this estimated position and the position of the robot (1) estimated by inertial navigation system using an acceleration sensor or the like.