| 摘要 |
<p>A control device of a legged mobile robot, wherein a state amount deviation (for example, the deviation of the vertical position of an upper body (3)), which is a deviation between an actual state amount and the state amount of a target gait pattern in the translation motion (for example, translation motion in vertical direction) of the legged mobile robot (1) in a specified direction, is obtained and the target motion of the target gait pattern is determined so that the state amount deviation can be brought into near zero, the target motion is determined by using a dynamic model by additionally inputting a virtual external force determined according to the state amount deviation into the dynamic model for generating the target gait pattern, the target floor reaction of the robot (1) is corrected according to the state amount deviation of zero, and the motion and the floor reaction of the robot (1) are allowed to follow up the target motion of the target gait pattern and the target floor reaction by a compliance control.</p> |
