| 摘要 |
<p>A hip where the mass operation amount becomes maximum as a control point on the robot body is set to be a local coordinate origin and an acceleration sensor is arranged there so that an attitude and an acceleration at that position are directly measured to perform attitude control based on ZMP. Furthermore, on the legs which are in contact with a road surface, there are arranged a floor reaction sensor and an acceleration sensor for directly measuring the ZMP and force, so that a ZMP equation is established at the leg which is nearest to the ZMP position, thereby realizing accurate high-speed attitude control.</p> |
