| 摘要 |
<p>A walking controller (30) of a two-legged walking locomotion apparatus for driving/controlling joint-driving motors (15L, 15R to 20L, 20R) of the legs of a two-legged walking locomotion apparatus on the basis of gait data. The walking controller (30) comprises force sensing units (23L, 23R) for sensing the force exerted on the sole of each of the legs (14L, 14R) and a compensation unit (32) for correcting gait data from a gait generating unit (24) according to the forces measured by the force sensing units. Each force sensing unit (23L, 23R) is composed of at least three three-axis sensors disposed on the sole of each leg (14L, 14R). The compensation unit (32) corrects gait data according to the sense signals from the three-axis sensors that sense effective forces. Even in the road state that the road surface has complex unevenness, the walking stability of the robot is realized.</p> |
