CONTROLLER OF LEGGED MOBILE ROBOT

摘要

While a corrected manipulated variable of a target floor reaction force (target floor reaction force moment) on the basis of the difference between an actual state quantity such as the upper-body posture angle of a robot (1) and a target state quantity is periodically determined, a target motion of the robot (1) is periodically determined by using the corrected manipulated variable and a dynamic model. At this time, a frictional force component for defining the frictional force between the robot (1) and a floor such as a translation floor reaction force horizontal component is used as a restriction object quantity to set the allowable range of the restriction object quantity. A target motion is so determined that the restriction object quantity within the allowable range, and that the resultant force of the inertia generated by the motion of the robot (1) on a dynamic model and the gravity balances with the floor reaction force determined by correcting the target floor reaction force with the corrected manipulated variable. The target motion is determined by adjusting motion modes with different generation ratios of the floor reaction moments to the translation floor reaction forces.