| 摘要 |
<p>The translation floor reaction horizontal component or translation floor reaction floor surface parallel component of a leg type movable robot (1), or the overall barycenter acceleration horizontal component or overall barycenter acceleration floor surface parallel component of the robot (1) (hereinafter referred to as friction force component) has its allowable range set and the temporary motion of the robot (1) is determined in such a manner as to satisfy predetermined dynamic equilibrium conditions. When the friction force component determined by this temporary motion departs from the allowable range, the rate of change of angular momentum around the barycenter of the robot (1) is changed from the temporary motion to satisfy the dynamic equilibrium conditions while limiting the friction force component to the allowable range, thereby determining the motion of the target gait. Thereby, not only the walking but also running of the robot (1) can be properly effected, and a slipless gait is produced.</p> |
