GAIT PRODUCING DEVICE FOR LEG TYPE MOVABLE ROBOT

摘要

A target gait is produced in such a manner that the resultant of the gravity and inertial force acting on a robot (1) satisfies dynamic equilibrium conditions, by expressing the relationship between at least the horizontal translation motion of the upper body (24) of a leg type movable robot (1), an attitude change motion for changing the attitude of a predetermined portion, such as the upper body (24) of the robot (1) while maintaining the barycenter of the robot (1) substantially constant, and a floor reaction produced by these motions, and using a dynamic model predetermined on the assumption that the overall floor reaction produced by the resultant of these motions is expressed by a linear combination of floor reaction corresponding to the motions. The motion of the dynamic model is expressed by the motion of particles of the upper body or the like and by the rotary motion of a flywheel. A target gait suitable not only for walking but also for running can be produced with a less amount of calculation.