| 摘要 |
PROBLEM TO BE SOLVED: To control the movement of a machine body while considering movement feasibility by decoding a control program described in a given format. SOLUTION: The control program adopts a data format that specifies priority in displacement magnitude and movement of each joint angle of the machine body, for each pose forming a movement. After the joint angles are sequentially driven according to the priority, the stability of the machine body of a legged mobile robot is sequentially computed, and the pose execution is limited between the joint angle of top priority and the joint angle that ensures stability last, so that stability of the machine body in movement can be ensured.
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