| 摘要 |
<p>A legged mobile robot, particularly, a biped robot, wherein a dynamic model showing the relation between the motion of an upper body and a leg part and a floor reaction is provided, the parameters of gait patterns including the parameters determining the routes of the leg part are determined temporarily, the parameters of cyclic gait patterns followed by the gait patterns are estimated, the parameters of the gait patterns are corrected so that the routes of the upper body determined based on the dynamic model and the parameters of the gait patterns are converged to the routes of the upper body determined by the parameters of the cyclic gait patterns, and the instantaneous values of the gait parameters are determined based on the corrected parameters, whereby the gait patterns such as any step, turning angle, and walking frequency can be generated by generating freely and in real time the gait patterns including the floor reaction while meeting the requirements for dynamic equilibrium, the gait patterns allowing the continuous displacement and speed of each portion of the robot and a high allowance of stability can be generated in the boundaries between the generated gait patterns, and the gait patterns can be generated by predicting the future behavior of the robot so that an inconvenience such as an uncontrollable attitude is not produced.</p> |
