| 摘要 |
A system for controlling locomotion of a biped robot discretely bringing its foot in contact with a floor in an environment such as one including stairs in which the robot's foot contact position is restricted. The robot's locomotion is controlled on the basis of predesigned gait parameters including its foot position/direction which determines foot landing position on a stair. A positional error is detected (S32) between the desired and actual foot landing positions on the stair. And, the gait parameters for the next stair are modified (S36) such that the foot landing position at the next stair is corrected in response to the detected error. In the arrangement, the error is not accumulated and does not exceed an admissible range which ensures the robot's stable walking. Thus, the robot locomotion can be controlled in such a manner that the robot goes up and down the stairs consecutively. <IMAGE> |
