| 摘要 |
PROBLEM TO BE SOLVED: To smooth the vertical movement of an upper body and movement of joints by providing an upper body vertical target position deciding means which decides the vertical target position of the upper body based on the upper body locus and a leg part link locus. SOLUTION: A walking way of the feet is decided so as to be stored in a ROM 84 of a control unit 26 as a foot flat locus parameter. An upper body locus parameter is so decided as to satisfy a decided target ZMP and stored in the ROM 84. The stored parameters are read out one after another so as to be inputted in a foot flat locus calculation algorithm and an upper body locus calculation algorithm so that a leg part link locus containing at least either one of the target position or the posture in the tip part of the leg link, namely, the foot flat position and posture of the both legs and the upper body posture and a horizontal position are calculated. |
