| 摘要 |
<p>A gait generating device for a leg type moving robot comprising, in particular, an upper body part and a plurality of leg links connected to the upper body part through joints, wherein a gait composed of a movement parameter and a floor reaction parameter is modified freely and in real time at the time of walking. Thus various kinds of standard gaits are beforehand prepared off-line, and a gait is produced by finding an approximation, such as weighted mean, of the standard gaits according to a demand. Further, gaits produced using an inverted pendulum model are corrected so as to cause positions and speeds to be continuous at boundary conditions. Thus gaits including floor reactions are produced freely and in real time to realize arbitrary strides, swinging angles and the like. Also, it is possible to make continuous displacements and speeds of various parts of a robot at boundaries of the gaits produced. Further, a leg type moving robot can be driven and controlled on the basis of gaits produced in real time.</p> |
