| 摘要 |
<p>A system for generating or determining a desired height of a biped mobile robot (1) having a body (24) and two articulated legs (2) each connected to the body (24) through a hip joint (10-14) and each including a knee joint (16), an ankle joint (18,20) and a foot (22). In the system, body trajectory of body displacement including desired horizontal body position and orientation, except for a desired body height in the direction of gravity, and leg trajectory of foot displacement including a desired position and orientation, are predetermined on an off-line computer. Based on the parameters, a body height in the direction of gravity is determined by solving an equation comprised of a continuous function of the body height. Then, desired angles of said hip joints (10-14), said knee joint (16) and said ankle joint (18,20) are determined, through an inverse kinematic solution, based on said determination body trajectory, said leg trajectory and said determined desired body height. With the arrangement, it becomes possible to determine a smooth body height trajectory appropriately reduced in vertical motion on a real time basis during robot locomotion. <IMAGE></p> |
