| 摘要 |
<p>A method for generating a gait of a two-legged walking robot having a body, two articulated legs each connected to the body through a hip joint and each including a thigh link, a crus link connected to the thigh link through a knee joint and a foot connected to the crus link through an ankle joint, the robot being configured to drive the articulated legs as a foreleg and hind leg such that the hind leg kicks ground to walk in a direction. In the method, a position of the robot body at a time when the hind leg has kicked the ground is estimated, and an amount of lift, in the direction of gravity, of a heel of the foot of the hind leg is determined such that the robot body will reach at least the estimated position. Then a vertical amplitude of the robot body trajectory is temporarily determined and is then corrected such that the vertical acceleration becomes a desired value, and the gait is then determined or generated based thereon. The robot locomotion is then controlled based on the generated gait. <IMAGE></p> |
