System for controlling locomotion of legged mobile robot and correcting inclinometer's output thereof

摘要

In the control of legged mobile robot, a desired walking pattern (gait) is usually preestablished supposing a floor such that the robot walks on the floor. However, if a floor on which the robot walks actually is not the same as the supposed floor so that there is an angular therebetween, floor reaction force is not the same as that desired, causing the locomotion stable. Therefore, the error is estimated and the desired walking pattern is corrected in response to the error such that the floor reaction force becomes as desired. Namely, the robot's possible floor contact portion's position is firstly calculated on the assumption that the robot does not exhibit any compliance behavior including mechanical deformation intrinsically assigned thereto and a plane which wholly or partly includes or has the possible floor contact portion's position, is presumed. Then an angle formed by the virtual plane and the supposed floor is presumed. And floor reaction force is controlled through the angle and the desired walking pattern is corrected such that floor reaction force becomes as desired. The error is similarly used to correct output of an inclinometer equipped on the robot.