| 摘要 |
<p>A function generator whose output attains to a desired value at a designated time and in the course of attainment, the desired value and/or designated time can be varied as desired. Therefore, the function generator is most suitable for generating a free leg's trajectory of a biped robot, since the free leg must be landed at a scheduled time and its trajectory may be varied midway in response to a walking condition. The function generator is typically constituted by a digital filter. More specifically, it is constituted by an IIR digital filter (10) at its initial state and its pole location of a transfer function describing the operation of the filter is varied in the course of attainment to the designated time such that the IIR filter is switched to a FIR filter. <IMAGE></p> |
