| 摘要 |
PURPOSE:To clear the accumulated error of a sensor correction at a legging action time, by composing it so that a leg idle action gives a moving command with the increase, and a legging action gives a command with a coordinate. CONSTITUTION:A leg idle action is executed while performing a sensor correction with a command by the increase. The movement of a robot main body 1 is then performed with the command by a pregiven coordinate and this sensor correction. The accumulation of the errors so far is prevented by this action, and yet a complicated equation like the case of a all is given by a coordinate becomes unnecessary. Legs 3, 7, 5, 9 are moved with the command by the increase again after moving the robot main body 1 with the legging action. The robot main body 1 can thus be moved easily. |
