| 摘要 |
PURPOSE:To display excellent walkability to ground conditions by installing a data selector part for outputting a no-interference joint angle command value, stored in both first and second buffer parts, to a joint angle controller through a discriminating command out of an interference discriminating part. CONSTITUTION:An interference discriminating part 10 finds the coordinate value of an edge part SA of a step S form data on this step S out of an environmental form data part 5. Then, this coordinate value is compared with a joint coordinate value of a first joint part 3B related to two types of leg moving loci A, B out of a joint angle operational part 7, and a discriminating command, selecting a joint angle command value of the leg moving locus A apart from coordinates of the edge part SA, is outputted to a data selector part 11 which adds the joint angle command value stored in a first buffer part 8 to a joint angle controller 4. In consequence, this joint angle controller 4 is able to move a leg 3 so as not to interfere with the edge part SA of the step S. |
