| 摘要 |
PURPOSE:To minimize the output torque of an actuator by determining a step length on the basis of the target travel speed in a multiple-joint type walking leg and obtaining the position control target value of a leg joint on the basis of the determined step length so as to control the joint position. CONSTITUTION:When the target travel speed V is inputted to a parameter generating part 5 from a speed command part 4, a step length Sm for minimiz ing the maximum leg joint driving torque and a walking cycle taum are outputted to a pattern generating part 6. To position XY of a third joint part 1E to the first joint part 1A of a leg mechanism 1 is calculated on the basis of the peri odic function at a leg locus calculating part 6A, target joint angles theta r1, theta r2 of the second joint parts 1A, 1C are calculated at a target joint angles theta r1-theta r4 of the leg mechanisms 1, 2 are calculated at a phase modulation calculating part 6c; on this basis, a joint control part 7 controls the leg mechanisms 1, 2. The output torque can be thus minimized. |
