Mobile robot with improved balanced movement and behavioral abilities

摘要

The present invention relates to a mobile robot that follows a trajectory and can take an action that can be defined by the motion of the robot's articulated limbs. The mobile robot calculates a target trajectory of the center of gravity of the mobile robot based on an instruction defining the movement of the mobile robot and an instruction defining the behavior of the mobile robot, and a target trajectory and movement of the center of gravity of the mobile robot Based on the dynamic constraint of the robot, calculate the predicted trajectory (350) of the mobile robot's center of gravity over a certain time range, based on the predicted trajectory of the mobile robot's center of gravity and the instructions that define the mobile robot's behavior. , A processor configured to calculate the predicted motion of the articulated limb.