Leg motion trajectory generation device for legged mobile robot

摘要

A device 11 includes a floor surface information acquisition portion 21 which acquires floor surface information in a plurality of local regions of a floor surface. The gait generator 22 of the device 11 sets the desired landing position and posture of a free leg 3 of a robot 1 within one local region and determines a desired horizontal motion trajectory of the distal end of the free leg 3 to determine a desired vertical motion trajectory of the distal end of the free leg 3 so that the height of the distal end of the free leg 3 is equal to or higher than a lower-limit height determined to prevent a contact between the distal end of the free leg 3 and the floor surface of the local region at the positions of a plurality of sampling points on the desired horizontal motion trajectory.