Walking landing position planning methods of legged robot

摘要

PROBLEM TO BE SOLVED: To provide a method for planning a landing planned position of a biped robot suitable for changing a landing planned initial position in real time.;SOLUTION: The method for planning walking landing position includes the following steps: a step for forming a three-dimensional environmental model space (obstacle W) modeling the obstacle W in a computer, a step for arranging a sole shape model on a road surface in the three-dimensional environmental model space to perform an interference check with the obstacle W and fixing landing planned initial positions f1 to f8 at positions which do not interfere with the obstacle W, and a step for arranging an expanded sole model (a1, etc.) which is larger in a direction in a sole surface than the sole shape model at the landing planned initial position in the three-dimensional environmental model space to perform an interference check with the obstacle W after determining the landing planned initial positions corresponding to at least 2 steps in the previous step, narrowing the expanded sole model up to a range where the sole model does not interfere with the obstacle W in a direction parallel with the road surface (not including a region of a code b4) and fixing a landing allowable range in which the narrowed expanded sole model is projected on the road surface.;COPYRIGHT: (C)2012,JPO&INPIT