Motion state evaluation device of legged mobile robot

摘要

PROBLEM TO BE SOLVED: To efficiently and properly evaluate a motion state of a robot while implementing robot motion under such a situation that external force is applied to the robot from a plurality of surfaces to be contacted.;SOLUTION: A device of evaluating a motion state of a leg-type mobile robot uses virtual surfaces S3a, S2a, S2b to approximate a plurality of the surfaces to be contacted FL, WL1, WL2 in operating environment of the robot 1, and calculates translational force (required virtual surface translational force) to be applied from the virtual surfaces S3a, S2a, S2b to the robot 1 in order to attain compensation total translational external force related to translational motion of the robot 1 while satisfying at least a first A required condition and a first B required condition. The device of evaluating the motion state evaluates the motion state of the robot on the basis of the required virtual surface translational force.;COPYRIGHT: (C)2011,JPO&INPIT