Desired motion evaluation device of a legged mobile robot

摘要

PROBLEM TO BE SOLVED: To efficiently and properly evaluate whether or not generated target motion can be properly implemented when generating target motion of the robot 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 target motion of a leg-type mobile robot uses virtual surfaces S3a, S2a, S2b to approximate a plurality of the surfaces FL, WL1, WL2 to be contacted in operating environment of the robot 1, and calculates translational force (required virtual surface translational force) to be applied from virtual surfaces S3a, S2a, S2b to the robot 1 in order to implement translational motion of the target motion of the entire robot 1 while satisfying a first A required condition and a first B required condition at least. The device of evaluating target motion evaluates the target motion on the basis of the required virtual surface translational force.;COPYRIGHT: (C)2011,JPO&INPIT