It is the gait data generation method of 2 trail walking robots and the gait

摘要

PROBLEM TO BE SOLVED: To provide a technique for efficiently computing gait data of a bipedal walking robot.;SOLUTION: A method for generating gait data includes a step of computing a track and a step of computing a goal angle. The step of computing a track computes time-series data of a position of the center of gravity based on the ZMP equation every predetermined cycle of track computation. The step of computing a goal angle computes a goal angle of a leg joint from the position of the center of gravity at each time point in time-series data. Further, the step of computing a track computes time-series data of the position of the center of gravity at a first time-period intervals equivalent to a servo control cycle of a joint during an initial period TS1 equivalent to the period that is from the current time TO to at least the cycle of track computation, and after the initial period TS1, computes time-series data of the position of the center of gravity at a second time-period intervals that is longer than the first time-period intervals. The step of computing a goal angle computes the goal angle of the leg joint from the position of the center of gravity at each time point in the initial period.;COPYRIGHT: (C)2011,JPO&INPIT