Inside the study walking robot device and its

摘要

PROBLEM TO BE SOLVED: To provide a learning walking robot device and a control program thereof, for enabling the stable movement even in an area of being largely different or largely changing in a floor surface state.;SOLUTION: The learning walking robot device includes a means 21 for measuring a hardness index of a floor surface in respective positions in a predetermined area, a means 41 for associatively preserving position information for expressing the respective positions and the hardness index as hardness information, a means 35 for identifying a present position of the learning walking robot device in the predetermined area, a means 36 for determining the hardness index of the floor surface in the identified present position from the hardness information and means 22-28 for controlling walking operation by selecting a walking form on the basis of the determined hardness index of the floor surface. The means 21 associates the hardness index of regarding the floor surface as hard as an electric current value flowing to an actuator becomes large on the basis of the electric current value flowing to the actuator when driving the joint roll shaft actuator of an ankle while the learning walking robot device is holding an upright attitude.;COPYRIGHT: (C)2011,JPO&INPIT