device for the control of the ganges for mobile robot with legs

摘要

A gait generation device includes means for setting a translation floor reaction force's horizontal component (component concerning a friction force) applied to a robot 1, a limitation-target quantity, such as a ZMP, and an allowable range, means for determining at least a provisional instantaneous value of a desired floor reaction force and a provisional instantaneous value for a desired movement of the robot 1, and means that receives at least the provisional instantaneous value for the desired movement and determines a provisional instantaneous value for the desired movement which determines a model floor reaction force instantaneous value with the aid of a dynamics model. Based on the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of the desired floor reaction force or the allowable range of the limitation-target quantity, the provisional instantaneous value for the desired movement is corrected so that the limitation-target quantity falls within the allowable range and a dynamical equilibrium condition on the dynamics model is satisfied, thereby determining a desired instantaneous value. IMAGE