device and method for controlling a mobile robot with legs and method of producing patterns of movement for a mobile robot with legs

摘要

A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. ??Motion patterns of a robot including walking are classified into motion units, each motion unit serving as a unit of motion, and one or more motion units are combined to generate various complex motions. Dynamic motion units are defined on the basis of basic dynamic attitudes, and a desired action sequence can be generated by using the dynamic motion units. This is a basic control method necessary for a robot to autonomously perform a continuous motion, a series of continuous motions, or motions which are changed in real-time by commands. IMAGE