control system for a mobile robot with legs, mobile robot with legs and control procedure for a mobile robot with legs

摘要

PROBLEM TO BE SOLVED: To provide a legged mobile robot control device and a legged mobile robot capable of horizontally mounting an object at a specified portion without an operation of an operator and mounting the object at the specified portion of a height reduced with constraints of extensible ranges of arm parts, and a legged mobile robot control method.;SOLUTION: In this legged mobile robot control device 1, the arm parts R3 for holding the object and leg parts for moving constituted of a plurality of links control the legged mobile robot R connected to an upper body part based on attitude position data on the attitude of the robot R and the position of each link and external force data on external force acting on the arm parts R3. The control device 1 is provided with a data acquisition means 3, a whole body cooperative control means 5, and a mounting decision means 7.;COPYRIGHT: (C)2007,JPO&INPIT