Walking pattern creating device, two-legged walking robot, walking pattern generation method, the control method of two-legged walking robot, recording medium and program

摘要

And an object thereof is to provide a walking pattern generating unit can be performed bipedal stable in the bipedal walking robot of a parallel link mechanism. Calculates the moment compensation trajectory of the waist according to the target zero moment point that sets a target zero moment point in the foot, was set, from the origin of the foot coordinate system in the absolute coordinate system and the origin of hip coordinate system in the absolute coordinate system waist coordinate system and a rotation matrix representing the orientation of the hip coordinate system viewed from the absolute coordinate system and the rotation matrix for calculating the position of the foot when viewed from the waist coordinate system, representing the orientation of the leg coordinate system viewed from the absolute coordinate system to calculate the orientation of the foot by a rotation matrix representing the orientation of the leg coordinate system origin by calculating a rotation matrix representing the orientation of the leg coordinate system origin seen from late or free leg and prior or late or standing previous period in the walking pattern and stores to determine the gait flag is a flag that indicates whether the.