LEGGED LOCOMOTION ROBOT CONTROL METHOD AND LEGGED LOCOMOTION ROBOT

摘要

When a swinging leg (e.g., a leg link (LR)) of a robot lands on the road surface, a control unit (14) of the robot (100) controls an actuator (15) for driving an ankle joint (122) which a leg link (LR) has so that the ankle joint (122) may be flexible and varies the actual angle of the ankle joint (122) according to the shape of the road surface without causing the actual angle to follow up a predetermined target angle. The control unit (14) corrects the trajectory of the target angle of the ankle joint (122) after the leg link (LR) lands so that the difference between the actual angle of the ankle joint (122) and the target angle can be canceled. The control unit (14) controls the actuator (15) so that the ankle joint (122) may be inflexible. Thus, the actual angle of the ankle joint (122) of the leg link (LR) which is the supporting leg is made to follow up the trajectory of the corrected target angle.