WALKING PATTERN FORMING DEVICE, BIPED LOCOMOTION ROBOT APPARATUS, WALKING PATTERN FORMING METHOD, BIPED LOCOMOTION ROBOT APPARATUS CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM

摘要

A walking pattern forming device for allowing a biped locomotion robot apparatus having a parallel-link mechanism to perform a stable biped locomotion. A target zero-moment point is set for the leg portion of a robot. The moment compensation trajectory of the waist portion is computed according to the set target zero-moment point. The position of the leg portion when viewed from the waist coordinate system is computed from the origin of the waste coordinate system in an absolute coordinate system and the origin of the leg coordinate system in the absolute coordinate system. The rotation matrix representing the posture of the origin of the leg coordinate system of when viewed from the waste coordinate system is computed from the rotation matrix representing the posture of the leg coordinate system when viewed from the absolute coordinate system and the rotation matrix representing the posture of the waste coordinate system when viewed from the absolute coordinate system. The posture of the leg portion is computed from the rotation matrix representing the posture of the origin of the leg coordinate system. Gate flags representing whether the period is the first half of the supporting period in a walking pattern or the second half and whether the period is the first half of the swinging period or the second half are determined and stored.