GAIT DATA CORRECTION METHOD OF ROBOT AND WALKING ROBOT

摘要

PROBLEM TO BE SOLVED: To provide gait data to prevent a driving circuit of an actuator of a knee joint from entering overload state during the walking operation of a robot by a simple method.;SOLUTION: The actuator driving circuit of a knee joint of a robot compares an allowable torque command value, which is a fixed value and continuously output with the average value of torque output by the joint during one walking period. The correction amount of gait data is set so that the average torque command value is less than the allowable torque command value. At this time, when one leg leaves the floor, the gait data is corrected so that at least the center of gravity position of the robot is moved in the robot advancing direction. The parameters referred to in correction the gait data are focused on the time when one leg leaves the floor and the position in the robot advancing direction of the center of gravity position of the robot. Thus, the gait data created to achieve smooth walking in appearance is corrected to the gait data to prevent overload of the actuator driving circuit by a simple method.;COPYRIGHT: (C)2007,JPO&INPIT