METHOD OF AND DEVICE FOR CREATING GAIT DATA FOR LEGGED ROBOT

摘要

PROBLEM TO BE SOLVED: To provide technology for obtaining gait data not interfering with the foot sole of the other leg at high speed when the foot sole of a free leg is grounded.;SOLUTION: The grounding target angle A of a foot sole in grounding a free leg is set. The angle dependent distance, which becomes longer as the grounding target angle becomes larger, is calculated to obtain a first straight line 12L parallel to the reference line of the free leg foot sole when the length RZ of a perpendicular from the position RP1 of the foot sole reference point of a standing leg is equal to the angle dependent distance and the free leg is grounded. Simultaneously a second straight line 19, which is parallel to the reference line of the standing leg foot sole on the free leg side, is obtained when the length RZ of a perpendicular from the position RP1 is equal to the angle dependent distance. When the grounding target position of the reference point of the free leg foot sole is set within an area (a grounding permission area) on the opposite side to the standing leg from the first straight line or the second straight line, both foot soles do not interfere with each other when the free leg is grounded. The processing for setting the grounding target position of the free leg foot sole reference point within the grounding permission area is repeated to create the time series data (gait data) of the grounding target position at high speed.;COPYRIGHT: (C)2007,JPO&INPIT