Bipod walking type portable devices and its walking control unit and walking control manner

摘要

PROBLEM TO BE SOLVED: To provide a two-leg walking type moving device, a method and device for controlling its walking, whereby a stability in walking can be accomplished without changing the walking manner, i.e., the moving loci of joint parts. ;SOLUTION: The two-leg walking type moving device includes a walking control device 30 whereby the operation of a driving means for each joint part of each leg is controlled on the basis of the walking manner data containing the target angular track, angular velocity, and angular acceleration, wherein walking control device 10 is equipped with a ZMP compensating device 32 composed of ZMP sensors 23L and 23R to sense the ZMP's of respective foot parts 14L and 14R, a ZMP conversion part 35 to calculate the ZMP target value from the walking manner data, and a ZMP compensation part 36 to compensate the ZMP target value by correcting the target angular velocity and angular acceleration of the walking manner data on the basis of the measurement of ZMP and the ZMP target value.;COPYRIGHT: (C)2003,JPO