Attitude control system and attitude control method for a legged robot

摘要

PROBLEM TO BE SOLVED: To suitably control machine movement by setting a fundamental attitude in consideration of stability of a machine, consumption energy, and transition to a next state.;SOLUTION: When a power source is closed in the fundamental facing upward attitude of the leg type robot by an operator, after starting sequence, such as diagnosis of hardware with the attitude as it is, initialization of software, and check of the origin of a machine, is effected, automatic transition to a fundamental standing up attitude is effected according to a given standing up motion sequence. When a fundamental standing up attitude is formed once, this is based on attitude transition, and various performance, such as walking and dancing, making the efficient use of the degree of freedom of the parts of the whole body including a leg part, can be carried out.;COPYRIGHT: (C)2003,JPO