Walking control unit null of the trail type

摘要

PROBLEM TO BE SOLVED: To enable a robot to get down the stairs in a stable foot step, when the idle foot is landed on the stairs at the time of descent, by controlling the walk so that the landing is carried out from the heel of a foot. ;SOLUTION: After the sole of a foot 22R(L) (not shown) on the idle side has been lifted up in the direction perpendicular to the surface (a) (not shown) of the stairs 100 so as not to interfere with the upper stair, the supporting foot is landed on the subsequent step (c) (not shown) next to the step surface (b) (not shown) being landed from the heel part 46b. On other words, the foot is not landed from the tip (46a) of a toe. In this case, the flat surface of the sole of a foot may be substantially landed horizontally or in parallel to the surface of the stair. The orbit of the foot like this including the position or posture of the upper body is previously determined as a foot mode parameter, and this is stored in the ROM of a control unit.;COPYRIGHT: (C)1997,JPO