WALKING GAIT PRODUCING DEVICE FOR WALKING ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a device for generating walking possible power of a biped robot, in which the generation of the walking possible power can be carried out by a brief method and a problem mentioned above is solved by producing walking motion in real time, for example, using a means having previewed or planned a future ZMP beyond several seconds.;SOLUTION: The device for generating walking possible power of the biped robot using the preview information of the ZMP is characterized in that in the device for generating walking possible power of the biped robot which produces the walking motion from the target orbit of the ZMP, a driving amount of the center of gravity at that moment is used to produce the walking motion in the real time based on the feed back of a motive condition of the center of gravity at its moment and the means having previewed or planned the future ZMP orbit.;COPYRIGHT: (C)2004,JPO