WALKING/RUNNING CONTROL METHOD OF LEG TYPE MOVING DEVICE AND WALKING/RUNNING CONTROL DEVICE OF LEG TYPE MOVING DEVICE

摘要

PROBLEM TO BE SOLVED: To allow operation for stopping again by gradually reaching speed-up running after starting walking from a stopping state by continuously realizing walking motion and running motion without performing complicated control for switching walking motion control and running motion control.;SOLUTION: In control of the walking motion and the running motion of a leg type moving device, the walking motion and the running motion of the leg type moving device are modeled by using the same control model, and the walking motion control and the running motion control are controlled by switching a control parameter used in the control model. The using control parameter is determined by being associated with a motion period, and transition of the motion period corresponds to switching of the control parameter.;COPYRIGHT: (C)2004,JPO