LEGGED MOBILE ROBOT AND CONTROL METHOD THEREOF LEG STRUCTURE OF LEGGED MOBILE ROBOT AND MOBILE LEG UNIT FOR LEGGED MOBILE ROBOT

摘要

The walking mobile robot according to the present invention makes it possible to perform posture stability control of the gas while using the ZMP stability discrimination rule at a relatively slow sampling period.;The walking mobile robot has a ZMP stable region consisting of a supporting polygon formed by the ground contact point of the foot of the movable leg and the road surface and a ZMP behavior space in which the amount of deformation or momentum of the gas is generated so that the ZMP is substantially at the center of the ZMP stable region. In the ZMP moving space, the negative (-) direction of the deformation amount (or the momentum amount) of the robot becomes the direction causing the spatial distortion to move the ZMP to the edge of the stable region, and the positive It is a direction that generates space distortion to be moved to the center of the region.