Gait generation method and walking control unit null of trail type walking

摘要

PROBLEM TO BE SOLVED: To quantitatively design an output of an actuator and an action speed and to facilitate generation of a gait by estimating a position of an upper body in a finish of kicking and deciding a lifting quantity of a heel part in a foot fin so as to position the upper body in the estimated position at least. ;SOLUTION: Revolute joints 10R, 10L for leg part rotation in a crotch, revolute joints 12R, 12L for the roll direction in the crotch, revolute joints 14R, 14L for the pitch direction in the crotch, revolute joints 16R, 16L for the roll direction in knee parts, revolute joints 18R, 18L for the roll direction in foot parts, and revolute joints 20R, 20L for the pitch direction in the foot parts are individually arranged in this order from the upper sides to the lower sides in respective leg part links 2 on the left side and the right side. Foot fins 22R, 22L are mounted in the foot parts, while a control unit 26 is stored inside an upper body 24 arranged in the uppermost part. By means of the control unit 26, the position of the upper body 24 in a finish of kicking is estimated, and a heel part lifting quantity for each of the foot fins 22R, 22L is decided so that the upper body 24 reach the estimated position at least, and on the basis of the lifting quantity, a gait is generated.;COPYRIGHT: (C)1997,JPO