MOTION CONTROLLER FOR LEG-TYPE MOBILE ROBOT, MOTION CONTROL METHOD, AND LEG-TYPE MOBILE ROBOT

摘要

PROBLEM TO BE SOLVED: To continue work without toppling of a leg-type mobile robot by adaptively controlling the attitude of the leg-type mobile robot in relation to various external forces. SOLUTION: When the leg-type mobile robot kicks an object having specified mass, the robot can prevent from toppling caused by reactive force from a ball. Even if the mass or the coefficients of restitution of the object is not known, reactive force in actual kicking can be estimated by previously performing kicking work several times at a sufficient low speed. As a result, the robot kicks the ball at an optional speed, stability of the attitude can be maintained. The leg-type mobile robot can participate as a player in a ball game from soccer down or the other athletic events in which the robot can play its part while receiving external force.