Patent ID: 9682474
Date: 2017-06-20
CPC Classifications: B25J,B62D,Y10S

Claim:
1. A control device for a mobile body having a base body and a moving mechanism configured to move the base body on a floor surface, the control device being configured to determine a plurality of motion parameters as a set of parameters defining an operation of the mobile body in a prescribed period, and to input the determined motion parameters into motion equations of a dynamic model of the mobile body to generate a desired motion in a first mode of the mobile body and a desired transition operation between the first mode and a second mode which differs in a height of the center of gravity of the base body from the first mode, wherein each of the desired motion and the desired transition operation includes a change amount of the center of gravity at a prescribed time, the plurality of motion parameters includes an up-and-down direction motion parameter as one motion parameter which defines a time series of desired inertial force and desired displacement in an up-and-down direction of the base body, the up-and-down direction motion parameter including a time series of the height of the center of gravity of the base body, motion equations are expressed by at least a time series of a position of the center of gravity of the base body, a rotational motion component including an acceleration of the base body caused by a momentum of rotational motion of the base body, an inertial force-dependent manipulated variable component, which becomes larger as an instantaneous value of the desired inertial force at the prescribed time in the time series of the desired inertial force defined by the up-and-down direction motion parameter becomes larger, and a displacement-dependent manipulated variable component, which becomes larger as an instantaneous value of the desired displacement at the prescribed time in the time series of the desired displacement defined by the up-and-down direction motion parameter becomes larger, and the change amount of the center of gravity at the prescribed time is determined according to the motion equations.