Patent ID: 7319917
Filing Date: 2008-01-15
Classification: B62D

Abstract:
1. A gait generation device for generating a desired gait for a legged mobile robot which moves by operating a plurality of legs extending from a body, the desired gait including floating periods in which all the legs float in the air and landing periods in which at least one of the legs is in contact with a floor which appear alternately, comprising: means for generating a movement trajectory of an end portion of the leg in the desired gait by inputting a step input to a finite duration setting filter comprising a series connection of a plurality of stages of first-order delay filter while variably setting the time constant of each first-order delay filter of the finite duration setting filter in such a manner that, when shifting from said floating period to the landing period, the velocity of the end portion of the landing leg with respect to the floor and the acceleration thereof with respect to the floor is substantially 0 at the instant of landing; and means for generating a trajectory of the vertical position of the end portion of the leg from the landing to the next landing of the end portion of the leg by inverting the polarity of the step input to the finite duration settling filter at, or in the vicinity of, the time when the end portion of the leg reaches a highest position, while variably setting the time constant of each first-order delay filter so as to continuously decrease from a predetermined initial value to 0.