Patent ID: 7493192
Filing Date: 2009-02-17
Classification: B62D

Abstract:
1. A control device for controlling an operation of a legged mobile robot that moves by operating a plurality of legs extending from a body of said robot, the control device comprising: a gait generation device for generating a desired gait, the gait generating device including: a plurality of sensors to detect an actual trajectory of the vertical component of the translation floor reaction force, the vertical component of a total center-of-gravity acceleration or the vertical component of the body acceleration of said robot by detecting a vertical component of an actual translation floor reaction force applied to an end portion of each leg, wherein the plurality of sensors outputs detected signals to the control device; and a compliance control means for correcting the trajectory and vertical position of said robot based on a deviation of the actual trajectory and the actual vertical position from the desired trajectory and desired vertical position by correcting the trajectory and position of the end portion of each leg based on the detected signals received from the sensor.