Patent ID: 6243623
Filing Date: 2001-06-05
Classification: B62D

Abstract:
A system for controlling a legged mobile robot having at least a body and a plurality of legs each connected to the body through a first joint and having a foot connected to its distal end through a second joint, comprising:a. gait generating means for generating a gait of the robot including at least a motion pattern including at least a desired position and a posture of the foot, and a desired pattern of a total floor reaction force acting on the robot;b. desired foot floor reaction force central point determining means for determining a desired foot floor reaction force central point indicative of a point of action on the foot when the total floor reaction force in the generated gait is distributed to each of the feet;c. actual floor reaction force detecting means for detecting an actual floor reaction force acting on the foot;d. foot rotating amount determining means for calculating a moment of the detected actual floor reaction force about the desired foot floor reaction force central point, and for determining a foot rotating amount for rotating the foot based on the calculated moment;e. foot position/posture correcting means for correcting the desired position and/or the posture of the foot such that the position and/or the posture of the foot rotates based on the determined foot rotating amount; andf. joint displacement means for displacing the first joint and the second joint of the robot based on at least the corrected position and/or posture of the foot.