Patent ID: 7603199
Filing Date: 2009-10-13
Classification: B25J,B62D

Abstract:
1. A control device for a mobile body comprising: a desired motion determining means for determining a desired motion of the mobile body, having three or more ground contact portions connected through the intermediary of a plurality of joints such that mutual relative heights can be manipulated; an actual posture inclination detecting means for detecting or estimating the actual posture inclination of a base body of the mobile body, the operation of the mobile body being controlled to make the motion of the mobile body follow a desired motion; and a node operation controlling means that categorizes the ground contact portions in a tree structure manner such that all of the ground contact portions become leaf nodes, and an intermediate node exists between the leaf nodes and a root node having all the leaf nodes as descendant nodes, that determines, on each of C-th nodes, which is a node having a plurality of ground contact portions as descendant nodes, the correction amounts of desired relative heights of a plurality of ground contact portions belonging to the C-th node for each of the C-th nodes such that a posture inclination error is approximated to zero on the basis of at least the posture inclination error, which is the difference between the actual posture inclination and a desired posture inclination of the base body in the desired motion, determines, on the basis of a correction amount obtained by combining the determined correction amounts of all the C-th nodes, a corrected desired motion by adding at least a first correction of the desired relative heights of the plurality of ground contact portions belonging to each C-th node to the desired motion, and operates the joints such that the corrected desired motion that has been determined is satisfied.