Patent ID: 7664572
Filing Date: 2010-02-16
Classification: B62D

Abstract:
1. A control device of a legged mobile robot adapted to generate a desired gait of a legged mobile robot that moves by motions of its legs and to control an operation of the robot so that the robot follows the desired gait, the control device comprising: a desired gait generator adapted to generate a desired gait, wherein the desired gait includes at least a desired motion of the robot and has a floating period during which all legs of the robot float in the air, and having a desired trajectory; a self position estimator adapted to take the position of a predetermined part of the robot or the position of the center of gravity of the robot as a representative self position of the robot, and then estimate a component in the predetermined direction of the representative self position as indicative of an actual state amount of the robot related to a translational motion in the predetermined direction of the robot; a state amount error calculator adapted to calculate a state amount error, wherein the state amount error is a difference between a component in the predetermined direction of the estimated representative self position and a component of the predetermined direction of the representative self position of the desired gait; and a predicted trajectory calculator adapted to determine a predicted trajectory of a component in a predetermined direction of the representative self position at least during the floating period on the basis of a component in a predetermined direction of the representative self position estimated by the self position estimator at least before the floating period begins, wherein the desired gait generator adjusts the desired motion of the desired gait in the floating period on the basis of the state amount error such that the desired trajectory of the component in the predetermined direction of the representative self position defined by the desired gait in the floating period approaches the predicted trajectory at least before an end of the floating period, wherein the adjustment of the desired gait is made during the floating period.