Patent ID: 8204625
Filing Date: 2012-06-19
Classification: B62D

Abstract:
1. A gait creation device of a leg-type mobile robot for generating a desired gait to make the leg-type mobile robot, which is equipped with a plurality of legs extended from a body thereof, perform an operation of moving an object, comprising: a future object motion provisionally determining element configured to determine a first provisional desired motion trajectory of the object in a future predetermined period, which includes a period of a plurality of steps of the robot, based on at least a moving plan for the object when generating the desired gait anew for the robot to follow, wherein the moving plan for the object is decided to satisfy moving requirements for the object, said moving requirements including a requirement to move the object in a specified direction at a specified velocity at a specified time; and a possibility determining element configured to determine whether a motion of a leg of the robot that satisfies a necessary requirement is possible for the object, while the object moves according to the first provisional desired motion trajectory, based on at least the first provisional desired motion trajectory and the necessary requirement, the necessary requirement being such that a predetermined requirement related to a position/posture relationship between the object and the robot when the object is moved is satisfied at least at a step of a predetermined number of steps of two or more of the robot in the future period and a predetermined restrictive condition related to the motion of the leg of the robot is satisfied at each step up to the step of the predetermined number of steps, wherein, when a determination result of the possibility determining element is affirmative, the desired gait of the robot is generated such that the necessary requirement is satisfied with respect to the object and the object moves according to the first provisional desired motion trajectory, and when the determination result of the possibility determining element is negative, the moving plan is corrected, a second provisional desired motion trajectory of the object in the predetermined period is determined anew based on at least the corrected moving plan, and the desired gait of the robot is generated such that the necessary requirement is satisfied with respect to the object and the object moves according to the second provisional desired motion trajectory.