Patent ID: 7487011
Filing Date: 2009-02-03
Classification: B62D

Abstract:
1. A gait generation and control device for generating a desired gait for a legged mobile robot that moves by operating a plurality of legs extending from a body, comprising: an allowable range setting portion of a first calculation unit within a control unit, for setting an allowable range of a horizontal component of a translation floor reaction force or a floor-surface-parallel component of the translation floor reaction force applied to said robot or a horizontal component of a total center-of-gravity acceleration of the robot or a floor-surface-parallel component of the total center-of-gravity acceleration of the robot; a provisional movement determining portion of the first calculation unit within the control unit, for determining a provisional movement as a provisional desired movement of said desired gait in such a manner that a resultant force of gravity and an inertial force acting on said robot satisfies a predetermined dynamical equilibrium condition; a provisional movement correcting portion of the first calculation unit within the control unit for, when the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force applied to the robot or the horizontal component of the total center-of-gravity acceleration of the robot or the floor-surface-parallel component of the total center-of-gravity acceleration determined by the provisional movement of said desired gait has departed from said allowable range, correcting the provisional movement by changing a rate of change of an angular momentum around the center of gravity of the robot from said provisional movement in such a manner that said dynamical equilibrium condition is satisfied while limiting the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration within said allowable range, thereby determining the movement of the desired gait; and a gait control means portion of a second calculation unit of the control unit for calculating an operating amount for each leg of the body to implement the generated desired gait.