Patent ID: 6580969
Filing Date: 2003-06-17
Classification: B62D

Abstract:
An apparatus for controlling motions of a legged mobile robot, having at least lower limbs, a body trunk and a waist part, said apparatus comprising:first setting means for setting leg motion, body trunk motion and upper limb motion, and the attitude and height of the waist part; second setting means for setting a ZMP trajectory based on the leg motion as set by said first setting means; third setting means for setting an external force pattern applied to the legged mobile robot; calculating means for calculating the moment generated on the ZMP as set by said second setting means based on the leg motion, body trunk motion, upper limb motion and the attitude and height of the waist part as set; means for finding a solution of the waist motion for which the moments as calculated by said calculating means are in equilibrium; and means for executing whole body motion based on said solution of the waist motion.