Patent ID: 8311677
Filing Date: 2012-11-13
Classification: B62D

Abstract:
1. A control device for a legged mobile robot to control the motion of a legged mobile robot, which travels by moving a plurality of legs extended from a base body thereof, by sequentially determining the instantaneous value of a desired motion of the robot and by controlling the motion of the robot such that an actual motion of the robot follows the time series of the instantaneous value of the desired motion, the control device comprising: a desired motion determining unit which uses a preset dynamic model expressing the dynamics of the robot and carries out arithmetic processing for calculating a motion of the robot on the dynamic model so as to sequentially determine the instantaneous value of a desired motion of the robot; a motion control unit which controls the motion of the robot so as to cause the actual motion of the robot to follow the time series of the instantaneous value of the desired motion; a feedback manipulated variable determining unit which sequentially observes a posture state amount error indicating the degree of deviation of an actual posture of the robot from a posture of the robot defined by the instantaneous value of the desired motion, and sequentially determines, on the basis of the observed value of the posture state amount error, at least a model external force manipulated variable specifying an additional external force to be additionally applied to the robot on the dynamic model as a feedback manipulated variable having a function for bringing the posture state amount error close to zero; a model external force manipulated variable predicting unit which determines the time series of a future predicted value of the model external force manipulated variable supplied to the desired motion determining unit from the feedback manipulated variable determining unit on the basis of the determined model external force manipulated variable; and a future target determining unit which determines a future reaching target of a desired motion of the robot, wherein the desired motion determining unit comprises at least a unit which determines arithmetic parameters necessary for the arithmetic processing by using the time series of a future predicted value of the determined model external force manipulated variable and the determined reaching target such that a requirement that the time series of the instantaneous value of the desired motion determined in the case where it is assumed that the arithmetic processing is carried out while additionally applying the time series of an additional external force, which is defined by the time series of a future predicted value of the determined model external force manipulated variable, to the robot on the dynamic model in a predetermined period in the future will reach or converge to the determined reaching target in the future is satisfied, and carries out the arithmetic processing by using the arithmetic parameters while additionally applying the additional external force, which is defined by the model external force manipulated variable determined by the feedback manipulated variable determining unit, to the robot on the dynamic model.