Patent ID: 6301524
Filing Date: 2001-10-09
Classification: B62D

Abstract:
A system for generating a gait of a legged mobile robot having at least a body and a plurality of leg links each connected to the body through a joint comprising:a. standard gait storing means for storing, in memory, a plurality of standard gaits, including at least a gait to start walking, a gait for constant speed walking, and a gait to stop walking, each comprising a set of parameters including a parameter relating to a floor reaction force;b. gait demanding means for making a demand for gait; andc. gait generating means for generating an approximated gait which satisfies the demand for gait by selecting one or a plurality of the standard gaits in response to the demand for gait, and by conducting approximation on at least one of the parameters of the selected standard gait or gaits.