Patent ID: 7191036
Filing Date: 2007-03-13
Classification: B62D

Abstract:
1. A system for controlling a posture of a legged mobile robot having at least a body and a plurality of legs each connected to the body through a joint, comprising: a. desired ZMP determining means for determining a desired ZMP of the robot; b. desired movement generating means for generating a desired movement that satisfies the determined desired ZMP, using a first dynamic model; c. second model floor reaction force movement calculating means for using a second dynamic model that is superior in approximation accuracy to the first dynamic model and for calculating a second model's floor reaction force's moment that is floor reaction force's moment produced on the second dynamic model about the determined desired ZMP by the determined movement, based on the determined desired movement; d. posture inclination detecting means for detecting an actual posture inclination difference of the robot; e. compensating total floor reaction force's moment determining means for determining a compensating total floor reaction force's moment necessary for restoring the detected actual posture inclination difference, based on the detected actual posture inclination difference; and f. actuator controlling means for controlling operation of an actuator of the joint such that a sum of the determined compensating total floor reaction force's moment and the calculated second model's floor reaction force's moment acts about the determined desired ZMP as a floor reaction force's moment of the robot, while controlling a movement of the robot to follow up the generated desired movement.