Patent ID: 6505096
Filing Date: 2003-01-07
Classification: B62D

Abstract:
A system for controlling posture of a legged mobile robot having at least a body and a plurality of links each connected to the body, comprising:a. desired gait determining means for determining a desired gait of the robot including at least a motion pattern including at least a desired trajectory of the body of the robot, a desired trajectory of floor reaction force acting on the robot, and a desired trajectory of external force other than the floor reaction force, acting on the robot through a portion of at least one of the links other than the link or links that contact a floor; b. external force detecting means for detecting the external force other than the floor reaction force; c. external force difference determining means for determining an external force difference between the detected external force other than the floor reaction force and the external force of the desired trajectory; d. a model expressing a relationship between perturbation of the floor reaction force and perturbation of at least one of a position of center of gravity and a position of the body of the robot; e. model input amount determining means for determining a model input amount to be inputted to the model based on at least the determined external force difference; f. desired body trajectory correcting amount determining means for operating to input the model input amount to the model and based on a perturbation amount of at least one of the position of center of gravity and the position of the body obtained therefrom, for determining a desired body trajectory correcting amount, which corrects the desired trajectory of the body; g. desired floor reaction force trajectory correcting amount determining means for determining a desired floor reaction force trajectory correcting amount, which corrects the desired trajectory of the floor reaction force, based on at least the determined model input amount; and h. joint displacing means for displacing joints of the robot based on at least the determined desired body trajectory correcting amount and the desired floor reaction force trajectory correcting amount.