Patent ID: 7904203
Filing Date: 2011-03-08
Classification: B62D

Abstract:
1. A robot control apparatus for controlling walking of a robot, the robot control apparatus comprising: a control information generating unit that generates control information based on a posture of a robot at a plurality of different points of time including at least a reference posture when the robot is independently standing without falling down; a feedback control unit that, with respect to the robot controlled according to the control information generated by the control information generating unit, performs a gyro feedback control based on a rotation angle measured at two points of time when rolling to left and right becomes maximum by a gyro sensor installed in the robot; and a rolling amplitude correcting unit that, while the robot is in motion, corrects a rolling amplitude that is used by the control information generating unit in generating the control information so that a value of a cost function that is calculated for a rolling motion of each single cycle and represents the amount of gyro feedback control performed by the feedback control unit is reduced.