Patent ID: 7774098
Filing Date: 2010-08-10
Classification: B62D

Abstract:
1. A gait generating system for a mobile robot that sets a permissible range of a predetermined floor reaction force component of a floor reaction force generated by a motion of the mobile robot and generates a desired gait that includes at least a desired motion of the mobile robot such that the permissible range is satisfied, comprising: a provisional desired motion creating means for creating a provisional motion, which indicates a provisional value of the desired motion, by using a predetermined first dynamic model of the mobile robot such that the floor reaction force component satisfies the permissible range; a floor reaction force component error calculating means for determining, on an arbitrary motion of the mobile robot, by using the first dynamic model and a predetermined second dynamic model having a dynamic accuracy that is higher than that of the first dynamic model, a floor reaction force component error, which is a difference between the floor reaction force component generated on the second dynamic model by the motion and the floor reaction force component generated on the first dynamic model by the motion; an evaluating means for evaluating whether the floor reaction force component error determined by the floor reaction force component error calculating means from the created provisional motion falls within a predetermined permissible error range; and a desired motion determining means for determining the provisional motion as the desired motion if the floor reaction force component error associated with the provisional motion in the evaluation by the evaluating means falls within the permissible error range, or for determining the desired motion by correcting the provisional motion at least once or more if the floor reaction force component error associated with the provisional motion deviates from the permissible error range, wherein in a case where the floor reaction force component error associated with the provisional motion deviates from the permissible error range, if a corrected motion determined by the desired motion determining means by the n-th (n: integer satisfying n≧1) correction of the provisional motion is defined as a motion after an n-th correction, the floor reaction force component error determined by the floor reaction force component error calculating means from the motion after the n-th correction is defined as the n-th floor reaction force component error, the provisional motion is defined as the motion after an 0-th correction, and the floor reaction force component error associated with the provisional motion is defined as an 0-th floor reaction force component error, then the desired motion determining means repeats corrected motion determination processing for determining a motion after an n-th correction such that a result obtained by adding either the (n−1)th floor reaction force component error or a floor reaction force correction amount determined on the basis of at least the (n−1)th floor reaction force component error to the floor reaction force component produced on the first dynamic model by the motion after the n-th correction satisfies the permissible range and convergence discrimination processing for discriminating whether a floor reaction force component error change amount ΔFM defined as either a difference between the n-th floor reaction force component error associated with the determined motion after the n-th correction and the (n−1)th floor reaction force component error associated with a motion after the (n−1)th correction or a difference between the n-th floor reaction force component error and the floor reaction force correction amount determined on the basis of at least the (n−1)th floor reaction force component error has converged to zero until the desired motion determining means determines at least that the floor reaction force component error change amount ΔFM has converged to zero, and determines a corrected motion determined by last corrected motion determination processing in the repetitive processing as the desired motion.