Source: http://www.google.com/patents/US20050075755?ie=ISO-8859-1
Timestamp: 2015-10-05 12:52:54
Document Index: 440151815

Matched Legal Cases: ['Application No. 2000', 'Application No. 2001', 'Application No. 2001', 'Application No. 2001', 'Application No. 2001', 'Application No. 2001', 'Application No. 2000']

Patent US20050075755 - Gait generation device for legged mobile robot - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsA gait generation device includes means for setting a translation floor reaction force's horizontal component (component concerning a friction force) applied to a robot 1, a limitation-target quantity, such as a ZMP, and an allowable range, means for determining at least a provisional instantaneous value...http://www.google.com/patents/US20050075755?utm_source=gb-gplus-sharePatent US20050075755 - Gait generation device for legged mobile robotAdvanced Patent SearchPublication numberUS20050075755 A1Publication typeApplicationApplication numberUS 10/499,935PCT numberPCT/JP2002/013784Publication dateApr 7, 2005Filing dateDec 27, 2002Priority dateDec 28, 2001Also published asDE60237999D1, EP1473122A1, EP1473122A4, EP1473122B1, US7319918, WO2003057427A1Publication number10499935, 499935, PCT/2002/13784, PCT/JP/2/013784, PCT/JP/2/13784, PCT/JP/2002/013784, PCT/JP/2002/13784, PCT/JP2/013784, PCT/JP2/13784, PCT/JP2002/013784, PCT/JP2002/13784, PCT/JP2002013784, PCT/JP200213784, PCT/JP2013784, PCT/JP213784, US 2005/0075755 A1, US 2005/075755 A1, US 20050075755 A1, US 20050075755A1, US 2005075755 A1, US 2005075755A1, US-A1-20050075755, US-A1-2005075755, US2005/0075755A1, US2005/075755A1, US20050075755 A1, US20050075755A1, US2005075755 A1, US2005075755A1InventorsToru Takenaka, Takashi Matsumoto, Takahide YoshiikeOriginal AssigneeHonda Giken Kogyo Kabushiki KaishaExport CitationBiBTeX, EndNote, RefManPatent Citations (6), Referenced by (20), Classifications (4), Legal Events (3) External Links: USPTO, USPTO Assignment, EspacenetGait generation device for legged mobile robot
US 20050075755 A1Abstract
A gait generation device includes means for setting a translation floor reaction force's horizontal component (component concerning a friction force) applied to a robot 1, a limitation-target quantity, such as a ZMP, and an allowable range, means for determining at least a provisional instantaneous value of a desired floor reaction force and a provisional instantaneous value for a desired movement of the robot 1, and means that receives at least the provisional instantaneous value for the desired movement and determines a model floor reaction force instantaneous value with the aid of a dynamics model. Based on the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of the desired floor reaction force or the allowable range of the limitation-target quantity, the provisional instantaneous value for the desired movement is corrected so that the limitation-target quantity falls within the allowable range and a dynamical equilibrium condition on the dynamics model is satisfied, thereby determining a desired instantaneous value. Images(53) Claims(48)
1. A gait generation device for generating a desired gait for a legged mobile robot that moves by operating a plurality of legs extending from a body, comprising: allowable range setting means for setting an allowable range of a limitation-target quantity, the limitation-target quantity being at least any of a horizontal component of a translation floor reaction force or a floor-surface-parallel component of a translation floor reaction force applied to the robot or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot and a horizontal component of a floor reaction force moment or a ZMP; provisional instantaneous value determining means for determining provisional instantaneous values of a desired movement and a desired floor reaction force of said desired gait; model calculating means that inputs at least the provisional instantaneous value of said desired movement to a dynamics model to determine a model floor reaction force instantaneous value as an output of the dynamics model, the dynamics model representing a relationship between a movement and a floor reaction force of said robot; and desired instantaneous value determining means for correcting the provisional instantaneous value of said desired movement to determine a desired instantaneous value of the desired movement based on at least the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of said desired floor reaction force and said allowable range, wherein the desired instantaneous value determining means corrects the provisional instantaneous value of said desired movement in such a manner that said limitation-target quantity which corresponds to the instantaneous value of the floor reaction force substantially in balance with, in said dynamics model, the resultant force of an inertial force and gravity applied to the robot caused by the desired instantaneous value of the desired movement falls within said allowable range. 2. The gait generation device for a legged mobile robot according to claim 1, wherein model floor reaction force instantaneous values determined by said model calculating means include at least a model value of the horizontal component of the floor reaction force moment or the ZMP, provisional instantaneous values of said desired floor reaction force determined by said provisional instantaneous value determining means include at least a provisional desired instantaneous value of the horizontal component of the floor reaction force moment or the ZMP, and said difference used by said desired instantaneous value determining means is the difference between said model value of the horizontal component of the floor reaction force moment or the ZMP and the provisional desired instantaneous value of the horizontal component of the floor reaction force moment or the ZMP. 3. The gait generation device for a legged mobile robot according to claim 1, wherein said desired instantaneous value determining means determines, as the desired instantaneous value of the desired floor reaction force, the instantaneous value of the floor reaction force substantially in balance with, in said dynamics model, the resultant force of an inertial force and gravity applied to the robot caused by the desired instantaneous value of the desired movement. 4. The gait generation device for a legged mobile robot according to claim 1, wherein said desired instantaneous value determining means comprises: a perturbation model that represents a relationship between a perturbation movement and a perturbation floor reaction force of said robot; means for determining a perturbation model manipulating quantity for manipulating the perturbation floor reaction force of said perturbation model based on at least said difference and said allowable range; means for determining a correction quantity for said desired movement by inputting the determined perturbation model manipulating quantity to said perturbation model; and means for determining a desired instantaneous value of said desired movement by correcting the provisional instantaneous value of said desired movement with the correction quantity. 5. The gait generation device for a legged mobile robot according to claim 4, further comprising: means for determining a required value of said perturbation model manipulating quantity in accordance with at least a state quantity of said perturbation model, wherein said means for determining a perturbation model manipulating quantity determines the perturbation model manipulating quantity to be input to said perturbation model based on said difference, said allowable range and said required value. 6. The gait generation device for a legged mobile robot according to claim 5, further comprising: means for successively determining the required value of said perturbation model manipulating quantity according to a feedback control law in accordance with a deviation of said state quantity of the perturbation model from a desired value of the state quantity. 7. The gait generation device for a legged mobile robot according to claim 4, wherein said perturbation model is a model that involves a plurality of perturbation movements having different perturbation ratios between the horizontal component of the translation floor reaction force and the horizontal component of the floor reaction force moment to said perturbation movement, said perturbation model manipulating quantity comprises a plurality of kinds of manipulating quantity associated with the respective perturbation movements, and said correction quantity for the desired movement comprises a plurality of kinds of correction quantity associated with the respective perturbation movements. 8. The gait generation device for a legged mobile robot according to claim 7, wherein said plurality of perturbation movements comprise a translation movement of the body of said robot and a posture varying movement in which the posture of a predetermined part of the robot is varied while keeping the center of gravity of the robot substantially unchanged. 9. The gait generation device for a legged mobile robot according to claim 7, wherein said plurality of perturbation movements comprise a translation horizontal movement of the body of said robot and a posture varying movement of the body of the robot. 10. The gait generation device for a legged mobile robot according to claim 7, wherein said limitation-target quantity is composed of a horizontal component of a translation floor reaction force or a floor-surface-parallel component of a translation floor reaction force applied to the robot or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot and a horizontal component of a floor reaction force moment or a ZMP. 11. The gait generation device for a legged mobile robot according to claim 4, wherein said perturbation model manipulating quantity comprises a first manipulating quantity component that is determined according to at least said difference and a second manipulating quantity component that is determined based on at least said allowable range, and said means for determining a perturbation model manipulating quantity comprises: means for determining an estimated value of said limitation-target quantity corresponding to the desired instantaneous value of the desired movement that is determined if only said first manipulating quantity component is input to said perturbation model; means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and means for determining said second manipulating quantity component based on at least the limited limitation-target quantity. 12. The gait generation device for a legged mobile robot according to claim 5, wherein said perturbation model manipulating quantity comprises a first manipulating quantity component that is determined according to at least said difference and a second manipulating quantity component that is determined based on at least said required value and said allowable range, and said means for determining a perturbation model manipulating quantity comprises: means for determining an estimated value of said limitation-target quantity corresponding to the desired instantaneous value of the desired movement that is determined if said second manipulating quantity component which is made to agree with said required value and said first manipulating quantity component are input to said perturbation model; means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and means for determining said second manipulating quantity component based on at least the limited limitation-target quantity. 13. The gait generation device for a legged mobile robot according to claim 11, wherein said limitation-target quantity comprises the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot, and said means for determining a perturbation model manipulating means determines the estimated value of said limitation-target quantity using, as said model floor reaction force instantaneous value, the instantaneous value of the horizontal component of the translation floor reaction force or the instantaneous value of the floor-surface-parallel component of the translation floor reaction force determined by said dynamics model. 14. The gait generation device for a legged mobile robot according to claim 12, wherein said perturbation model is a model that involves a translation movement of the body of the robot and a posture varying movement of the body of the robot, said limitation-target quantity comprising the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force applied to the robot or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot and the horizontal component of the floor reaction force moment or the ZMP, and said means for determining a limited limitation-target quantity determines each limited limitation-target quantity in such a manner that the variation of a manipulation quantity component of said second manipulating quantity component which is associated with said body posture varying movement from said required value is reduced to a minimum, and the variation of the limited limitation-target quantity from said estimated value is reduced to a minimum. 15. The gait generation device for a legged mobile robot according to claim 11, wherein said desired instantaneous value determining means determines the floor reaction force associated with said limited limitation-target quantity as the desired instantaneous value of said desired floor reaction force. 16. The gait generation device for a legged mobile robot according to claim 1, characterized in that said desired instantaneous value determining means comprises: means for additionally inputting a correction quantity for correcting the provisional instantaneous value of said desired movement to said dynamics model; and means for determining said correction quantity in such a manner that said limitation-target quantity associated with said model floor reaction force instantaneous value is substantially kept at a value within said allowable range and said difference is stabilized. 17. The gait generation device for a legged mobile robot according to claim 4, wherein said desired instantaneous value determining means comprises means for additionally inputting a correction quantity for said desired movement to said dynamics model, and said perturbation model manipulating quantity comprises a first manipulating quantity component that is determined according to at least said difference and a second manipulating quantity component that is determined based on at least said allowable range, and said means for determining a perturbation model manipulating quantity comprises: means for determining an estimated value of said limitation-target quantity corresponding to the model floor reaction force instantaneous value that is output from said dynamics model if only said first manipulating quantity component is input to said perturbation model; means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and means for determining said second manipulating quantity component based on at least the limited limitation-target quantity. 18. The gait generation device for a legged mobile robot according to claim 5, wherein said desired instantaneous value determining means comprises means for additionally inputting a correction quantity for said desired movement to said dynamics model, and said perturbation model manipulating quantity comprises a first manipulating quantity component that is determined according to at least said difference and a second manipulating quantity component that is determined based on at least said required value and said allowable range, and said means for determining a perturbation model manipulating quantity comprises: means for determining an estimated value of said limitation-target quantity corresponding to the model floor reaction force instantaneous value that is output from said dynamics model if said second manipulating quantity component which is made to agree with said required value and said first manipulating quantity component are input to said perturbation model; means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and means for determining said second manipulating quantity component based on at least the limited limitation-target quantity. 19. The gait generation device for a legged mobile robot according to claim 17, wherein said second manipulating quantity components include said horizontal component of the floor reaction force moment or the ZMP and said differences include at least the difference concerning the horizontal component of the floor reaction force moment or ZMP, and said means for determining a perturbation model manipulating quantity comprises means for determining said first manipulating quantity component in such a manner that, the horizontal component of the floor reaction force moment or ZMP concerning said differences is substantially equal to the horizontal component of the floor reaction force moment or ZMP of said second manipulating quantity components. 20. The gait generation device for a legged mobile robot according to claim 17, wherein said limitation-target quantity comprises the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot, and said means for determining a perturbation model manipulating quantity means determines the estimated value of said limitation-target quantity using, as said model floor reaction force instantaneous value, the instantaneous value of the horizontal component of the translation floor reaction force or the instantaneous value of the floor-surface-parallel component of the translation floor reaction force determined according to said dynamics model. 21. The gait generation device for a legged mobile robot according to claim 18, wherein said perturbation model is a model that involves a translation movement of the body of the robot and a posture varying movement of the body of the robot, said limitation-target quantity comprising the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force applied to the robot or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot and the horizontal component of the floor reaction force moment or the ZMP, and said means for determining a limited limitation-target quantity determines each limited limitation-target quantity in such a manner that the variation of a manipulation quantity component of said second manipulating quantity components which is associated with said body posture varying movement from said required value is reduced to a minimum, and the variation of the limited limitation-target quantity from said estimated value is reduced to a minimum. 22. The gait generation device for a legged mobile robot according to claim 16, wherein said desired instantaneous value determining means determines said model floor reaction force instantaneous value as the desired instantaneous value of said desired floor reaction force. 23. A gait generation device for generating a desired gait for a legged mobile robot that moves by operating a plurality of legs extending from a body, comprising: allowable range setting means for setting an allowable range of a limitation-target quantity, the limitation-target quantity being at least any of a horizontal component of a translation floor reaction force or a floor-surface-parallel component of a translation floor reaction force applied to the robot or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot and a horizontal component of a floor reaction force moment or a ZMP; desired floor reaction force's provisional instantaneous value determining means for successively determining, of a desired movement and a desired floor reaction force of said desired gait, at least a provisional instantaneous value of the desired floor reaction force; first model calculating means that inputs at least the provisional instantaneous value of the desired floor reaction force to a first dynamics model to determine a provisional instantaneous value of the desired movement as an output of the first dynamics model, the first dynamics model representing a relationship between a movement and a floor reaction force of said robot; second model calculating means that inputs at least the provisional instantaneous value of said desired movement to a second dynamics model to determine a model floor reaction force instantaneous value as an output of the second dynamics model, the second dynamics model representing a relationship between a movement and a floor reaction force of said robot; and first model input correcting means that determines a correction quantity of said desired floor reaction force based on at least the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of said desired floor reaction force and said allowable range in such a manner that said limitation-target quantity corresponding to said model floor reaction force instantaneous value that is output from said second dynamics model falls within said allowable range and additionally inputs the determined correction quantity to said first dynamics model, wherein the desired instantaneous value of said desired movement is determined based on at least the input to said second dynamics model. 24. The gait generation device for a legged mobile robot according to claim 23, wherein model floor reaction force instantaneous values determined by said second model calculating means include at least a model value of the horizontal component of the floor reaction force moment or the ZMP, the provisional instantaneous values of said desired floor reaction force determined by said provisional instantaneous value determining means include at least a provisional desired instantaneous value of the horizontal component of the floor reaction force moment or the ZMP, and said difference used by said first model input correcting means is the difference between said model value of the horizontal component of the floor reaction force moment or the ZMP and the provisional desired instantaneous value of the horizontal component of the floor reaction force moment or the ZMP. 25. The gait generation device for a legged mobile robot according to claim 23, wherein said desired instantaneous value determining means determines said model floor reaction force instantaneous value output from said second dynamics model as the desired instantaneous value of said desired floor reaction force. 26. The gait generation device for a legged mobile robot according to claim 23, further comprising: means for determining a required value of the correction quantity of said desired floor reaction force, wherein the correction quantity of said desired floor reaction force determined by said first model input correcting means comprises a first correction quantity component that is determined according to at least said difference and a second correction quantity component that is determined based on at least said required value and said allowable range, said first model input correcting means comprises: means for determining an estimated value of said limitation-target quantity corresponding to the model floor reaction force instantaneous value that is output from said second dynamics model if said second correction quantity component which is made to agree with said required value and said first correction quantity component are additionally input to said first dynamics model; means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and means for determining said second correction quantity component based on at least the limited limitation-target quantity. 27. The gait generation device for a legged mobile robot according to claim 23, further comprising: second model input correcting means that determines a correction quantity for said desired movement based on at least said difference and said allowable range, and additionally inputs the determined correction quantity to said second dynamics model. 28. The gait generation device for a legged mobile robot according to claim 27, further comprising: a perturbation model that represents a relationship between a perturbation movement and a perturbation floor reaction force of said robot; means for determining a floor reaction force manipulating quantity based on at least said difference and said allowable range; and distributor means for separating the determined floor reaction force manipulating quantity into a correction quantity of said desired floor reaction force that is to be input to said first dynamics model and a perturbation model manipulating quantity that is to be input to said perturbation model, wherein said second model input correcting means determines the correction quantity for said desired movement by inputting said perturbation model manipulating quantity to said perturbation model. 29. The gait generation device for a legged mobile robot according to claim 28, further comprising: means for determining a required value of said floor reaction force manipulating quantity in accordance with at least a state quantity of said perturbation model, wherein said means for determining a floor reaction force manipulating quantity determines the floor reaction force manipulating quantity to be supplied to said distributor means based on said difference, said allowable range and said required value. 30. The gait generation device for a legged mobile robot according to claim 29, further comprising: means for successively determining the required value of said floor reaction force manipulating quantity according to a feedback control law in accordance with a deviation of said state quantity of the perturbation model from a desired value of the state quantity. 31. The gait generation device for a legged mobile robot according to claim 28, wherein said perturbation model is a model that involves a plurality of perturbation movements having different perturbation ratios between the horizontal component of the translation floor reaction force and the horizontal component of the floor reaction force moment to said perturbation movement, said floor reaction force manipulating quantity comprises a plurality of kinds of manipulating quantity associated with the respective perturbation movements, and said correction quantity for the desired movement determined by said second model input correcting means comprises a plurality of kinds of correction quantity associated with the respective perturbation movements. 32. The gait generation device for a legged mobile robot according to claim 31, wherein said plurality of perturbation movements comprise a translation movement of the body of said robot and a posture varying movement in which the posture of a predetermined part of the robot is varied while keeping the center of gravity of the robot substantially unchanged. 33. The gait generation device for a legged mobile robot according to claim 31, wherein said plurality of perturbation movements comprise a translation horizontal movement of the body of said robot and a posture varying movement of the body of the robot. 34. The gait generation device for a legged mobile robot according to claim 31, wherein said limitation-target quantity is composed of a horizontal component of a translation floor reaction force or a floor-surface-parallel component of a translation floor reaction force applied to the robot or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot and a horizontal component of the floor reaction force moment or a ZMP. 35. The gait generation device for a legged mobile robot according to claim 28, wherein said floor reaction force manipulating quantity comprises a first manipulating quantity component that is determined according to at least said difference and a second manipulating quantity component that is determined based on at least said allowable range, and said means for determining a floor reaction force manipulating quantity comprises: means for determining an estimated value of said limitation-target quantity corresponding to the model floor reaction force instantaneous value that is output from said second dynamics model if only said first manipulating quantity component is input to said distributor means; means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and means for determining said second manipulating quantity component based on at least the limited limitation-target quantity. 36. The gait generation device for a legged mobile robot according to claim 29, wherein said floor reaction force manipulating quantity comprises a first manipulating quantity component that is determined according to at least said difference and a second manipulating quantity component that is determined based on at least said required value and said allowable range, and said means for determining a floor reaction force manipulating quantity comprises: means for determining an estimated value of said limitation-target quantity corresponding to the model floor reaction force instantaneous value that is output from said second dynamics model if said second manipulating quantity component which is made to agree with said required value and said first manipulating quantity component are input to said distributor means; means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and means for determining said second manipulating quantity component based on at least the limited limitation-target quantity. 37. The gait generation device for a legged mobile robot according to claim 35, wherein said second manipulating quantity components include said horizontal component of the floor reaction force moment or the ZMP and said differences include at least the difference concerning the horizontal component of the floor reaction force moment or ZMP, and said means for determining a perturbation model manipulating quantity comprises means for determining said first manipulating quantity component in such a manner that, the horizontal component of the floor reaction force moment or ZMP concerning said differences is substantially equal to the horizontal component of the floor reaction force moment or ZMP of said second manipulating quantity components. 38. The gait generation device for a legged mobile robot according to claim 35, wherein said limitation-target quantity comprises said horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot, and said means for determining a floor reaction force manipulating means determines the estimated value of said limitation-target quantity using, as said model floor reaction force instantaneous value, the instantaneous value of the horizontal component of the translation floor reaction force or the instantaneous value of the floor-surface-parallel component of the translation floor reaction force determined by said dynamics model. 39. The gait generation device for a legged mobile robot according to claim 36, wherein said perturbation model is a model that involves a translation movement of the body of the robot and a posture varying movement of the body of the robot, said limitation-target quantity comprising the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force applied to the robot or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot and the horizontal component of the floor reaction force moment or the ZMP, and said means for determining a limited limitation-target quantity determines each limited limitation-target quantity in such a manner that the variation of a manipulation quantity component of said second manipulating quantity components which is associated with said body posture varying movement from said required value is reduced to a minimum, and the variation of the limited limitation-target quantity from said estimated value is reduced to a minimum. 40. A gait generation device for generating a desired gait for a legged mobile robot that moves by operating a plurality of legs extending from a body, comprising: allowable range setting means for setting an allowable range of a limitation-target quantity, the limitation-target quantity being at least any of a horizontal component of a translation floor reaction force or a floor-surface-parallel component of a translation floor reaction force applied to the robot or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot and a horizontal component of the floor reaction force moment or a ZMP; desired floor reaction force's provisional instantaneous value determining means for successively determining, of a desired movement and a desired floor reaction force of said desired gait, at least a provisional instantaneous value of the desired floor reaction force; first model calculating means that inputs at least the provisional instantaneous value of the desired floor reaction force to a first dynamics model to determine a first provisional instantaneous value of the desired movement as an output of the first dynamics model, the first dynamics model representing a relationship between a movement and a floor reaction force of said robot; and second model calculating means that inputs at least the provisional instantaneous value of said desired floor reaction force to a second dynamics model, which represents a relationship between a movement and a floor reaction force of said robot, to determine a second provisional instantaneous value of the desired movement as an output of the second dynamics model in such a manner that said limitation-target quantity corresponding to the floor reaction force instantaneous value that is, in said second dynamics model, substantially in balance with the resultant force of the inertial force and center-of-gravity applied to the robot caused by the second provisional instantaneous value of the desired movement falls within said allowable range; manipulating quantity calculating means for determining the floor reaction force manipulating quantity based on at least the difference between the first provisional instantaneous value and the second provisional instantaneous value of said desired movement in such a manner that the difference is close to 0; and model input correcting means for additionally inputting the floor reaction force manipulating quantity to at least any one of said first dynamics model and said second dynamics model, wherein the second provisional instantaneous value of said desired movement is determined as the desired instantaneous value of the desired movement. 41. The gait generation device for a legged mobile robot according to claim 40, wherein differences between the first provisional instantaneous value and the second provisional instantaneous value of said desired movement include a difference of the position of a predetermined part of said robot, or include a difference of the position of the center of gravity of the robot and a difference of the posture of a predetermined part of the robot. 42. The gait generation device for a legged mobile robot according to claim 26, further comprising: third model calculating means that inputs at least the provisional instantaneous value of said desired floor reaction force to a third dynamics model, which represents a relationship between a movement and a floor reaction force of said robot, to determine a third provisional instantaneous value of the desired movement as an output of the third dynamics model, wherein said means for determining a required value of the correction quantity of said desired floor reaction force determines said required value based on the difference between said determined desired instantaneous value of said desired movement and said third provisional instantaneous value of said desired movement in such a manner that the difference is close to 0. 43. The gait generation device for a legged mobile robot according to claim 12, wherein said limitation-target quantity comprises the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot, and said means for determining a perturbation model manipulating means determines the estimated value of said limitation-target quantity using, as said model floor reaction force instantaneous value, the instantaneous value of the horizontal component of the translation floor reaction force or the instantaneous value of the floor-surface-parallel component of the translation floor reaction force determined by said dynamics model. 44. The gait generation device for a legged mobile robot according to claim 12, wherein said desired instantaneous value determining means determines the floor reaction force associated with said limited limitation-target quantity as the desired instantaneous value of said desired floor reaction force. 45. The gait generation device for a legged mobile robot according to claim 18, wherein said second manipulating quantity components include said horizontal component of the floor reaction force moment or the ZMP and said differences include at least the difference concerning the horizontal component of the floor reaction force moment or ZMP, and said means for determining a perturbation model manipulating quantity comprises means for determining said first manipulating quantity component in such a manner that, the horizontal component of the floor reaction force moment or ZMP concerning said differences is substantially equal to the horizontal component of the floor reaction force moment or ZMP of said second manipulating quantity components. 46. The gait generation device for a legged mobile robot according to claim 18, wherein said limitation-target quantity comprises the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot, and said means for determining a perturbation model manipulating quantity means determines the estimated value of said limitation-target quantity using, as said model floor reaction force instantaneous value, the instantaneous value of the horizontal component of the translation floor reaction force or the instantaneous value of the floor-surface-parallel component of the translation floor reaction force determined according to said dynamics model. 47. The gait generation device for a legged mobile robot according to claim 36, wherein said second manipulating quantity components include said horizontal component of the floor reaction force moment or the ZMP and said differences include at least the difference concerning the horizontal component of the floor reaction force moment or ZMP, and said means for determining a perturbation model manipulating quantity comprises means for determining said first manipulating quantity component in such a manner that, the horizontal component of the floor reaction force moment or ZMP concerning said differences is substantially equal to the horizontal component of the floor reaction force moment or ZMP of said second manipulating quantity components. 48. The gait generation device for a legged mobile robot according to claim 36, wherein said limitation-target quantity comprises said horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot, and said means for determining a floor reaction force manipulating means determines the estimated value of said limitation-target quantity using, as said model floor reaction force instantaneous value, the instantaneous value of the horizontal component of the translation floor reaction force or the instantaneous value of the floor-surface-parallel component of the translation floor reaction force determined by said dynamics model. Description
TECHNICAL FIELD The present invention relates to a gait generation device for a legged mobile robot. BACKGROUND ART In Japanese Patent Application No. 2000-352011, the applicants have proposed a technique of using a relatively simple robot dynamics model to generate in real time a flexible gait (referred to as an approximate gait, hereinafter) with which a robot can continuously move while approximately satisfying its dynamical equilibrium condition (i.e., without divergence). Furthermore, in Japanese Patent Application No. 2001-133621, there is proposed a technique of generating a gait that is corrected so as to precisely satisfy the dynamical equilibrium condition and substantially follow the approximate gait without divergence. A desired gait corrected is referred to as a corrected desired gait or a corrected gait, hereinafter. However, in Japanese Patent Application No. 2001-133621, a desired floor reaction force, which has been appropriately determined, is shifted to prevent divergence of the corrected gait. That is, the floor reaction force is modified so that a floor reaction force moment is produced (acted) about a desired ZMP, which has been appropriately determined, or the desired ZMP itself is modified. In the following, the appropriately determined desired floor reaction force is referred to as an ideal desired floor reaction force, and the appropriately determined desired ZMP is referred to as an ideal desired ZMP. As shown in the following formula, a shift of the desired ZMP from the ideal desired ZMP is equivalent to production of a floor reaction force moment about the ideal desired ZMP which is expressed as (shift of the desired ZMP)*(vertical component of the translation floor reaction force). (floor reaction force moment about the ideal desired ZMP)=(shift of the desired ZMP)*(vertical component of the translation force of the floor reaction force) formula b01 In the following, the vertical component of the translation floor reaction force is sometimes abbreviated as a floor reaction force vertical component as far as it is not misconstrued as the floor reaction force moment about the vertical axis. To what extent the divergence of the corrected gait can be prevented and the corrected gait can be stabilized depends on the maximum value (minimum value) of the floor reaction force moment that can be produced about the ideal desired ZMP. When a robot walks, the floor reaction force vertical component is always substantially equal to the weight of the robot, and the possible area of the desired ZMP (a minimum polygon surrounding the contact surface, referred also to as a supporting polygon) is wide. Thus, divergence of the corrected gait can be prevented by shifting the desired ZMP within the possible area and thereby producing a floor reaction force moment about the ideal desired ZMP. On the other hand, when a robot runs, all the legs of the robot may often float in the air, and in such a state, the floor reaction force vertical component is 0. In this state, all the components of the floor reaction force (the components of the translation force and the moment) are typically 0. Therefore, when all the legs float in the air, divergence of the corrected gait cannot be prevented by producing a floor reaction force moment about the ideal desired ZMP. Even if any of the legs is in contact with the floor, if the floor reaction force vertical component is close to 0, only a slight floor reaction force moment about the ideal desired ZMP can be produced by shifting the desired ZMP within the possible area of the desired ZMP. This is because the moment about the ideal desired ZMP is a product of the amount of the modification of the desired ZMP and the floor reaction force vertical component, as described above. Therefore, in this case also, divergence of the corrected gait cannot be prevented. As described above, when the floor reaction force vertical component is 0 or close to 0, the absolute value of the floor reaction force moment that can be produced about the ideal desired ZMP is small, and therefore, divergence of the corrected gait cannot be prevented. Thus, the corrected gait has to be brought close to the approximate gait when the floor reaction force vertical component has an adequate value. Besides, if a foot sole of the robot is in contact with the floor and an adhesion force (attraction force) can be produced between the sole and the floor, a floor reaction force moment can be produced even if the floor reaction force vertical component is 0. However, in general, legged mobile robots are controlled on the assumption that there is no adhesion force (attraction force). In addition, in usual operating environments of such robots, substantially no adhesion force occurs between the floor and the foot soles. In addition, if the floor reaction force vertical component is 0, the desired ZMP is not settled and can be set at any point. However, all the components of the floor reaction force are 0, and therefore, if the desired ZMP is shifted, any floor reaction force moment cannot be produced about the ideal desired ZMP. Another important problem which is not specifically described in Japanese Patent Application No. 2001-133621 is of slipping. In the embodiments described in Japanese Patent Application No. 2001-133621, the body horizontal acceleration for the corrected gait is adjusted (changed) in such a manner that the moment produced about the original desired ZMP by the resultant of gravity and the inertial force produced by the movement of the robot is reduced to 0 or made to agree with the floor reaction force moment for preventing divergence of the corrected gait (full-model corrected moment about the desired ZMP described in Japanese Patent Application No. 2001-133621) as described above. In other words, the total center-of-gravity horizontal acceleration is adjusted (changed). As a result, the floor reaction force horizontal component in balance with the total center-of-gravity horizontal acceleration changes. In the case where the robot moves on a horizontal floor surface, the floor reaction force horizontal component is caused by friction. When the robot walks on a floor surface having a high friction coefficient, the floor reaction force vertical component is always substantially equal to the weight thereof, and therefore, the friction force (that is, the floor reaction force horizontal component) has a high limit value. Thus, the robot hardly slips even if the body horizontal acceleration for the corrected gait is changed as described above. On the other hand, when the robot walks on a floor surface having a low friction coefficient, the limit value of the friction force (the floor reaction force horizontal component) is low. Therefore, when the body horizontal acceleration for the corrected gait is changed as described above, a floor reaction force horizontal component that is in balance therewith cannot be produced, and thus, the robot may slip. During running, the floor reaction force vertical component sometimes becomes approximately 0. When this occurs, even if the floor surface has a high friction coefficient, the limit value of the friction force (the floor reaction force horizontal component) is substantially 0. Thus, during running also, the robot may slip if the body horizontal acceleration for the corrected gait is changed as described above. In addition, during running, the floor reaction force vertical component sometimes becomes 0 (when both the legs float in the air). When this occurs, the friction force (the floor reaction force horizontal component) also becomes 0, so that the total center-of-gravity horizontal acceleration is naturally 0 (uniform motion). In other words, the gait of the robot has to be one in which the total center-of-gravity horizontal acceleration is 0. As described above, in the cases where the robot runs and where the robot walks on a floor surface of a low friction coefficient, it is difficult or possibly impossible that the body horizontal acceleration for the corrected gait (or the total center-of-gravity horizontal acceleration) is adjusted (changed) in such a manner that the moment produced about the ideal desired ZMP by the resultant of gravity and the inertial force is reduced to 0 or made to agree with the floor reaction force moment for preventing divergence of the corrected gait as described above. In consideration of cases where a robot runs or walks on a floor surface of a low friction coefficient, the applicants have proposed a technique of explicitly setting a desired ZMP trajectory, a desired floor reaction force vertical component trajectory and an allowable range for the floor reaction force horizontal component and generating a movement of a gait (foot position/posture trajectory and body position/posture trajectory) in which the desired floor reaction force ZMP trajectory and the desired floor reaction force vertical component trajectory are satisfied, and the floor reaction force horizontal component falls within the allowable range for the floor reaction force horizontal component. According to this technique, with a precise dynamics model, the dynamical equilibrium condition (the moment produced about the desired ZMP by the resultant of gravity and the inertial force is 0) can be precisely satisfied and the floor reaction force horizontal component can be made to always fall within allowable range for the floor reaction force horizontal component. However, such a precise dynamics model requires more calculation for solving equations of motion. In addition, such a precise dynamics model has a strong nonlinearity. Therefore, when searching for a gait parameter that satisfies a normal gait boundary requirement (that equal body position/velocity is provided at the start and end of the gait, for example) described in Japanese Patent Application No. 2000-352011 previously proposed by the applicants, that is, a gait parameter that enables the robot to continuously move stably, the convergence coefficient is reduced and the number of searchings increases. Thus, the total calculation amount is enormous, so that a high-speed computer or a dedicated IC for dynamics model calculation is required. In addition, it is difficult to generate a gait in real time when the robot is moving. However, with a simple approximate dynamics model, there arise problems that the dynamical equilibrium condition cannot be satisfied with an adequate precision although the amount of calculation is reduced, the ZMP of the actually generated gait is out of the possible area thereof, or the floor reaction force horizontal component is out of the allowable range of the floor reaction force horizontal component (friction force limit), for example. Thus, there is a high possibility that an actual robot moves unstably or slips when it is made to move by following the generated gait. Therefore, an object of the present invention is to overcome the disadvantages of the techniques previously proposed and provide a gait generation device that can generate various desired gaits for normal walking as well as running, walking on a floor surface of a low friction coefficient and the like with a relatively small amount of calculation. In addition, an object of the present invention is to provide a gait generation device that can generate a gait that precisely satisfies the dynamical equilibrium condition with the ZMP, the floor reaction force horizontal component or the like falling within appropriate allowable ranges. DISCLOSURE OF THE INVENTION According to a first implementation of the present invention, there is provided a gait generation device for generating a desired gait for a legged mobile robot that move