Patent ID: 7076337

Claim:
A motion pattern generator apparatus of a robot which comprises at least upper limbs, lower limbs, a trunk and loins, moves using the lower limbs with keeping zero moment point (ZMP) into a target position, comprising: means for setting a motion of the feet, motion of the trunk, motion of the upper limbs and attitude and height of the loins in order to generate a requested motion; means for setting a trajectory of the ZMP on the basis of the set motion of the feet; means for obtaining a first approximate solution for the motion of the loins for balancing a moment on the set ZMP trajectory by means of a non-strict model of the robot; means for obtaining a second approximate solution for the motion of the loins for balancing a moment on the set ZMP trajectory by means of a strict model of the robot; means for finalizing the solution for the motion of the loins when the difference between the first and second approximate solution is less than a predetermined admissible value; means for modifying the moment on the ZMP of the non-strict model and inputting the modified value to the means for obtaining a first approximate solution when the difference between the first and second approximate solutions is not less than the predetermined admissible value; and means for generating a motion pattern of the entire body of the robot based on the obtained solution for the motion of the loins.