Patent ID: 8442687

Claim:
A control system of a multi-link structure configured by connecting a plurality of rigid bodies together, the control system comprising: a state equation setting unit configured to set a state equation which describes the relation between the momentum of a whole system concerning the multi-link structure and a control input, and calculate: a first matrix to be used with a state variable comprising a translational momentum and an angular momentum around a center of gravity of the multi-link structure; and a second matrix to be used with the control input comprising an external moment and an external force from an environment to the multi-link structure; and a predictive control target value setting unit configured to set a control target value from a current time to a future time; a stability evaluation function setting unit configured to set a stability evaluation function comprising: a first element evaluating whether a translational and angular momentums of the multi-link structure converge to a target translational and angular momentums, wherein the target translational and angular momentums includes a grounding value and a non-grounding value, a second element evaluating whether the translational momentum follows the target translational momentum the whole time from the current time to the future time, and a third element evaluating an external force acting on the multi-link structure, wherein the stability evaluation function setting unit is further configured to set a weighting matrix for each of the first, second, and third elements; an optimal control input determining unit configured to determine an optimal control input to give a minimum value of the stability evaluation function under constraint conditions configured by the state equation; an optimal momentum calculating unit configured to calculate an optimal momentum to be generated by the optimal control input; and a joint driving method determining unit configured to determine a joint driving method of the multi-link structure for realizing the optimal momentum.