Patent ID: 8588971

Claim:
A locomotive performance testing apparatus configured to test locomotive performance of a robot as a test subject capable of moving according to movements of a pair of left and right legs thereof, comprising: a pair of endless belts disposed in parallel according to a displacement of the pair of left and right legs; a pair of motors to drive the pair of endless belts to rotate respectively; a first processing element configured to determine a directional deviation of the robot deviated with respect to a forward direction or a positional deviation of the robot deviated from a first desired position in a lateral direction as a first deviation when the pair of left and right legs are activated to move the robot toward the forward direction on the pair of rotating endless belts driven by the pair of motors respectively; and a motor controlling element configured to control motions of the pair of motors respectively such that a speed of the endless belt on a left side becomes faster than a speed of the endless belt on a right side among the pair of endless belts in a case where the first deviation indicates that a direction of the robot deviates to the right side with respect to the forward direction or that a position of the robot deviates to the right side from the first desired position, while the speed of the endless belt on the right side becomes faster than the speed of the endless belt on the left side among the pair of endless belts in a case where the first deviation indicates that the direction of the robot deviates to the left side with respect to the forward direction or that the position of the robot deviates to the left side from the first desired position.