Patent ID: 6963185

Claim:
A system for estimating a self posture of a leg type moving robot being controlled to follow a determined desired gait, comprising: a posture angular velocity detecting means for detecting a posture angular velocity of a predetermined part of the robot; a slippage-free posture bony velocity estimating means for estimating a posture angular velocity of the predetermined part on the basis of motion state amounts of the robot, including at least one of a desired motion of the desired gait, a detected value of a displacement of a joint of the robot, and a desired value of a displacement of the joint, on the assumption that there is no slippage on a contact surface between the robot and a floor; a drift correction value determining means for determining a drift correction value relative to a detected value of the posture angular velocity detecting means on the basis of at least a detected value of the posture angular velocity detecting means and a posture angular velocity estimated by the slippage-free posture angular velocity estimating means; and an integrating means for integrating at least the posture angular velocity obtained by correcting a detected value of the posture angular velocity detecting means by using the drift correction value, thereby to estimate a posture angle of the predetermined part, wherein the drift correction value determining means determines a new drift correction value so as to bring a difference between a posture angular velocity obtained by correcting a detected value of the posture angular velocity detecting means by using the drift correction value and a posture angular velocity estimated by the slippage-free posture angular velocity estimating means close to zero.