Patent ID: 7319302

Claim:
A gait generating system for a mobile body, the system determining a gait parameter, which is composed of a set of a plurality of parameters defining a gait of a mobile robot in a predetermined period, and generating a desired gait of the mobile robot in the predetermined period by using the determined gait parameter and a dynamic model of the mobile robot, comprising: n (n: an integer of 2 or more) dynamic models that include a motion/floor reaction force model representing a relationship between motions of the mobile robot and the floor reaction forces acting on the robot and that are constructed such that at least one of the motion/floor reaction force model, a restrictive condition added to a motion of the mobile robot in the motion/floor reaction force model, and a restrictive condition added to a floor reaction force in the motion/floor reaction force model is different from each other; a first gait parameter determining means for determining a first gait parameter, which is composed of a set of provisional values of the plurality of parameters, such that a gait in the predetermined period that is generated using the first gait parameter and a first dynamic model, which is a predetermined dynamic model among the n dynamic models, satisfies a predetermined boundary condition; and a gait parameter correcting means for determining an m-th gait parameter, which is a gait parameter obtained by correcting a predetermined parameter to be corrected out of an (m−1)th gait parameter, from a second gait parameter to an n-th gait parameter in order by using an m-th dynamic model (m: integer satisfying 2≦m≦n), wherein each of n−1 dynamic models excluding the first dynamic model among the n dynamic models is defined as the m-th dynamic model, wherein the gait parameter correcting means comprises a means for determining the m-th gait parameter by, when the m-th gait parameter is respectively determined, generating a gait in the predetermined period by using the (m−1)th gait parameter and the m-th dynamic model and by correcting the parameter to be corrected out of the (m−1)th gait parameter such that the degree of deviation after correction, which is the degree of deviation of a gait in the predetermined period that is generated using the m-th gait parameter and the m-th dynamic model from the predetermined boundary condition is smaller than the degree of deviation before correction or the degree of deviation after correction falls within a predetermined degree of deviation permissible range on the basis of at least the degree of deviation before correction, which is the degree of deviation of the generated gait from the predetermined boundary condition, and a desired gait in the predetermined period is generated using an n-th gait parameter out of the determined m-th gait parameter and an n-th dynamic model.