Patent Document ID: 7805218
Application ID: 10497096
Patent Flag: 1

Claim One:
1. A robot apparatus having moving means, the robot apparatus comprising: state detecting means for detecting a kinematic state of the robot apparatus; real-time equation-of-motion solving means for finding a solution to an equation of motion with a boundary condition concerning the kinematic state of the robot apparatus; boundary-condition setting means for setting a current kinematic state detected by the state detecting means as a boundary condition of the equation of the motion; wherein the state detecting means uses the position of the center of gravity of the robot apparatus or an N-th order differential value of the position of the center of gravity as the kinematic state of the robot apparatus; target kinematic state calculating means for calculating a next-moment target kinematic state of the robot apparatus based on the solution to the equation of motion found by the real-time equation-of-motion solving means under the set boundary condition; and motion-pattern generating means for generating a motion pattern of the robot apparatus on the basis of the target kinematic state.