To provide a leg type robot and its walking control method, for performing stable walking without using a tiptoe sensor.
This leg type robot has a body trunk, a leg link rockably connected to the body trunk, a means 210 for storing tiptoe walking figure data for describing a change with the lapse of time of target tiptoe motion, a means 210 for storing body trunk walking figure data for describing a change with the lapse of time of target body trunk motion for realizing target ZMP for following a change in a target tiptoe position, a body trunk motion detecting means 218 for detecting actual body trunk motion, a deviation calculating means 312 for calculating a deviation between the target body trunk motion and the actual body trunk motion, a correction quantity calculating means 308 for determining a correction quantity on the basis of a predetermined transfer function from the calculated deviation, and a correcting means 306 for correcting data for describing the target body trunk motion on the basis of the determined correction quantity.
SUGIHARA HISAYOSHI
SUGA KEISUKE
TSUSAKA YUJI
TAJIMA RYUSUKE
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