To generate a stable motion pattern to transfer between grounding/non-grounding in real time.
An equation of motion with a boundary condition concerning a center of gravity horizontal track of a robot in the future is solved so as to be continuously connected to current center of gravity horizontal position/speed under a condition that a moment around a horizontal shaft around a point within a supporting polygon at the time of grounding is zero or translational force in the horizontal direction at the time of non-grounding is zero, the equation of motion with the boundary condition concerning a center of gravity vertical track of the robot in the future is solved so as to be continuously connected to current center of gravity vertical position/speed under a condition that the translational force in the vertical direction working on other than gravitation at the time of non-grounding becomes zero, and a condition of motion of following time is decided so as to realize the decided center of gravity position as a moment around a center of gravity moment at the time of non-grounding becomes zero.
Eiji Yamada
Toshio Sawada