To reduce load received by a leg when separated from a floor and touching the floor in motion such as running or jumping with the control of a foot flat part at the tip of the leg.
When the leg is close to a peculiar posture such as a stretched-out state in separating the foot flat part from the floor or touching the floor, the angular velocity of a joint angle θ of a robot becomes infinite, and load to the joint becomes excessive. The touch-down restricting conditions of a foot part are therefore set to enlarge the operable degree of the leg. The load received by each joint of the leg when the foot flat part is separated from the floor or touches the floor is thereby reduced. Further, the posture of the foot part is determined to minimize or reduce potential energy based on the micro variation amount of each joint.
| JP4919467 | Activity support device |
| JP2002086378 | SYSTEM AND METHOD FOR TEACHING MOVEMENT TO LEG TYPE ROBOT |
| JP2006116679 | MOBILE ROBOT FURNISHED WITH DRIP-PROOF STRUCTURE |
| JPH05305585A | 1993-11-19 |
Eiji Yamada
Toshio Sawada
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