To provide a control method for a leg type moving robot that can control a body attitude stability by using a ZMP stability judging model with a comparatively slow sampling cycle.
A ZMP position where both a pitch axis moment and a roll axis moment of a body are zero and a ZMP moving space defined by a floor reaction force that the body receives from a floor surface are defined. A ZMP stable position is obtained on the basis of the definition of the ZMP moving space. Transformation quantity or momentum of the body is produced so that the ZMP position is always made moved toward the center of a ZMP stable range by dynamically controlling a space distortion applied to the ZMP moving space according to contact conditions with a road surface. Consequently the attitude stabilizing control of the body can be made easily.
HATTORI YUICHI
YAMAGUCHI JINICHI
YAMAGUCHI JINICHI
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