To provide a leg type robot capable of smoothly walking on a walking surface where its irregularity is unknown.
Data of a target position attitude angle for a foot sole part of a leg section 11 to an imaginary walking surface is included in walking data. A target distance calculating section 106 calculates a target distance between the foot sole part and imaginary walking surface from the walking data. A distance sensor 50 measures a distance between the real foot sole part and real walking surface. A distance deviation calculating means 106 calculates a deviation between the target distance and measured distance. A compensated amount calculating means 110 calculates an amount of compensation for compensating the target position attitude angle of the foot sole part in a direction where its deviation is lessened. A motor driver 116 drives a joint of the leg section so that the foot sole part can follow the target position attitude angle which adds the amount of compensation. Motions of the foot sole part to the real walking surface can be brought near the motions of the foot sole part to the walking surface in the walking figure data by reducing the distance deviation. Then, walking motions close to smooth walking motions in the walking data can be realized.
SUGA KEISUKE
MURAYAMA HIDEYUKI
KIKUCHI MITSUGI
TSUSAKA YUJI
TOYOTA CENTRAL RES & DEV
| JPH05305585A | 1993-11-19 | |||
| JP2005177884A | 2005-07-07 | |||
| JP2005118918A | 2005-05-12 |