The control device 41 includes a desired variable value determining unit (52a) which determines desired values of unknown variables composed of coefficients in respective terms of a polynomial function expressing a desired ZMP trajectory and a landing position correction amount for correcting a desired landing position of a leg from a reference desired landing position. The desired variable value determining unit (52a) uses an evaluation function having the coefficients in the polynomial function and the landing position correction amount as unknown variables, and a plurality of constraint conditions each configured by a linear equality or linear inequality regarding the unknown variables, to determine desired values of the unknown variables, by a solution method for a quadratic programming problem, in such a way as to minimize the value of the evaluation function.
Desired ZMP trajectory generating device
2020-11-17
Patent
Elektronische Ressource
Englisch
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