A legged mobile robot of the present invention controls the posture of the body thereof in a stable manner using a ZMP stability determination criterion with a relatively long sampling period. The legged mobile robot has a stable ZMP region which is a supporting polygon formed of the ground contact point of a sole of a movable leg and a walking surface, and a ZMP behavior space in which a momentum of the robot body is generated so that the ZMP shifts to the approximate center of the stable ZMP region. In the ZMP behavior space, the momentum of the robot shifts in a positive direction or in a negative direction. In the negative direction, a space distortion shifts the ZMP to the periphery of the stable region, and in the positive direction, a space distortion shifts the ZMP to the center of the stable region.
LEGGED MOBILE ROBOT AND CONTROL METHOD THEREOF, LEG STRUCTURE OF LEGGED MOBILE ROBOT, AND MOBILE LEG UNIT FOR LEGGED MOBILE ROBOT
BEWEGLICHER ROBOTER MIT BEINEN UND STEUERVERFAHREN, BEINKONSTRUKTION UND BEINFREIHEIT FÜR EINEN SOLCHEN ROBOTER
ROBOT MOBILE A DEUX JAMBES ET SON PROCEDE DE COMMANDE, SA STRUCTURE JAMBES, ET UNITE JAMBE MOBILE DESTINEE A CE ROBOT
2016-09-14
Patent
Electronic Resource
English
FOOT STRUCTURE OF LEGGED MOBILE ROBOT, AND LEGGED MOBILE ROBOT
European Patent Office | 2022
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