A device for generating a desired ZMP trajectory for a mobile robot includes a polynomial function coefficient group determining section (53a) which determines, by regarding the desired ZMP trajectory as a trajectory expressed by a polynomial function, a desired coefficient group composed of desired values of coefficients in respective terms of the polynomial function. The polynomial function coefficient group determining section uses a quadratic evaluation function including square values of the coefficients included in the desired coefficient group as variables and a plurality of constraint conditions each configured by a linear equality or linear inequality about the coefficients, to determine the desired coefficient group, by a solution method for a quadratic programming problem, in such a way as to minimize a value of the evaluation function while fulfilling the constraint conditions.
Desired ZMP trajectory generating device for a mobile robot
2018-05-01
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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