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.


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    Title :

    Desired ZMP trajectory generating device for a mobile robot


    Contributors:

    Publication date :

    2018-05-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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