A walking robot (1) includes a body (20) joined with an upper part of two legs (10) so that the body has a changeable posture relative to the legs; and a posture control unit (105, 106, 107) configured to control a posture of the body stably in accordance with states of the legs (10) and the body (20). The walking robot includes: a state calculation unit (101, 102, 103) configured to calculate periodically, from angular information on the legs (10) and the body (20), angular momentum p1 around a lower end of the leg in a stance phase and integral pI1 of the angular momentum; and a stabilization determination unit (104) configured to determine whether the calculated angular momentum p1 and integral pI1 are approaching or getting away from target values, and output a result of the determination to the posture control unit (105, 106, 107).


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    Title :

    Legged mechanism, walking robot, method for controlling posture, and recording medium


    Contributors:

    Publication date :

    2020-03-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS



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