GAIT GENERATION SYSTEM OF LEGGED MOBILE ROBOT

A gait generation system of a biped mobile robot having a body and two articulated legs each having a foot at its distal end connected by an ankle joint. The system has two or three models approximating a deviation of displacement (position) and velocity of the body and the ZMP indicative of the floor reaction force acting on the robot. In the system, two gaits for a robot walking step are generated. If there is a discontinuity of the body position or velocity or the ZMP in the gait boundary, the models are manipulated to cancel the discontinuity. The output of the models are calculated from the input, and based on the input and output, the gaits are corrected. The models are designed to stop at every two walking steps so as to avoid calculation errors from being accumulated.