GAIT GENERATION SYSTEM OF LEGGED MOBILE ROBOT

In a gait generation system for a legged mobile robot, in particular a legged mobile robot having a body and a plurality of legs links each connected to the body through a joint, it is configured such that gaits comprising motion parameters and floor reaction force parameters are varied freely on a real-time basis during walking. In order to effect this, various standard gaits have been prepared on an off-line computer and an approximated value such as a weighted average thereof is calculated in response to a demand for gait, and gaits are generated. Moreover, the gaits are corrected using an inverted pendulum model such that positions and the velocities are continuous at the boundary of the gaits. With the arrangement, it becomes possible to generate gaits having the floor reaction force freely on a real-time basis to effect a stride or turning angle as desired. It also becomes possible to make the displacements and velocities of various portions of the robot continuous at the boundary of the gaits. In addition, it becomes possible to control the legged mobile robot based on the gaits thus generated on a real-time basis.