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WALKING PATTERN FORMATION EQUIPMENT, BIPED WALKING ROBOT, WALKING PATTERN FORMATION METHOD, AND CONTROLLING METHOD, PROGRAM AND RECORDING MEDIUM FOR BIPED WALKING ROBOT
WALKING PATTERN FORMATION EQUIPMENT, BIPED WALKING ROBOT, WALKING PATTERN FORMATION METHOD, AND CONTROLLING METHOD, PROGRAM AND RECORDING MEDIUM FOR BIPED WALKING ROBOT
PROBLEM TO BE SOLVED: To provide a walking pattern formation system designed to form a pattern enabling a biped walking robot, based on a parallel link mechanism, to carry out stabilized bipedalism.;SOLUTION: The system is walking pattern formation equipment 2, capable of creating walking patterns for a biped walking robot 1, which comprises a unit of legs 6 with feet portions, and a waist unit 5. In this robot, a target zero moment point is set at its legs unit, and a moment compensation track for the waist unit 5 is calculated in accordance with the target zero moment point set.;COPYRIGHT: (C)2004,JPO
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