| abstract |
A system for controlling locomotion of a biped walking robot having a body and two articulated legs each connected to the body through a hip joint and having a knee joint and an ankle joint adjacent to a foot portion. The individual joints are provided with servo motors and target angle data is provided to the servo motor in time series at a predetermined interval. The actual inclination angle of the body is detected and is then compared with upper and lower limits. If the detected value is found to be out of either of the limits, a control value of the servo motor for the hip joint of the free leg lifted off of the ground is corrected in such a manner that the free leg lands forward if the robot tilts forward, for example. A control value for the supporting leg is also corrected. Moreover, the ankle joint's angle is detected with respect to the direction of gravity and the control value of the ankle joint is corrected in response to the detected value. In addition, when the body's inclination angle exceeds either of the limits, the time interval is changed such that the robot' s leg lands at a time earlier or later than the scheduled time. |