Control device for mobile robot

A control device for a mobile robot having a plurality of movable links extended from a body, each movable link of the plurality of movable links having a predetermined site as a contacting portion and being configured to move with respect to the body by an action of one or more joints disposed between a distal end of the movable link and the body, the mobile robot moving with a motion including an operation in which at least one of the movable links of the plurality of movable links is moved in the air, not in contact with an external object, and a succeeding operation in which the contacting portion of the at least one of the movable links of the plurality of movable links is brought into contact with the external object, the control device comprising:

• a contacting portion displacement manipulated variable determination section which, for the contacting portion of each of the plurality of movable links,
• sequentially acquires an observed value of a contact reaction force actually acting on the contacting portion from the external object and sequentially acquires a desired value of the contact reaction force,
• sequentially performs a determination process to determine whether or not at least one of a first condition and a second condition has been satisfied, the first condition being a condition that the contacting portion is actually in contact with the external object, and the second condition being a condition that that a desired motional state of the contacting portion indicated by an operational goal for the mobile robot is a state in which the contacting portion is to be brought into contact with the external object, and
• performs, for each contacting portion for which a result of the determination process becomes positive, either one integration processing of integrating a first deviation or integrating a second deviation, to sequentially determine a first displacement manipulated variable for making a desired position and/or posture of the contacting portion displaced from a position and/or posture indicated by the operational goal for the mobile robot so as to cause the observed value of the contact reaction force acting on the contacting portion to approach the desired value, wherein the first deviation is a deviation between the observed value and the desired value of the contact reaction force acting on the contacting portion, and the second deviation is a deviation between a first deviation corresponding to each contacting portion and an average value of first deviations corresponding respectively to all contacting portions for which each of results of the determination process becomes positive;
• and
• an actuator controlling section which sequentially determines a desired displacement amount of each joint of the mobile robot, in accordance with at least the operational goal for the mobile robot and the first displacement manipulated variable determined, to control an actuator that drives a corresponding joint, in accordance with the desired displacement amount.