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AssigneeOsaka University
InventorsMitsunori Uemura, Fumio Miyazaki, Hiroaki Hirai
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A walking robot (1) includes a body (20) joined with an upper part of two legs (10) so that the body has a changeable posture relative to the legs; and a posture control unit (105, 106, 107) configured to control a posture of the body stably in accordance with states of the legs (10) and the body (20). The walking robot includes: a state calculation unit (101, 102, 103) configured to calculate periodically, from angular information on the legs (10) and the body (20), angular momentum p1 around a lower end of the leg in a stance phase and integral pI1 of the angular momentum; and a stabilization determination unit (104) configured to determine whether the calculated angular momentum p1 and integral pI1 are approaching or getting away from target values, and output a result of the determination to the posture control unit (105, 106, 107).
A legged mechanism, comprising:
A method for controlling a posture of a legged mechanism, the legged mechanism comprising:
A non-transitory computer readable medium having stored thereon a program, the program being to control a posture of a body stably, the body being joined with an upper part of at least one leg so that the body has a changeable posture relative to the leg, the control being performed in accordance with states of the leg and the body, the program making a computer execute:
Dependencies are inferred from the claim text.