Information processing device and information processing method

An information processing method, comprising:

• calculating an amount of change in a landing point of a current swing leg of a plurality of legs of a robotic apparatus from a planned landing point position, wherein the landing point is a landing point position to which the current swing leg, of the robotic apparatus, is to land next;
• calculating an amount of change in a center of pressure of a first position of a center of pressure to be generated, by a current ground contact leg of the plurality of legs of the robotic apparatus, from a second position of a target center of pressure;
• calculating, based on the amount of change in the landing point, torque to be generated in each joint of the robotic apparatus, to land the current swing leg of the robotic apparatus at the landing point position;
• controlling an attitude and movement of the robotic apparatus, based on at least one of the calculated amount of change in the landing point, the calculated amount of change in the center of pressure, or the calculated torque to be generated in each joint of the robotic apparatus;
• and
• calculating, based on the amount of change in the landing point and the amount of change in the center of pressure, an equation of motion of a center of gravity of the robotic apparatus including a flight phase, wherein the flight phase corresponds to a phase in which none of the plurality of legs of the robotic apparatus is in contact with ground.

A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by a computer, cause the compute to execute operations, the operations comprising:

• calculating an amount of change in a landing point of a current swing leg of a plurality of legs of a robotic apparatus from a planned landing point position, wherein the landing point is a landing point position to which the current swing leg, of the robotic apparatus, is to land next;
• calculating an amount of change in a center of pressure of a first position of a center of pressure to be generated, by a current ground contact leg of the plurality of legs of the robotic apparatus, from a second position of a target center of pressure;
• calculating, based on the amount of change in the landing point, torque to be generated in each joint of the robotic apparatus, to land the current swing leg of the robotic apparatus at the landing point position;
• controlling an attitude and movement of the robotic apparatus, based on at least one of the calculated amount of change in the landing point, the calculated amount of change in the center of pressure, or the calculated torque to be generated in each joint of the robotic apparatus;
• and
• calculating, based on the amount of change in the landing point and the amount of change in the center of pressure, an equation of motion of a center of gravity of the robotic apparatus including a flight phase, wherein the flight phase corresponds to a phase in which none of the plurality of legs of the robotic apparatus is in contact with ground.