Robot device , legged locomotion robot operation control device and operation control method, legged locomotion robot sensor system, and locomotion device

A robot device including a basic unit and moving units connected to the basic unit, the device comprising:

• a plurality of controlled-object points provided on the basic unit and at least one of the moving units;
• a target trajectory setting means for setting a target trajectory for each of the controlled-object points;
• a priority-order setting means for setting a priority order of the controlled-object points;
• and
• a whole-body movement pattern generating means for generating a desired whole-body movement pattern on the basis of the target priority of each of the controlled-object points,
• the whole-body movement pattern generating means generating a whole-body movement pattern by correcting all or a part of the target trajectories on the basis of the order of priority.

A sensor system for a legged locomotion robot having at least a plurality of moving legs, the system comprising:

• a reaction force sensor system disposed at a point of contact with the surrounding to directly measure a ZMP and force;
• a local coordinate for movement control and an acceleration sensor and angular velocity sensor to directly measure the coordinate;
• and
• an acceleration sensor and attitude sensor, disposed in each vector position used in a calculation model.

A mobile device including a basic unit and a plurality of moving members connected to the basic unit, the device comprising:

• driving means for driving the moving members;
• acceleration detecting means provided at the basic unit and at least one of the moving members;
• and
• a controlling means for controlling the driving means on the basis of acceleration information from each of the acceleration detecting means.