Gait generating system for mobile robot

A gait generating system for a mobile robot, when generating a desired gait of a mobile robot in a predetermined period, the system determining a normal gait parameter, which is composed of a set of a plurality of parameters defining a normal gait, which is a virtual cyclic gait following the desired gait, and generating the desired gait such that the desired gait approximates a normal gait generated using the determined normal gait parameter and a predetermined dynamic model of the mobile robot, comprising:

• n (n:
• an integer of 2 or more) dynamic models that include a motion/floor reaction force model representing a relationship between motions of the mobile robot and the floor reaction forces acting on the robot and that are constructed such that at least one of the motion/floor reaction force model, a restrictive condition added to a motion of the mobile robot in the motion/floor reaction force model, and a restrictive condition added to a floor reaction force in the motion/floor reaction force model is different from each other;
• a first normal gait parameter determining means for determining a first normal gait parameter, which is formed of a set of provisional values of the plurality of parameters, such that a normal gait generated using the first normal gait parameter and a first dynamic model, which is a predetermined dynamic model among the n dynamic models, satisfies a predetermined boundary condition;
• and
• a normal gait parameter correcting means for determining an m-th normal gait parameter, which is a normal gait parameter obtained by correcting a predetermined parameter to be corrected out of an (m−1)th normal gait parameter, from a second normal gait parameter to an n-th normal gait parameter in order by using an m-th dynamic model (m:
• integer satisfying 2≦m≦n), wherein each of n−1 dynamic models excluding the first dynamic model among the n dynamic models is defined as the m-th dynamic model,
• wherein the normal gait parameter correcting means comprises a means for determining, when the m-th normal gait parameter is determined, the m-th normal gait parameter by generating gaits for a period of at least one cycle of the normal gait by using the (m−1)th normal gait parameter and the m-th dynamic model and by correcting the parameter to be corrected out of the (m−1)th normal gait parameter on the basis of at least the degree of deviation before correction, which is the degree of deviation of the generated gait from the predetermined boundary condition, such that the degree of deviation after correction, which is the degree of deviation of a gait generated using the m-th normal gait parameter and the m-th dynamic model from the predetermined boundary condition, is smaller than the degree of deviation before correction or the degree of deviation after correction falls within a predetermined permissible range of the degree of deviation, and
• a desired gait in the predetermined period is generated such that the desired gait approximates a normal gait generated using an n-th normal gait parameter out of the determined m-th normal gait parameter and an n-th dynamic model.