Locomotion control system for legged mobile robot

A system for controlling locomotion of a legged walking robot made up of at least one linkage connecting a joint by links, comprising:

• first means for predesigning a model of the robot to determine a target angle of the joint;
• second means for determining a control value in response to the determined target angle of the joint;
• third means for detecting moment or force acting on the joint or the linkage to estimate deformation thereof;
• control mans for correcting the control value to compensate the deformation;
• servo motor means for driving the joint in response to the corrected control value;
• fourth means for determining an amount of rigidity of the joint or linkage and said servo motor means to obtain a first value having a relationship with the reciprocal number of the amount of rigidity;
• and said control means corrects the control value by a second value obtained by multiplying the detected moment or force by the first value to compensate the deformation.

A system for controlling locomotion of a legged walking robot having a plurality of leg linkages each having at least one joint, comprising:

• first means for designing a first mathematical model of the robot to determine target angles of the joints, the first mathematical model having ideal rigidity;
• second means for determining control values in response to the determined target angles of the joints;
• third means for predesigning a second mathematical model of the joints in spring/damper/mass system and for detecting moment or force acting on the joints or the linkages to estimate deformation thereof;
• fourth means for determining an amount of actual rigidity of the joints or the linkages to obtain a feedback compensation gain;
• fifth means for multiplying the detected moment or force by the feedback compensation gain to determine a correction value;
• control means for correcting control values in response to the correction value;
• and
• servo motor means for driving the joints in response to the corrected control values.