Motion controller and motion control method for legged walking robot, and robot apparatus

A method for controlling a motion of a robot that comprises at least upper limbs, a trunk, and lower limbs and that performs a legged locomotion with the lower limbs, the controller comprising the steps of:

• setting motions of at least one of the upper limbs, the trunk, and the lower limbs;
• calculating a yaw-axis moment of the body of the legged walking robot, the moment being generated at a preset ZMP by the set motions of the upper limbs, the trunk, and the lower limbs;
• calculating a motion of the upper limbs for canceling the yaw-axis moment;
• and
• modifying the set motions of the upper limbs, the trunk, and the lower limbs in accordance with the calculated motion of the upper limbs.

A robot apparatus comprising:

• at least upper limbs, a trunk, and lower limbs with which the robot apparatus performs a legged locomotion;
• means for setting a motion pattern of the robot;
• means for calculating a yaw-axis moment of the robot body, the moment being generated at a preset ZMP by the set motion pattern;
• means for calculating a motion pattern of the upper limbs for reducing the calculated yaw-axis moment;
• and
• means for modifying the set motion pattern in accordance with the calculated motion pattern of the upper limbs.