Gait generator of legged mobile robot

A gait generator for generating a desired gait for causing the legged mobile robot equipped with a plurality of leg bodies extended from its body to perform an operation for moving an external object while actuating the robot such that the desired gait is followed, the gait generator comprising:

• an object dynamic model representing a relationship between motions of the object and forces acting on the object;
• a disturbance force estimating means for estimating a disturbance force, other than a force acting on the object from the robot, of a force acting on an actual object while observing a behavior of the actual object when actuating the robot such that the desired gait is followed;
• a motion state amount provisionally determining means for provisionally determining a desired motion state amount that defines a desired motion trajectory of the object in a predetermined period after the present time on the basis of at least the moving plan of the object when generating a new desired gait to be followed by the robot;
• an object action force trajectory provisionally determining means for provisionally determining an object action force desired trajectory, which is a desired trajectory of a force to be applied to the object in the predetermined period after the present time, by inputting the provisionally determined desired motion state amount to the object dynamic model and by using the object dynamic model;
• a between-robot-and-object action force trajectory provisionally determining means for provisionally determining the trajectory of a desired action force between the robot and the object, which is a desired trajectory of an action force between the object and the robot in the predetermined period on the basis of the provisionally determined object action force desired trajectory and the estimated disturbance force;
• a robot gait provisionally generating means for provisionally determining a gait parameter to be used to generate a desired gait of the robot on the basis of at least a desired motion trajectory of the object defined by the provisionally determined desired motion state amount and the provisionally determined trajectory of the desired action force between the robot and the object, and for provisionally generating a desired gait of the robot in the predetermined period by using the provisionally determined gait parameter, the estimated disturbance force, and the provisionally determined desired action force between the robot and the object;
• a restrictive condition determining means for determining whether a predetermined geometric restrictive condition related to at least one of the object and the robot is satisfied on the basis of the desired motion trajectory of the object defined by the provisionally determined desired motion state amount and a motion trajectory of the provisionally generated desired gait of the robot;
• and
• a correcting means for selecting at least one of the moving plan, the provisionally determined gait parameter, and the desired motion trajectory of the object that is defined by the provisionally determined desired motion state amount as a correction target and for correcting the correction target so as to satisfy the geometric restrictive condition if the geometric restrictive condition is not satisfied,
• wherein the new desired gait is generated by using the correction target that has been corrected.