WALKING PATTERN CREATING DEVICE, BIPEDAL WALKING ROBOT DEVICE, WALKING PATTERN CREATING METHOD, METHOD OF CONTROLLING BIPEDAL WALKING ROBOT DEVICE, PROGRAM, AND RECORDING MEDIUM

PROBLEM TO BE SOLVED: To provide a walking pattern creating device which creates a walking pattern according to which a bipedal walking robot device of a parallel link mechanism performs stable bipedal walking. SOLUTION: The walking pattern creating device creates the walking pattern of the bipedal walking robot device formed of leg portions with foot portions (sole portions) and a lumbar portion. To create the walking pattern, a target zero moment point is set on the foot portion, and a moment compensating orbit of the lumbar portion is calculated depending on the set target zero moment point, followed by calculating a location of the foot portion in terms of lumbar coordinate systems, based on a lumbar coordinate system origin in absolute coordinate systems, and a foot coordinate system origin in the absolute coordinate systems. Further a rotation matrix representative of the position of the foot coordinate system origin in terms of the lumbar coordinate systems is calculated from a rotation matrix representative of the position of the foot coordinate systems in terms of the absolute coordinate systems, and a rotation matrix representative of the position of the lumbar coordinate systems in terms of the absolute coordinate systems, and then the position of the foot portion is calculated from the rotation matrix representative of the position of the foot coordinate system origin. COPYRIGHT: (C)2006,JPO&NCIPI