CONTROL DEVICE FOR LEGGED MOBILE ROBOT

PROBLEM TO BE SOLVED: To provide a control device for a legged mobile robot capable of determining a contact state transition between the legged movable robot and an environment, in consideration of a six-dimensional force-moment to be applied by the environment, thus generating a robot motion. SOLUTION: This control device for a legged mobile robot comprising at least an upper body and a plurality of leg parts to be connected thereto, includes: means for calculating a six-dimensional force-moment which is applied thereto by the environment; means for calculating a projection cone in force-moment space in accordance with a predetermined robot motion; and means for determining whether the calculated six-dimensional force-moment is included in the projection cone to determine the contact state transition between the robot and the environment when a normal vector is not the same at a plurality of contact points. COPYRIGHT: (C)2009,JPO&INPIT