METHOD OF DETECTING DISTURBANCE FOR CONTROLLING OPERATION OF LEGGED ROBOT AND DEVICE THEREFOR

PROBLEM TO BE SOLVED: To provide a technology for detecting and compensating the falling resultant force of a legged robot. SOLUTION: The legged robot comprises an operation generating device having an inertia force detector capable of calculating a robot inertia force with respect to at least one axis among translating accelerations with respect to three axes and rotating angular accelerations with respect to three axes of the body of the legged robot or the equivalent robot inertia force, so generating operations that the robot does not fall on an expected floor surface, and outputting a sole force generated by the generated operations. A falling resultant force as a resultant force of a floor resultant falling force as a force to fall the legged robot by the floor surface due to the error of the floor surface expected by the operation generating device and the floor surface on which the legged robot actually stands and an external resultant falling force as a force acting on the body of the legged robot from the outside is detected by the addition and deduction of the inertia force detected by an inertia force detector and the sole force generated by the operation generating device, and the falling resultant force is compensated. COPYRIGHT: (C)2009,JPO&INPIT