CONTROL DEVICE FOR LEGGED MOBILE ROBOT

PROBLEM TO BE SOLVED: To generate the operation of a legged mobile robot by determining a change of the contact condition of the legged mobile robot with environments, considering the six-dimensional force and moment applied to the robot from the environment.SOLUTION: This control device for a legged mobile robot includes: a means for measuring the environment based on signals from sensors mounted on the robot and for quantifying the environmental form based on the measured information; a means for calculating the six-dimensional force and moment as a target to generate the operation of the robot; and a means for computing the six-dimensional force and moment applied to the robot based on the acceleration of the center of gravity of the robot and the temporal differentiation of the angular movement amount around the center of gravity. In response to the given operation of the robot, the six-dimensional force and moment applied to the robot from the environment in contact of the robot with the environment is computed as a contact force convex polygonal pyramid in a force and moment space by using each normal vector in a plurality of contact points, and the change of the contact condition is determined based on whether the six-dimensional force and moment applied to the robot is included inside of the contact force convex polygonal pyramid or not.