Gait generation device for legged mobile robot

• US 20050075755A1
• Filed: 12/27/2002
• Published: 04/07/2005
• Est. Priority Date: 12/28/2001
• Status: Active Grant

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Yoshiike, Takahide, Matsumoto, Takashi, Takenaka, Toru
• Granted Patent: US 7,319,918 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence

Abstract

A gait generation device includes means for setting a translation floor reaction force'"'"'s horizontal component (component concerning a friction force) applied to a robot 1, a limitation-target quantity, such as a ZMP, and an allowable range, means for determining at least a provisional instantaneous value of a desired floor reaction force and a provisional instantaneous value for a desired movement of the robot 1, and means that receives at least the provisional instantaneous value for the desired movement and determines a model floor reaction force instantaneous value with the aid of a dynamics model. Based on the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of the desired floor reaction force or the allowable range of the limitation-target quantity, the provisional instantaneous value for the desired movement is corrected so that the limitation-target quantity falls within the allowable range and a dynamical equilibrium condition on the dynamics model is satisfied, thereby determining a desired instantaneous value.

Claims

1. A gait generation device for generating a desired gait for a legged mobile robot that moves by operating a plurality of legs extending from a body, comprising:

allowable range setting means for setting an allowable range of a limitation-target quantity, the limitation-target quantity being at least any of a horizontal component of a translation floor reaction force or a floor-surface-parallel component of a translation floor reaction force applied to the robot or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot and a horizontal component of a floor reaction force moment or a ZMP;

provisional instantaneous value determining means for determining provisional instantaneous values of a desired movement and a desired floor reaction force of said desired gait;

model calculating means that inputs at least the provisional instantaneous value of said desired movement to a dynamics model to determine a model floor reaction force instantaneous value as an output of the dynamics model, the dynamics model representing a relationship between a movement and a floor reaction force of said robot; and

desired instantaneous value determining means for correcting the provisional instantaneous value of said desired movement to determine a desired instantaneous value of the desired movement based on at least the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of said desired floor reaction force and said allowable range,

wherein the desired instantaneous value determining means corrects the provisional instantaneous value of said desired movement in such a manner that said limitation-target quantity which corresponds to the instantaneous value of the floor reaction force substantially in balance with, in said dynamics model, the resultant force of an inertial force and gravity applied to the robot caused by the desired instantaneous value of the desired movement falls within said allowable range.

2. The gait generation device for a legged mobile robot according to claim 1, wherein model floor reaction force instantaneous values determined by said model calculating means include at least a model value of the horizontal component of the floor reaction force moment or the ZMP, provisional instantaneous values of said desired floor reaction force determined by said provisional instantaneous value determining means include at least a provisional desired instantaneous value of the horizontal component of the floor reaction force moment or the ZMP, and said difference used by said desired instantaneous value determining means is the difference between said model value of the horizontal component of the floor reaction force moment or the ZMP and the provisional desired instantaneous value of the horizontal component of the floor reaction force moment or the ZMP.

3. The gait generation device for a legged mobile robot according to claim 1, wherein said desired instantaneous value determining means determines, as the desired instantaneous value of the desired floor reaction force, the instantaneous value of the floor reaction force substantially in balance with, in said dynamics model, the resultant force of an inertial force and gravity applied to the robot caused by the desired instantaneous value of the desired movement.

4. The gait generation device for a legged mobile robot according to claim 1, wherein said desired instantaneous value determining means comprises:

a perturbation model that represents a relationship between a perturbation movement and a perturbation floor reaction force of said robot;

means for determining a perturbation model manipulating quantity for manipulating the perturbation floor reaction force of said perturbation model based on at least said difference and said allowable range;

means for determining a correction quantity for said desired movement by inputting the determined perturbation model manipulating quantity to said perturbation model; and

means for determining a desired instantaneous value of said desired movement by correcting the provisional instantaneous value of said desired movement with the correction quantity.

5. The gait generation device for a legged mobile robot according to claim 4, further comprising:

means for determining a required value of said perturbation model manipulating quantity in accordance with at least a state quantity of said perturbation model,

wherein said means for determining a perturbation model manipulating quantity determines the perturbation model manipulating quantity to be input to said perturbation model based on said difference, said allowable range and said required value.

6. The gait generation device for a legged mobile robot according to claim 5, further comprising:

means for successively determining the required value of said perturbation model manipulating quantity according to a feedback control law in accordance with a deviation of said state quantity of the perturbation model from a desired value of the state quantity.

7. The gait generation device for a legged mobile robot according to claim 4, wherein said perturbation model is a model that involves a plurality of perturbation movements having different perturbation ratios between the horizontal component of the translation floor reaction force and the horizontal component of the floor reaction force moment to said perturbation movement, said perturbation model manipulating quantity comprises a plurality of kinds of manipulating quantity associated with the respective perturbation movements, and said correction quantity for the desired movement comprises a plurality of kinds of correction quantity associated with the respective perturbation movements.

8. The gait generation device for a legged mobile robot according to claim 7, wherein said plurality of perturbation movements comprise a translation movement of the body of said robot and a posture varying movement in which the posture of a predetermined part of the robot is varied while keeping the center of gravity of the robot substantially unchanged.

9. The gait generation device for a legged mobile robot according to claim 7, wherein said plurality of perturbation movements comprise a translation horizontal movement of the body of said robot and a posture varying movement of the body of the robot.

10. The gait generation device for a legged mobile robot according to claim 7, wherein said limitation-target quantity is composed of a horizontal component of a translation floor reaction force or a floor-surface-parallel component of a translation floor reaction force applied to the robot or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot and a horizontal component of a floor reaction force moment or a ZMP.

11. The gait generation device for a legged mobile robot according to claim 4, wherein said perturbation model manipulating quantity comprises a first manipulating quantity component that is determined according to at least said difference and a second manipulating quantity component that is determined based on at least said allowable range, and

said means for determining a perturbation model manipulating quantity comprises:

means for determining an estimated value of said limitation-target quantity corresponding to the desired instantaneous value of the desired movement that is determined if only said first manipulating quantity component is input to said perturbation model;

means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and

means for determining said second manipulating quantity component based on at least the limited limitation-target quantity.

12. The gait generation device for a legged mobile robot according to claim 5, wherein said perturbation model manipulating quantity comprises a first manipulating quantity component that is determined according to at least said difference and a second manipulating quantity component that is determined based on at least said required value and said allowable range, and

said means for determining a perturbation model manipulating quantity comprises:

means for determining an estimated value of said limitation-target quantity corresponding to the desired instantaneous value of the desired movement that is determined if said second manipulating quantity component which is made to agree with said required value and said first manipulating quantity component are input to said perturbation model;

means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and

means for determining said second manipulating quantity component based on at least the limited limitation-target quantity.

13. The gait generation device for a legged mobile robot according to claim 11, wherein said limitation-target quantity comprises the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot, and

said means for determining a perturbation model manipulating means determines the estimated value of said limitation-target quantity using, as said model floor reaction force instantaneous value, the instantaneous value of the horizontal component of the translation floor reaction force or the instantaneous value of the floor-surface-parallel component of the translation floor reaction force determined by said dynamics model.

14. The gait generation device for a legged mobile robot according to claim 12, wherein said perturbation model is a model that involves a translation movement of the body of the robot and a posture varying movement of the body of the robot, said limitation-target quantity comprising the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force applied to the robot or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot and the horizontal component of the floor reaction force moment or the ZMP, and

said means for determining a limited limitation-target quantity determines each limited limitation-target quantity in such a manner that the variation of a manipulation quantity component of said second manipulating quantity component which is associated with said body posture varying movement from said required value is reduced to a minimum, and the variation of the limited limitation-target quantity from said estimated value is reduced to a minimum.

15. The gait generation device for a legged mobile robot according to claim 11, wherein said desired instantaneous value determining means determines the floor reaction force associated with said limited limitation-target quantity as the desired instantaneous value of said desired floor reaction force.

16. The gait generation device for a legged mobile robot according to claim 1, characterized in that said desired instantaneous value determining means comprises:

means for additionally inputting a correction quantity for correcting the provisional instantaneous value of said desired movement to said dynamics model; and

means for determining said correction quantity in such a manner that said limitation-target quantity associated with said model floor reaction force instantaneous value is substantially kept at a value within said allowable range and said difference is stabilized.

17. The gait generation device for a legged mobile robot according to claim 4, wherein said desired instantaneous value determining means comprises means for additionally inputting a correction quantity for said desired movement to said dynamics model, and said perturbation model manipulating quantity comprises a first manipulating quantity component that is determined according to at least said difference and a second manipulating quantity component that is determined based on at least said allowable range, and

said means for determining a perturbation model manipulating quantity comprises:

means for determining an estimated value of said limitation-target quantity corresponding to the model floor reaction force instantaneous value that is output from said dynamics model if only said first manipulating quantity component is input to said perturbation model;

means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and

means for determining said second manipulating quantity component based on at least the limited limitation-target quantity.

18. The gait generation device for a legged mobile robot according to claim 5, wherein said desired instantaneous value determining means comprises means for additionally inputting a correction quantity for said desired movement to said dynamics model, and said perturbation model manipulating quantity comprises a first manipulating quantity component that is determined according to at least said difference and a second manipulating quantity component that is determined based on at least said required value and said allowable range, and

said means for determining a perturbation model manipulating quantity comprises:

means for determining an estimated value of said limitation-target quantity corresponding to the model floor reaction force instantaneous value that is output from said dynamics model if said second manipulating quantity component which is made to agree with said required value and said first manipulating quantity component are input to said perturbation model;

means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and

means for determining said second manipulating quantity component based on at least the limited limitation-target quantity.

19. The gait generation device for a legged mobile robot according to claim 17, wherein said second manipulating quantity components include said horizontal component of the floor reaction force moment or the ZMP and said differences include at least the difference concerning the horizontal component of the floor reaction force moment or ZMP, and

said means for determining a perturbation model manipulating quantity comprises means for determining said first manipulating quantity component in such a manner that, the horizontal component of the floor reaction force moment or ZMP concerning said differences is substantially equal to the horizontal component of the floor reaction force moment or ZMP of said second manipulating quantity components.

20. The gait generation device for a legged mobile robot according to claim 17, wherein said limitation-target quantity comprises the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot, and

said means for determining a perturbation model manipulating quantity means determines the estimated value of said limitation-target quantity using, as said model floor reaction force instantaneous value, the instantaneous value of the horizontal component of the translation floor reaction force or the instantaneous value of the floor-surface-parallel component of the translation floor reaction force determined according to said dynamics model.

21. The gait generation device for a legged mobile robot according to claim 18, wherein said perturbation model is a model that involves a translation movement of the body of the robot and a posture varying movement of the body of the robot, said limitation-target quantity comprising the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force applied to the robot or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot and the horizontal component of the floor reaction force moment or the ZMP, and

said means for determining a limited limitation-target quantity determines each limited limitation-target quantity in such a manner that the variation of a manipulation quantity component of said second manipulating quantity components which is associated with said body posture varying movement from said required value is reduced to a minimum, and the variation of the limited limitation-target quantity from said estimated value is reduced to a minimum.

22. The gait generation device for a legged mobile robot according to claim 16, wherein said desired instantaneous value determining means determines said model floor reaction force instantaneous value as the desired instantaneous value of said desired floor reaction force.

43. The gait generation device for a legged mobile robot according to claim 12, wherein said limitation-target quantity comprises the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot, and

said means for determining a perturbation model manipulating means determines the estimated value of said limitation-target quantity using, as said model floor reaction force instantaneous value, the instantaneous value of the horizontal component of the translation floor reaction force or the instantaneous value of the floor-surface-parallel component of the translation floor reaction force determined by said dynamics model.

44. The gait generation device for a legged mobile robot according to claim 12, wherein said desired instantaneous value determining means determines the floor reaction force associated with said limited limitation-target quantity as the desired instantaneous value of said desired floor reaction force.

45. The gait generation device for a legged mobile robot according to claim 18, wherein said second manipulating quantity components include said horizontal component of the floor reaction force moment or the ZMP and said differences include at least the difference concerning the horizontal component of the floor reaction force moment or ZMP, and

said means for determining a perturbation model manipulating quantity comprises means for determining said first manipulating quantity component in such a manner that, the horizontal component of the floor reaction force moment or ZMP concerning said differences is substantially equal to the horizontal component of the floor reaction force moment or ZMP of said second manipulating quantity components.

46. The gait generation device for a legged mobile robot according to claim 18, wherein said limitation-target quantity comprises the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot, and

said means for determining a perturbation model manipulating quantity means determines the estimated value of said limitation-target quantity using, as said model floor reaction force instantaneous value, the instantaneous value of the horizontal component of the translation floor reaction force or the instantaneous value of the floor-surface-parallel component of the translation floor reaction force determined according to said dynamics model.

23. A gait generation device for generating a desired gait for a legged mobile robot that moves by operating a plurality of legs extending from a body, comprising:

allowable range setting means for setting an allowable range of a limitation-target quantity, the limitation-target quantity being at least any of a horizontal component of a translation floor reaction force or a floor-surface-parallel component of a translation floor reaction force applied to the robot or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot and a horizontal component of a floor reaction force moment or a ZMP;

desired floor reaction force'"'"'s provisional instantaneous value determining means for successively determining, of a desired movement and a desired floor reaction force of said desired gait, at least a provisional instantaneous value of the desired floor reaction force;

first model calculating means that inputs at least the provisional instantaneous value of the desired floor reaction force to a first dynamics model to determine a provisional instantaneous value of the desired movement as an output of the first dynamics model, the first dynamics model representing a relationship between a movement and a floor reaction force of said robot;

second model calculating means that inputs at least the provisional instantaneous value of said desired movement to a second dynamics model to determine a model floor reaction force instantaneous value as an output of the second dynamics model, the second dynamics model representing a relationship between a movement and a floor reaction force of said robot; and

first model input correcting means that determines a correction quantity of said desired floor reaction force based on at least the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of said desired floor reaction force and said allowable range in such a manner that said limitation-target quantity corresponding to said model floor reaction force instantaneous value that is output from said second dynamics model falls within said allowable range and additionally inputs the determined correction quantity to said first dynamics model, wherein

the desired instantaneous value of said desired movement is determined based on at least the input to said second dynamics model.

24. The gait generation device for a legged mobile robot according to claim 23, wherein model floor reaction force instantaneous values determined by said second model calculating means include at least a model value of the horizontal component of the floor reaction force moment or the ZMP, the provisional instantaneous values of said desired floor reaction force determined by said provisional instantaneous value determining means include at least a provisional desired instantaneous value of the horizontal component of the floor reaction force moment or the ZMP, and said difference used by said first model input correcting means is the difference between said model value of the horizontal component of the floor reaction force moment or the ZMP and the provisional desired instantaneous value of the horizontal component of the floor reaction force moment or the ZMP.

25. The gait generation device for a legged mobile robot according to claim 23, wherein said desired instantaneous value determining means determines said model floor reaction force instantaneous value output from said second dynamics model as the desired instantaneous value of said desired floor reaction force.

26. The gait generation device for a legged mobile robot according to claim 23, further comprising:

means for determining a required value of the correction quantity of said desired floor reaction force,

wherein the correction quantity of said desired floor reaction force determined by said first model input correcting means comprises a first correction quantity component that is determined according to at least said difference and a second correction quantity component that is determined based on at least said required value and said allowable range,

said first model input correcting means comprises;

means for determining an estimated value of said limitation-target quantity corresponding to the model floor reaction force instantaneous value that is output from said second dynamics model if said second correction quantity component which is made to agree with said required value and said first correction quantity component are additionally input to said first dynamics model;

means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and

means for determining said second correction quantity component based on at least the limited limitation-target quantity.

27. The gait generation device for a legged mobile robot according to claim 23, further comprising:

second model input correcting means that determines a correction quantity for said desired movement based on at least said difference and said allowable range, and additionally inputs the determined correction quantity to said second dynamics model.

28. The gait generation device for a legged mobile robot according to claim 27, further comprising:

a perturbation model that represents a relationship between a perturbation movement and a perturbation floor reaction force of said robot;

means for determining a floor reaction force manipulating quantity based on at least said difference and said allowable range; and

distributor means for separating the determined floor reaction force manipulating quantity into a correction quantity of said desired floor reaction force that is to be input to said first dynamics model and a perturbation model manipulating quantity that is to be input to said perturbation model, wherein said second model input correcting means determines the correction quantity for said desired movement by inputting said perturbation model manipulating quantity to said perturbation model.

29. The gait generation device for a legged mobile robot according to claim 28, further comprising:

means for determining a required value of said floor reaction force manipulating quantity in accordance with at least a state quantity of said perturbation model,

wherein said means for determining a floor reaction force manipulating quantity determines the floor reaction force manipulating quantity to be supplied to said distributor means based on said difference, said allowable range and said required value.

30. The gait generation device for a legged mobile robot according to claim 29, further comprising:

means for successively determining the required value of said floor reaction force manipulating quantity according to a feedback control law in accordance with a deviation of said state quantity of the perturbation model from a desired value of the state quantity.

31. The gait generation device for a legged mobile robot according to claim 28, wherein said perturbation model is a model that involves a plurality of perturbation movements having different perturbation ratios between the horizontal component of the translation floor reaction force and the horizontal component of the floor reaction force moment to said perturbation movement, said floor reaction force manipulating quantity comprises a plurality of kinds of manipulating quantity associated with the respective perturbation movements, and said correction quantity for the desired movement determined by said second model input correcting means comprises a plurality of kinds of correction quantity associated with the respective perturbation movements.

32. The gait generation device for a legged mobile robot according to claim 31, wherein said plurality of perturbation movements comprise a translation movement of the body of said robot and a posture varying movement in which the posture of a predetermined part of the robot is varied while keeping the center of gravity of the robot substantially unchanged.

33. The gait generation device for a legged mobile robot according to claim 31, wherein said plurality of perturbation movements comprise a translation horizontal movement of the body of said robot and a posture varying movement of the body of the robot.

34. The gait generation device for a legged mobile robot according to claim 31, wherein said limitation-target quantity is composed of a horizontal component of a translation floor reaction force or a floor-surface-parallel component of a translation floor reaction force applied to the robot or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot and a horizontal component of the floor reaction force moment or a ZMP.

35. The gait generation device for a legged mobile robot according to claim 28, wherein said floor reaction force manipulating quantity comprises a first manipulating quantity component that is determined according to at least said difference and a second manipulating quantity component that is determined based on at least said allowable range, and

said means for determining a floor reaction force manipulating quantity comprises:

means for determining an estimated value of said limitation-target quantity corresponding to the model floor reaction force instantaneous value that is output from said second dynamics model if only said first manipulating quantity component is input to said distributor means;

means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and

means for determining said second manipulating quantity component based on at least the limited limitation-target quantity.

36. The gait generation device for a legged mobile robot according to claim 29, wherein said floor reaction force manipulating quantity comprises a first manipulating quantity component that is determined according to at least said difference and a second manipulating quantity component that is determined based on at least said required value and said allowable range, and

said means for determining a floor reaction force manipulating quantity comprises:

means for determining an estimated value of said limitation-target quantity corresponding to the model floor reaction force instantaneous value that is output from said second dynamics model if said second manipulating quantity component which is made to agree with said required value and said first manipulating quantity component are input to said distributor means;

means for determining a limited limitation-target quantity by comparing the determined estimated value of the limitation-target quantity with said allowable range and limiting the limitation-target quantity within the allowable range based on the result of comparison; and

means for determining said second manipulating quantity component based on at least the limited limitation-target quantity.

37. The gait generation device for a legged mobile robot according to claim 35, wherein said second manipulating quantity components include said horizontal component of the floor reaction force moment or the ZMP and said differences include at least the difference concerning the horizontal component of the floor reaction force moment or ZMP, and

said means for determining a perturbation model manipulating quantity comprises means for determining said first manipulating quantity component in such a manner that, the horizontal component of the floor reaction force moment or ZMP concerning said differences is substantially equal to the horizontal component of the floor reaction force moment or ZMP of said second manipulating quantity components.

38. The gait generation device for a legged mobile robot according to claim 35, wherein said limitation-target quantity comprises said horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot, and

said means for determining a floor reaction force manipulating means determines the estimated value of said limitation-target quantity using, as said model floor reaction force instantaneous value, the instantaneous value of the horizontal component of the translation floor reaction force or the instantaneous value of the floor-surface-parallel component of the translation floor reaction force determined by said dynamics model.

39. The gait generation device for a legged mobile robot according to claim 36, wherein said perturbation model is a model that involves a translation movement of the body of the robot and a posture varying movement of the body of the robot, said limitation-target quantity comprising the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force applied to the robot or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot and the horizontal component of the floor reaction force moment or the ZMP, and

said means for determining a limited limitation-target quantity determines each limited limitation-target quantity in such a manner that the variation of a manipulation quantity component of said second manipulating quantity components which is associated with said body posture varying movement from said required value is reduced to a minimum, and the variation of the limited limitation-target quantity from said estimated value is reduced to a minimum.

42. The gait generation device for a legged mobile robot according to claim 26, further comprising:

third model calculating means that inputs at least the provisional instantaneous value of said desired floor reaction force to a third dynamics model, which represents a relationship between a movement and a floor reaction force of said robot, to determine a third provisional instantaneous value of the desired movement as an output of the third dynamics model,

wherein said means for determining a required value of the correction quantity of said desired floor reaction force determines said required value based on the difference between said determined desired instantaneous value of said desired movement and said third provisional instantaneous value of said desired movement in such a manner that the difference is close to 0.

47. The gait generation device for a legged mobile robot according to claim 36, wherein said second manipulating quantity components include said horizontal component of the floor reaction force moment or the ZMP and said differences include at least the difference concerning the horizontal component of the floor reaction force moment or ZMP, and

said means for determining a perturbation model manipulating quantity comprises means for determining said first manipulating quantity component in such a manner that, the horizontal component of the floor reaction force moment or ZMP concerning said differences is substantially equal to the horizontal component of the floor reaction force moment or ZMP of said second manipulating quantity components.

48. The gait generation device for a legged mobile robot according to claim 36, wherein said limitation-target quantity comprises said horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration of the robot, and

said means for determining a floor reaction force manipulating means determines the estimated value of said limitation-target quantity using, as said model floor reaction force instantaneous value, the instantaneous value of the horizontal component of the translation floor reaction force or the instantaneous value of the floor-surface-parallel component of the translation floor reaction force determined by said dynamics model.

40. A gait generation device for generating a desired gait for a legged mobile robot that moves by operating a plurality of legs extending from a body, comprising:

allowable range setting means for setting an allowable range of a limitation-target quantity, the limitation-target quantity being at least any of a horizontal component of a translation floor reaction force or a floor-surface-parallel component of a translation floor reaction force applied to the robot or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot and a horizontal component of the floor reaction force moment or a ZMP;

desired floor reaction force'"'"'s provisional instantaneous value determining means for successively determining, of a desired movement and a desired floor reaction force of said desired gait, at least a provisional instantaneous value of the desired floor reaction force;

first model calculating means that inputs at least the provisional instantaneous value of the desired floor reaction force to a first dynamics model to determine a first provisional instantaneous value of the desired movement as an output of the first dynamics model, the first dynamics model representing a relationship between a movement and a floor reaction force of said robot; and

second model calculating means that inputs at least the provisional instantaneous value of said desired floor reaction force to a second dynamics model, which represents a relationship between a movement and a floor reaction force of said robot, to determine a second provisional instantaneous value of the desired movement as an output of the second dynamics model in such a manner that said limitation-target quantity corresponding to the floor reaction force instantaneous value that is, in said second dynamics model, substantially in balance with the resultant force of the inertial force and center-of-gravity applied to the robot caused by the second provisional instantaneous value of the desired movement falls within said allowable range;

manipulating quantity calculating means for determining the floor reaction force manipulating quantity based on at least the difference between the first provisional instantaneous value and the second provisional instantaneous value of said desired movement in such a manner that the difference is close to 0; and

model input correcting means for additionally inputting the floor reaction force manipulating quantity to at least any one of said first dynamics model and said second dynamics model,

wherein the second provisional instantaneous value of said desired movement is determined as the desired instantaneous value of the desired movement.

41. The gait generation device for a legged mobile robot according to claim 40, wherein differences between the first provisional instantaneous value and the second provisional instantaneous value of said desired movement include a difference of the position of a predetermined part of said robot, or include a difference of the position of the center of gravity of the robot and a difference of the posture of a predetermined part of the robot.