PROBLEM TO BE SOLVED: To determine an advancing direction with good accuracy before a swing leg is grounded.SOLUTION: A walking device of the present embodiment (a wearing type robot) takes the advancing direction as Y-axis, the plus direction as forward movement, and the negative direction as backward movement. A rear threshold position P1 in the rear at a predetermined distance from a standing leg and a front threshold position P2 in front at a predetermined distance are respectively taken as the reference positions. When a leg joint position of a swing leg passes the rear threshold position P1 or the front threshold position P2, the advancing direction is determined from the positive or negative velocity vector in the Y-direction. On the other hand, when both legs are not in the standing state, the advancing direction is determined in passing one or both of the rear threshold position P1 and the front threshold position P2, or in passing the passing reference position of the standing leg without any threshold.COPYRIGHT: (C)2014,JPO&INPIT【課題】遊脚が接地する前に精度良く進行方向を判定する。【解決手段】本実施形態の歩行装置(装着型ロボット)では、進行方向をY軸にとり、プラス方向を前進、マイナス方向を後進とする。そして立脚から所定距離後方に後方閾位置P1、所定距離前方に前方閾位置P2のそれぞれを基準位置とし、遊脚の足関節位置が、後方閾位置P1又は前方閾位置P2を通過した場合に、Y方向の速度ベクトルの正負から進行方向を判定する。一方、両脚が立脚状態でない場合には、後方閾位置P1、前方閾位置P2の何れか一方又は双方を通過する際、又は、閾値を設けない場合の立脚の通過基準位置を通過する際に進行方向を判定する。【選択図】図1
