A floor shape estimation system for a legged mobile robot, in particular a biped
walking robot, which estimates a floor shape, more specifically a foot-to-foot
floor inclination difference based on at least a control error of the total floor
reaction force's moment and based on the estimated value and corrects a feet compensating
angle based on the estimated value. Further, the system estimates a floor shape,
more specifically a foot floor inclination difference based on at least a control
error of the foot floor reaction force about a desired foot floor reaction force
central point and corrects a foot compensating angle based on the estimated value.
With this, it can accurately estimate the shape of a floor with which the robot
is in contact. Further, if the floor shape is different from what has been supposed,
it can produce the floor reaction force as desired by absorbing the influence of difference.
