Patent ID: 7801643

Claim:
A legged mobile robot which comprises upper and lower bodies relatively turnable about a vertical axis, right and left arms extended from both right and left sides of the upper body, and right and left legs extended downward from the lower body, and the robot advancing by moving a first leg predetermined portion, the first leg predetermined portion located farther toward a distal end than a proximal portion of a first leg is located, to the front from the rear relative to the proximal portion of the first leg and also by moving a second leg predetermined portion, the second predetermined leg portion located farther toward the distal end than the proximal portion of a second leg is located, to the rear from the front of the proximal portion of the second leg during a period from the instant the first leg becomes a free leg to the instant the first leg becomes a supporting leg, wherein a motion is controlled such that the proximal portion of the first leg is moved to the front from the rear of the proximal portion relative to the second leg, a proximal portion of a first arm adjacent to the first leg is moved to the rear from the front of a proximal portion of a second arm adjacent to the second leg, a first arm predetermined portion, the first arm predetermined portion located farther toward a distal end than the proximal portion of the first arm is located, is moved to the rear from the front of the proximal portion of the first arm, and a second arm predetermined portion, the second arm predetermined portion located farther toward a distal end than the proximal portion of the second arm is located, is moved to the front from the rear relative to the proximal portion of the second arm during a period from the instant the first leg becomes a free leg to the instant the first leg becomes a supporting leg.