Patent ID: 7860613

Claim:
A legged mobile robot which has a base body, a plurality of legs extended downward from the base body, and a compliance mechanism for easing a landing impact to each leg, and which travels by motions of each leg, involving the landing and leaving of a ground contacting portion of a distal end of each leg onto and from a floor, comprising: a leg controlling means which controls the operation of the leg such that a ground contacting portion lands onto a floor at a predetermined velocity in a vertical direction downward or in a direction perpendicular to the floor surface downward, and a desired floor reaction force setting means which sets a desired value of a floor reaction force acting on the ground contacting portion as a desired floor reaction force, wherein the leg controlling means determines the predetermined velocity on the basis of the change rate of the amount of deformation of the compliance mechanism in the vertical direction or the direction perpendicular to the floor surface, which occurs immediately after the landing of the ground contacting portion of the leg due to the desired floor reaction force set by the desired floor reaction force setting means, and controls the motions of the leg such that the velocity of the ground contacting portion in the vertical direction downward or the direction perpendicular to the floor surface downward reaches the predetermined velocity by the landing.