Patent ID: 7991508

Claim:
A gait generating system of a legged mobile robot equipped with a plurality of legs extended from a body, the system comprising: an external force trajectory provisionally determining element configured to provisionally determine a desired trajectory of an external force to be applied to the robot other than a floor reaction force; a current time gait parameter provisionally determining element configured to provisionally determine a current time gait parameter that includes at least parameters that define a motion trajectory of a leg and trajectories of a floor reaction force and the external force to be applied to the robot in a current time gait, which is a desired gait of the robot for a predetermined period to be newly created, on the basis of at least a requirement related to a motion of the leg of the robot and the desired trajectory of the external force that has been provisionally determined, said predetermined period being a period corresponding to a one-step period of robot travel; a cyclic gait parameter determining element configured to determine a cyclic gait parameter that includes at least parameters that define a motion trajectory of a leg and trajectories of a floor reaction force and an external force to be applied to the robot in a virtual cyclic gait following the current time gait on the basis of at least the requirement and the desired trajectory of the external force that has been provisionally determined, a cyclic gait associated with the cyclic gait parameter and the virtual cyclic gait being a gait for two steps of the robot; a parameter correcting element configured to determine a current time gait parameter by correcting at least one parameter of the provisionally determined current time gait parameter so as to satisfy a condition that a motion trajectory of the body of the robot determined on the basis of a robot dynamic model and the current time gait parameter converges to a motion trajectory of the body of the robot determined on the basis of the dynamic model and the cyclic gait parameter, wherein the robot dynamic model represents a relationship between a floor reaction force and an external force acting on the robot and a motion of the robot; and a current time gait instantaneous value determining element configured to sequentially determine an instantaneous value of the current time gait on the basis of at least the corrected current time gait parameter.