Patent ID: 6992456

Claim:
A biped walking mobile system comprising; a main body having at both sides of its lower part a pair of leg portions attached thereto so as to be each pivotally movable biaxially, each of the leg portions having a knee portion in its midway and a foot portion at its lower end, the foot portions being attached to their corresponding leg portions so as to be pivotally movable biaxially, the joint portions supporting said leg, knee, and foot portions for pivotally moving them, respectively, a drive means for pivotally moving said joint portions, and a walk controller forming gait data corresponding to desired motion, and drive-controlling said drive means based on said gait data, wherein said walk controller switches the mode to a powered mode for kick-up and landing during walking action, and switches to a passive mode for free foot state, thereby drive-controlling the joint portions of knee and foot portions, and said walk controller conducts compliance control in the passive mode.