Patent ID: 7379789

Claim:
A gait generating device for generating a desired gait of a legged mobile robot that travels by moving a plurality of legs extended from its body, comprising: permissible range setting means for setting a permissible range of a restriction object amount, the restriction object amount being a vertical component of a floor reaction force moment or a component of the floor reaction force moment in floor surface normal line direction, or a vertical component of an angular momentum changing rate of the robot or a component of the angular momentum changing rate in floor surface normal line direction, to be applied to the robot; provisional instantaneous value determining means for determining a provisional instantaneous value of a desired motion constituting the desired gait; model calculating means for supplying at least a provisional instantaneous value of the desired motion to a dynamic model that indicates a relationship between a motion of the robot and the restriction object amount so as to determine an instantaneous value of a model restriction object amount as an output of the dynamic model; and desired instantaneous value determining means for determining an instantaneous value of a desired motion by correcting the provisional instantaneous value of the desired motion such that at least the instantaneous value of the model restriction object amount falls within the permissible range.