Patent ID: 7860611

Claim:
A control device that generates a desired gait of a legged mobile robot that travels by moving a plurality of legs extended from its body, and controls an operation of the robot so as to make the robot follow the desired gait, comprising: means for determining a compensating floor reaction force moment, which is an additional floor reaction force moment for bringing a difference between a desired state amount related to a posture of the robot about a vertical axis or a floor surface normal line axis and an actual state of the robot close to zero on the basis of at least the difference; 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 to be applied to a robot in operation, following the desired gait; provisional instantaneous value determining means for determining a provisional instantaneous value of a desired motion constituting the desired gait; model calculating means that inputs at least a provisional instantaneous value of the desired motion to a dynamic model representing a relationship between a motion of the robot and a vertical component or a component in floor surface normal line direction of a floor reaction force moment balancing with the motion so as to determine a vertical component or a component in floor surface normal line direction of a floor reaction force moment as an output of the dynamic model, and then determines an instantaneous value of a model restriction object amount, which is a provisional instantaneous value of the restriction object amount by carrying out predetermined calculation from the determined vertical component or the component in floor surface normal line direction and the compensating floor reaction force moment; and desired instantaneous value determining means for determining an instantaneous value of the desired motion by correcting a 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.