Patent ID: 8761926

Claim:
A robot control apparatus for controlling robot walking comprising: a walking motion control unit that, based on a plurality of postures corresponding to different points of time and at least including a reference posture when a robot is independently standing without falling down, generates control information and controls the robot so that the robot performs a predetermined walking motion; and a reflex control unit that determines whether, during the control performed by the walking motion control unit, a value of a gyro index is larger than a predetermined threshold value and, when the value of the gyro index is larger than the predetermined threshold value, performs a reflex control processing by determining whether a ZMP is within a predetermined stability domain and, when the ZMP is not within the predetermined stability domain, stopping the walking motion, increasing a rolling amplitude and a ZMP feedback gain, and moving a lifted leg in a direction in which an upper body is vibrating due to an external force.