Patent ID: 7337039

Claim:
A gait generation device for generating a desired gait for a legged mobile robot that moves by operating a plurality of legs extending from a body, comprising: desired vertical component trajectory determining means for determining a desired trajectory of a vertical component of a translation floor reaction force applied to said robot, a vertical component of a total center-of-gravity acceleration of the robot or a vertical component of a body acceleration of the robot; first desired vertical position determining means for determining a desired vertical position of the total center-of-gravity of said robot or the body thereof in such a manner that the vertical component of the translation floor reaction force, the vertical component of the total center-of-gravity acceleration or the vertical component of the body acceleration agrees with the desired trajectory set by the desired vertical component trajectory determining means; and second desired vertical position determining means for determining the desired vertical position of the total center-of-gravity of said robot or the body thereof based on a geometrical condition concerning displacement of a joint of a leg, wherein a final desired vertical position of the center-of-gravity of the robot or the body thereof is determined by selecting one of the desired vertical positions determined by said first and second desired vertical position determining means depending on the mode of the desired gait generated or combining the desired vertical positions.