Patent ID: 8326459

Claim:
A robot control apparatus, comprising: a walking operation control unit which generates control information based on postures at a plurality of differing points, including reference postures in which a robot is standing unaided, and controls the robot so as to carry out a predetermined walking operation; an obstacle detection unit which detects an obstacle existing in a place where a leg of the robot lands; a determination unit which determines whether or not a place on a sole of the leg of the robot on which a reaction force from the detected obstacle works is in a stable area; and a reflex control unit which, when the place where the reaction force works on the sole of the leg of the robot is determined not to be in the stable area, causes an ankle of the leg of the robot in contact with the obstacle to carry out a pitching operation or a rolling operation, expanding the stable area, extends the leg, and controls the leg in such a way that the zero moment point converges on a point of equilibrium of a support leg.