Patent ID: 7120518

Claim:
A system for generating a desired instantaneous value of a desired movement of a legged mobile robot having at least a body and a plurality of legs each connected to the body, comprising: a. provisional instantaneous value determining means for determining provisional instantaneous values of the desired movement and a desired floor reaction force of the robot; b. model floor reaction force calculating means for inputting at least the determined provisional instantaneous value of the desired movement to a dynamic model that expresses a relationship between a movement of the robot and a floor reaction force and for calculating a model's floor reaction force that is a floor reaction force on the dynamic model; c. floor reaction force difference calculating means for calculating a difference between the calculated model's floor reaction force and the determined provisional instantaneous value of the desired floor reaction force; d. correction amount determining means for determining a correction amount of the desired floor reaction force for correcting the determined provisional instantaneous value of the desired floor reaction force and a correction amount of the desired movement for correcting the determined provisional instantaneous value of the desired movement; and e. desired instantaneous value determining means for determining the desired instantaneous value of the desired movement, by correcting the determined provisional instantaneous value of the desired movement based on at least the determined correction amount of the desired movement, wherein the correction amount determining means determines the correction amount of the desired floor reaction force and the correction amount of the desired movement based on the calculated difference, such that the floor reaction force presumably obtained if the provisional instantaneous value of the desired floor reaction force is corrected by the correction amount of the desired floor reaction force and the movement presumably obtained if the provisional instantaneous value of the desired movement is corrected by the correction amount of the desired movement, satisfy the dynamic equilibrium condition on the dynamic model, while preventing the correction amount of the desired movement from oscillating.