Patent ID: 8554366

Claim:
A walking control method for a legged mobile robot comprising a plurality of leg links and a trunk unit, each of the plurality of leg links having a plurality of leg joints, the method comprising: controlling, when a first leg link that is a swinging leg among the plurality of leg links lands on a road surface, a driving unit which drives a first leg joint included in the plurality of leg joints of the first leg link, except a leg joint being connected to the trunk unit, so that the first leg joint is made soft in order to change a real angle of the first leg joint of the first leg link landing on the road surface according to a shape of the road surface without following a trajectory of a target angle determined beforehand; after the first leg link lands, in a state where the trajectory of the target angle is corrected to cancel out a difference between the real angle of the first leg joint in beginning to make the first leg joint hard and the target angle, controlling the driving unit so that the first leg joint is made hard in order for the real angle of the first leg joint of the first leg link, which has become a supporting leg, to follow the corrected trajectory of the target angle.