Patent ID: 8583283

Claim:
A system for controlling a legged mobile robot having a body and legs whose upper ends are connected to the body and whose lower ends are each connected to a foot to be movable when the legs are driven, the foot having a foot main body connected to each of the legs and a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, said system comprising: a bending angle holder configured to hold a bending angle of the toe in a bendable range of the toe; and a bending angle controller configured to operate the bending angle holder to control holding and releasing of the bending angle of the toe, the bending angle controller further configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the held bending angle of the toe at a second time point after the leg has lifted off the floor to restore the toe to a initial position.