Patent ID: 8793015

Claim:
A control method for a legged mobile robot for causing a legged mobile robot equipped with a plurality of leg bodies extended from a body thereof to perform an operation for moving an object by the robot, comprising the steps of: starting with the robot adjacent to the object and in a stationary position such that a center of gravity of the robot is generally stationary; a first step of using a microcomputer for exercising the body of the robot while maintaining feet at distal ends of said leg bodies in a fixed position such that the center of gravity of the robot obtains a momentum in a direction in which the object is to be moved and a ZMP of the robot moves in a direction opposite to the direction in which the object is to be moved while preventing a force from being applied to the object from the robot in a state wherein the robot opposes the object; and a second step of using the microcomputer for applying a force to the object, while maintaining said feet in the fixed position, from a predetermined portion provided in the body of the robot so as to start moving the object in a state wherein the momentum has been imparted to the center of gravity.