Patent ID: 8386076

Claim:
A legged robot comprising: trajectory generating means to generate a center-of-gravity trajectory in stepping motion to achieve stable stepping, the stepping motion including at least one of walking motion, running motion, and stopping motion by setting a periodic boundary condition and a given target ZMP to a trinomial equation obtained by discretizing a ZMP equation, and obtain a center-of-gravity velocity in the center-of-gravity trajectory from the generated center-of-gravity trajectory in the stepping motion; trajectory updating means to determine a velocity condition based on the center-of-gravity velocity obtained by the trajectory generating means and a given travel velocity, and generate a center-of-gravity trajectory to achieve at least one of walking motion, running motion, and stopping motion by setting the velocity condition and the given target ZMP to the trinomial equation; trajectory reproducing means to calculate time-varying data of a target value of the joint angle based on the center-of-gravity trajectory generated by the trajectory updating means; and joint driving means to rotate the joint based on the time-varying data of the target value of the joint angle calculated by the trajectory reproducing means.