Patent ID: 6876903

Claim:
A system for generating a gait of a legged mobile robot having at least a body and a plurality of legs each connected to the body, comprising: a. a dynamic model that expresses relationship between motion of the leg and the body, and a floor reaction force; b. current time gait parameter provisionally-determining means for provisionally determining parameters of a current time gait including at least parameters determining a trajectory of the leg and a trajectory of the floor reaction force, in response to at least a demand; c. periodic gait parameter supposing means for supposing the parameters of a periodic gait succeeding to the current time gait in response to at least the demand; d. current time gait parameter correcting means for correcting at least the provisionally determined parameters of the current time gait such that the trajectory of the body determined based on the dynamic model and the parameters of the current time gait and the periodic gait succeeding thereto substantially converges or become equal to a trajectory of the body of the periodic gait determined from the parameters of the periodic gait; and e. current time gait instantaneous value determining means for determining instantaneous values of the current time gait based on at least the corrected parameters of the current time gait.