Patent ID: 7541764

Claim:
A control system for a legged mobile robot comprising a base body, a plurality of link mechanisms that are connected to the base body to move the base body and that come in contact with externals, and a plurality of joints provided between the base body and the distal portions of the link mechanisms to make the distal portions of the link mechanisms movable with respect to the base body, the legged mobile robot being able to be operated to a specific motion posture in which the robot is in contact with an external at a first predetermined portion or portions between the distal portion or portions of one or more specific link mechanisms among the plurality of link mechanisms and the base body, wherein at least one or more of the plurality of joints are provided between the first predetermined portion or portions and the distal portion or portions of the link mechanism, the control system, comprising: an external force detecting means for detecting or estimating an external force acting on the first predetermined portion in the specific motion posture; a desired external force determining means for determining a desired external force, which is a desired value of the external force on the first predetermined portion in the specific motion posture; and a joint controlling means for controlling the displacement of at least a joint existing between the first predetermined portion and the base body such that the detected or estimated external force approximates the desired external force.