Patent ID: 6992457

Claim:
A biped walking mobile system comprising; a main body, a pair of leg portions attached thereto at both sides of its lower part so as to be each pivotally movable biaxially, each of the leg portions having a knee portion in its midway and a foot portion at its lower end, the foot portions being attached to their corresponding leg portions so as to be pivotally movable biaxially, drive means pivotally moving each leg, knee, and foot portion, a gait former to form a gait data including target angle orbital, target angle velocity, and target angle acceleration, and a walk controller to drive-control said drive means based on said gait data, said walk controller includes a force detector to detect a force applied on a sole of each foot portion, and a compensator to modify the gait data from the gait former based on the force detected by said force detector, wherein said force detector comprises at least three 3-axis force sensors allocated on the sole of each foot portion, and wherein said compensator modifies the gait data based on detected signals from three 3-axis force sensors which detect effective force among respective 3-axis force sensors of the force detector.