Patent ID: 8005573

Claim:
A control device of a legged mobile robot that travels by moving legs extended from its body, said control device being configured to sequentially determine instantaneous values of a desired motion and a desired floor reaction force of the legged mobile robot by using a dynamic model that expresses a relationship between at least a motion of the robot and a floor reaction force, and also to control an operation of the robot at the same time so as to make the robot follow the determined instantaneous values of the desired motion and the desired floor reaction force, comprising: means for setting a permissible range of a restriction object amount, the restriction object amount being a vertical component of a floor reaction force moment or a component of the floor reaction force moment in floor surface normal line direction to be applied to a robot in operation, following the desired motion and the desired floor reaction force; and means for determining instantaneous values of the desired motion and the desired floor reaction force, on the basis of the permissible range and at least a difference between a desired state amount, related to a posture of the robot about a vertical axis or about a floor surface normal line axis, and an actual state amount, related to the posture of the robot about the vertical axis or about the floor surface normal line axis, of the robot, such that a deviation between a floor reaction force moment balancing with the desired motion on the dynamic model and a floor reaction force moment of the desired floor reaction force approximates the difference to zero, while having the restriction object amount, which is associated with the desired floor reaction force, fall within the permissible range.