Gait generation device for legged mobile robot

A gait generation device for generating a desired gait for a legged mobile robot that moves by operating a plurality of legs extending from a body, comprising:

• allowable range setting means for setting an allowable range of a horizontal component of a translation floor reaction force or a floor-surface-parallel component of the translation floor reaction force applied to said robot or a horizontal component of a total center-of-gravity acceleration of the robot or a floor-surface-parallel component of the total center-of-gravity acceleration of the robot;
• provisional movement determining means for determining a provisional movement as a provisional desired movement of said desired gait in such a manner that a resultant force of gravity and an inertial force acting on said robot satisfies a predetermined dynamical equilibrium condition;
• and
• provisional movement correcting means for, when the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force applied to the robot or the horizontal component of the total center-of-gravity acceleration of the robot or the floor-surface-parallel component of the total center-of-gravity acceleration determined by the provisional movement of said desired gait has departed from said allowable range, correcting the provisional movement by changing a rate of change of an angular momentum around the center of gravity of the robot from said provisional movement in such a manner that said dynamical equilibrium condition is satisfied while limiting the horizontal component of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration or the floor-surface-parallel component of the total center-of-gravity acceleration within said allowable range, thereby determining the movement of the desired gait.