Apparatus for controlling mobile robot

An apparatus for controlling a mobile robot having a body, leg locomotion mechanisms for walking operation and work mechanisms for working operation both connected to the body, a plurality of actuators for driving the leg locomotion mechanisms and work mechanisms, a speech input/output unit including a microphone and a speaker, and a controller adapted to control the operation of the locomotion mechanisms and work mechanisms by supplying the plurality of actuators with a control value which is calculated by multiplying a deviation between a detected value and a desired value by a gain and to control operation of the speech input/output unit to recognize human voice inputted through the microphone and utter a generated response to the recognized human voice from the speaker,

• wherein the improvement comprises:
• the controller calculates the gain of the control value to be supplied to at least one of the plurality of actuators at a minimum value when controlling only the operation of the speech input/output unit.