Gait generation device for legged mobile robot

A gait generating device of a legged mobile robot for generating a desired gait of a legged mobile robot that travels by moving a plurality of legs extended from its body, comprising:

• permissible range setting 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 to be applied to the robot or a component of the floor reaction force moment in floor surface normal line direction, or a vertical component of an angular momentum changing rate of the robot or a component of the angular momentum changing rate in floor surface normal line direction;
• provisional motion determining means for determining a provisional motion of the desired gait such that a resultant force of a gravity and an inertial force acting on the robot satisfies a predetermined dynamic balance condition on a predetermined dynamic model;
• and
• provisional motion correcting means for correcting the provisional motion to determine a motion of the desired gait by changing the changing rate of an angular momentum of the robot from the provisional motion while limiting the restriction object amount to the permissible range on the dynamic model if the restriction object amount defined by the provisional motion of the desired gait deviates from the permissible range;
• wherein the robot is a robot equipped with two arms extended from the right and left sides of the body, and the motion to be corrected by the provisional motion correcting means, which is the desired gait, is a motion for moving the two arms forward and backward relative to the robot in opposite directions from each other.