Walking control method, walking control program, and bipedal walking robot

摘要

Provided is a walking control method enabling stable walking operation to be realized, a walking control program and a biped walking robot. A walking control method includes, during walking operation of a biped walking robot having a position of center of gravity being adjusted at a predetermined reference angle that enables the robot to be upright, a step of acquiring information indicative of an inclination angle of an upper body relative to the reference angle, and a step of operating, with one of a first leg and a second leg not being grounded due to the walking operation, the first leg and the second leg such that the upper body is maintained within a predetermined angle range relative to the reference angle according to the inclination angle.