Biped walking mobile device and its walking control device

摘要

PROBLEM TO BE SOLVED: To provide a bipedal movement device capable of realizing a walking stability also in the unstable state of a road surface with complicated irregularities, and a walking control device for the device.;SOLUTION: This waling control device 30 for the bipedal movement device drivingly controlling the drive means of the articulate parts of the leg parts of the bipedal movement device based on gait pattern data comprises force detection parts 23L and 23R detecting forces applied to the soles of foot parts 14L and 14R and a compensation part 32 correcting the gait pattern data from a gait pattern generating part based on the forces detected by the force detection parts. The force detection parts 23L and 23R comprise at least three triaxial force sensors 36a, 36b, and 36c disposed on the soles of the foot parts 14L and 14R. The compensation part 32 corrects the gait pattern data based on detection signals from three triaxial force sensors 36a, 36b, and 36c detecting effective forces.;COPYRIGHT: (C)2003,JPO