A control device for a legged mobile robot, in which a correction
manipulated variable of a desired floor reaction force (desired floor
reaction force's moment) is subsequently determined based on an error
between an actual state quantity, such as a body posture angle, of the
robot 1 and a desired state quantity of the same, and at the same time, a
desired movement of the robot 1 is subsequently determined by the use of
the correction manipulated variable and a dynamic model. At this time, a
friction force component, which defines a frictional force between the
robot 1 and a floor such as a translation floor reaction force's
horizontal component, is set as a variable to be limited, and an
allowable range of the variable to be limited is set. The desired
movement is determined so that the variable to be limited remains within
the allowable range and a resultant force of an inertial force and
gravity, generated by the movement of the robot 1 on the dynamic model,
balances with a floor reaction force obtained by correcting the desired
floor reaction force by the correction manipulated variable. The desired
movement is determined by adjusting a plurality of movement modes having
mutually different generation ratios of a floor reaction force's moment
and a translation floor reaction force.
