When generating a gait for a legged mobile robot 1 which has floating
periods in which all the legs 2 of the robot float in the air and landing
periods in which any of the legs 2 is in contact with the floor appearing
alternately, a desired ZMP is set at any point in time in the floating
periods and the landing periods, and a desired gait is generated in such
a manner that the horizontal component of the moment produced about the
desired ZMP by the resultant force of gravity and an inertial force
caused by a movement of the robot with the desired gait is 0. The desired
ZMP is set to be substantially continuous for all the periods in the
gait. Furthermore, as a dynamics model for determining the desired gait,
an approximate model is used which is arranged so that the moment, about
a certain point of application, of the resultant force of the inertial
force and gravity calculated using the model depends on the position of
the point of application.
