A desired gait is generated so as to satisfy a dynamical equilibrium
condition concerning the resultant force of gravity and an inertial force
applied to a legged mobile robot 1 using a dynamics model which describes
a relationship among at least a horizontal translation movement of a body
24 of the robot 1, a posture varying movement in which the posture of a
predetermined part, such as the body 24, of the robot 1 is varied while
keeping the center of gravity of the robot 1 substantially unchanged and
floor reaction forces generated due to the movements and is defined on
the assumption that a total floor reaction force generated due to a
combined movement of the movements is represented as a linear coupling of
the floor reaction forces associated with the movements. The dynamics
model represents movements as a movement of a body material particle or
the like and a rotational movement of a flywheel. The desired gait
adapted for not only walking but also running or the like can be
generated with a reduced amount of calculation.
