It is a biped (two-footed) walking humanoid robot, which is provided with
drive motors (11d, 11e, 18L, 18R-24L, 24R, 28L, 28R-33L, 33R, 35, 36) to
pivotally move respective joint portions, and a motion control apparatus
(40) to drive-control respective drive motors, and said motion control
apparatus (40), together with a detector (45) to detect the robot's
current posture and others, compares the robot's detected current posture
and others with next motion command input from outside, and if next
motion command is within the range of stability limit with respect to the
robot's current posture and others, the complementary data with respect
to intermediate motion from current posture till initial posture of next
motion command and the motion data corresponding to next motion command
are generated, each drive motor is drive-controlled based on said
complementary and motion data, and thereby various motions are conducted
smoothly and continually. It is preferably provided with a motion library
(41a) storing time series data of basic motions as the elements of the
robot's motions and posture data consisting of algorithm, reads out the
corresponding posture data from said motion library, and generates
complementary and motion data as the combined motion sequence.
