The stability of attitude of a robot can be recovered by an ambulation
control apparatus and an ambulation control method if it is lost in the
course of a gesture for which the upper limbs take a major role. The
apparatus and the method obtain the pattern of movement of the entire
body for walking by deriving the pattern of movement of the loins from an
arbitrarily selected pattern of movement of the feet, the trajectory of
the ZMP, the pattern of movement of the trunk and that of the upper
limbs. Therefore, a robot can determine the gait of the lower limbs so as
to realize a stable walk regardless if the robot is standing upright or
walking. Particularly, if the robot is made to gesture, using the upper
body half including the upper limbs and the trunk while standing upright,
it can determine the gait of the lower limbs so as to make a stable walk
in response to such a gait of the upper body half.
