Disclosed is a biped walking mobile system which achieves stability without
altering a preestablished gait, and a walk controller and control method therefor.
The biped walking mobile apparatus includes a gait former for forming gait data
and a walk controller for controlling actions of the drive means based on the gait
data. The walk controller includes a ZMP compensator, including: a ZMP sensor,
a ZMP converter for computing a ZMP target value based on the gait data from the
gait former, and a ZMP compensating stage for comparing the actual measurement
value of ZMP detected by the ZMP sensor with the ZMP target value from the ZMP
converter to modify the targeted angular velocity and acceleration in the gait
data and thereby to compensate or correct the ZMP target value. Thus, the targeted
angular path of movement in the gait data remains unaltered when the ZMP target
value is compensated.