An object of the present invention is to provide a gait pattern generating
device by which a gait pattern of a robot such as a humanoid bipedal
walking robot having a structure easy to fall down can be generated
easily in real time. This device calculates a driving quantity of the
center of gravity in one moment using a preview control method based on
feedback of the motion state of the center of gravity in that moment, and
feed-forward of a future ZMP trajectory up to a few seconds from that
moment. Next, the robot is driven to obtain the obtained
center-of-gravity trajectory. Thus, a walking motion is attained.