An inexpensive charging system with a simple construction is capable of
supplying charging current to a battery of a legged walking robot while
maintaining the supply of required current to an electric load of the
legged walking robot by an external power source. The charging system
includes a connection circuit having a first diode that brings the
positive electrode of the battery and the positive input terminal of the
electric load into conduction, defining the direction from the positive
electrode of the battery to the electric load as a forward direction, a
second diode that brings the positive electrode of the external power
source and the positive input terminal of the electric load into
conduction, defining the direction from the positive electrode of the
external power source to the positive input terminal of the electric load
as a forward direction, a third diode that brings the positive electrode
of the external power source and the positive electrode of the battery
into conduction, defining the direction from the positive electrode of
the external power source to the positive electrode of the battery as a
forward direction, and a circuit that brings the negative electrode of
the external power source, the negative electrode of the battery, and the
negative input terminal of the electric load into conduction, and an
output electric power controller that sets an output voltage of the
external power source to be higher than a total voltage of a voltage
across electrodes of the battery when the battery is fully charged and a
forward voltage of the third diode, while setting a current of the
external power source that can be output to be larger than a required
current of the electric load.