In a biped robot control system, stereoscopic images captured by CCD
cameras are analyzed, the analyzed images are then utilized to detect
presence of any moving object around the robot and if it present, to
calculate moving object information, and based on the calculated moving
object information, it is determined whether or not walking of the robot
needs to be stopped. If it is determined to be stopped, the robot is
controlled to stop within a period that brings the travel distance at
stopping (distance moved between image capture by the CCD cameras and
stopping of robot walking) to within a predetermined distance. With this,
when the robot approaches a moving object during walking, it can be
stopped within the predetermined distance to avoid collision with the
moving object.