(57) The legged mobile robot is configured such that the foot (22, 222, 223, 224) comprises
a foot main body (22m, 222m, 223m, 224m) connected to each leg, a toe (22t, 222t,
223t, 224t) provided at a fore end of the foot main body to be bendable with respect
to the foot main body, and a bending angle holder (damper 50, friction brake 60) capable
of holding a bending angle (θt) of the toe in a bendable range of the toe. In addition,
the legged mobile robot control system is configured to hold the bending angle of
the toe at a first time point (t1) which is a liftoff time of the leg from a floor
or earlier thereof, and to release the bending angle at a second time point (t2) after
the leg has lifted off the floor to restore the toe to a initial position. With this,
the bending angle at the time of liftoff can continue to be held after liftoff, whereby
the robot can be prevented from becoming unstable owing to the toe contacting the
floor immediately after liftoff. In addition, stability during tiptoe standing can
be enhanced.
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