| 摘要 |
According to a legged mobile robot of the present invention, a variable measuring portion 101 measures the changing amount of a secondary desired angle theta<SUB>T2</SUB>, namely, of the newest primary desired angle theta<SUB>T1 </SUB>that is received by a first sub-control unit 121 as a variable delta. When a determining portion 102 determines that an absolute value of the variable delta exceeds a threshold epsilon, a correcting portion 103 corrects a motor current I so as to inhibit the changing amount of the motor current I. Thereby, even when an abnormality is temporarily generated in the communication between a main control unit 110 and a first sub-control unit 121 via a first communication line and the absolute value of the variable delta exceeds a threshold epsilon, the current supply I to a motor 131 is inhibited from changing rapidly.
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