WALKING TYPE MOVING DEVICE AND WALKING CONTROL DEVICE THEREFOR AND WALKING CONTROL METHOD

摘要

A walking control device (30) which drive-controls the drive means of each joint (15L, 15R-20L, 20R) of each leg (13L, 13R) based on gait data, and which comprises force sensors (23L, 23R) each for detecting a force applied to the sole of each foot (14L, 14R), and a compensation unit (32) for correcting gait data from a gate generating unit (24) based on a horizontal floor reaction force out of forces detected by force sensors, wherein each force sensor (23L, 23R) consists of three-axis sensors (36a-36d) each provided in each sole section obtained by dividing each foot (14L, 14R) into a plurality of sections to allow a force sensor provided in a region adjacent to the end edge of each sole to detect the contact of a contact detection unit (32b) with a foot side surface and allow the compensation unit (32) to correct gait data from the gait generation unit (24) with reference to a contact with a foot side surface, whereby the contact of a foot side surface with an object such as an obstacle is detected to ensure walking stability.