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

摘要

The invention provides a bipedal walking type moving device so designed that even in a road surface state giving an unstable footing, such as a wet floor surface, ice, a muddy place, or a thick carpet, or even when only a portion is landing on a floor surface owing to surface irregularities, for example, walking stability is realized, and it also provides a walking control device and a walking control method therefor. A walking control device 30 for a bipedal walking type moving device comprises force sensors 23L, 23R for detecting forces on the soles of feet 14L, 14R for drive-controlling driving means for the joints 15L, 15R - 20L, 20R of the legs of the bipedal walking type moving device in the basis of gait data, and a compensation section 32 for correcting gait data from a gait producing section 24 on the basis of horizontal floor reaction components of the forces detected by the force sensors, wherein each force sensor 23L, 23R is composed of three-axis force sensors disposed in the plurality of divisional areas of the sole of each foot 14L, 14R.