| 摘要 |
<p>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).</p> |
