| 摘要 |
In a legged mobile robot, in particular a biped robot having arms, the control is conducted such that the dynamic balance is preserved so as to keep a stable posture, even when the robot is subject to unexpected reaction force from an object. It is configured such that the difference or error (i.e., moment about the central point of total floor reaction force) between the desired object reaction force, and the actual value is determined and is distributed to the desired body position/posture and the desired feet position/posture, and based thereon, robot link joints are controlled to be driven.
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