Provided is a walking control method enabling stable walking operation to be realized, a walking control program and a biped walking robot. A walking control method includes, during walking operation of a biped walking robot having a position of center of gravity being adjusted at a predetermined reference angle that enables the robot to be upright, a step of acquiring information indicative of an inclination angle of an upper body relative to the reference angle, and a step of operating, with one of a first leg and a second leg not being grounded due to the walking operation, the first leg and the second leg such that the upper body is maintained within a predetermined angle range relative to the reference angle according to the inclination angle.


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    Title :

    Walking control method, walking control program and biped walking robot


    Contributors:

    Publication date :

    2019-01-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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