Abstract: A structure of the present invention has a plurality of links (L) which link a lumbar side connection part (S) and a grounding part (E), and passive joints (M) which link the links (L) to each other, in which a second Jacobian matrix Jp in a coordinate system obtained by rotating a coordinate system of a first Jacobian matrix J which associates a displacement vector ?p of the grounding part (E) with a micro displacement vector ?? of each of the passive joints (M) at an angle ?p satisfies following Formula (1) or Formula (2) using spring constants k1 and k2 and constants C2 and C4 of a spring which controls the micro displacement ?? of two passive joints (M). [ Math .

Abstract: A walking control method of an embodiment includes decomposing a mobile device with legs into a plurality of mass points, decomposing the plurality of decomposed mass points into a first interest mass point and mass points other than the first interest mass point, making a length between the first interest mass point and a contact point on a walking plane constant, making the mass points other than the first interest mass point constrained to an affine-transformed position of the first interest mass point, and generating a constraint trajectory of the mass points other than the first interest mass point in accordance with the constraint when the first interest mass point is moved.

Abstract: An onboard vehicle communication system includes a first ECU configured to manage charge information of a vehicle, a gateway connected to the first ECU, a second ECU connected to the gateway, an onboard vehicle communication device configured to communicate with the outside of the vehicle, and a local bus that connects the first ECU and the onboard vehicle communication device. The first ECU is configured to transmit charge information of the vehicle to the onboard vehicle communication device via the local bus when an external charge device is charging a vehicle.

Abstract: An onboard vehicle communication system includes a first ECU configured to manage charge information of a vehicle, a gateway connected to the first ECU, a second ECU connected to the gateway, an onboard vehicle communication device configured to communicate with the outside of the vehicle, and a local bus that connects the first ECU and the onboard vehicle communication device. The first ECU is configured to transmit charge information of the vehicle to the onboard vehicle communication device via the local bus when an external charge device is charging a vehicle.