Abstract: Disclosed is a biped walking mobile system which achieves stability without altering a preestablished gait, and a walk controller and control method therefor. The biped walking mobile apparatus includes a gait former for forming gait data and a walk controller for controlling actions of the drive means based on the gait data. The walk controller includes a ZMP compensator, including: a ZMP sensor, a ZMP converter for computing a ZMP target value based on the gait data from the gait former, and a ZMP compensating stage for comparing the actual measurement value of ZMP detected by the ZMP sensor with the ZMP target value from the ZMP converter to modify the targeted angular velocity and acceleration in the gait data and thereby to compensate or correct the ZMP target value. Thus, the targeted angular path of movement in the gait data remains unaltered when the ZMP target value is compensated.

Abstract: A biped walking humanoid robot is disclosed having an arrangement whereby shocks acting on various parts of the robot when it falls can be relieved and its state of fall can then be detected.

Abstract: A biped walking humanoid robot is disclosed having an arrangement whereby shocks acting on various parts of the robot when it falls can be relieved and its state of fall can then be detected.

Abstract: Disclosed is a biped walking mobile system or apparatus, typically a biped walking robot, which achieves walk stability without altering a preestablished gait, namely path of movement for each of joint region, as well as a walk controller and a work control method therefor.