To provide a bipedal walking transfer device capable of performing a walking control in real time according to environmental information by acquiring the environmental information for each walking.
This bipedal walking transfer device comprises drive means for swinging articulate parts and a walking control device 30 generating gait pattern data by a gait pattern generating part 31 according to a motion instruction and drivingly controlling the drive means by a control part 32 based on the gait pattern data. The gait pattern generating part 31 detects the attitude of a robot based on sensor information from sensors 24, 23L, and 23R detecting the states of the articulate parts during walking and, based on the attitude, generates an angle instruction value in real time as final gait pattern data by using target values by the motion instruction and the present values of the sensor information.
TAWARA TETSUO
OKUMURA HISASHI
KITANO HIROAKI
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