To estimate the floor shape on which a leg type moving robot, in particular, a two-leg walking robot steps with high accuracy and to interrupt the estimation of the floor shape under a circumstance having the possibility of the lowering of the accuracy in estimation.
This floor shape estimating device 130 estimates the estimated floor inclination deviation between both legs θ fdbestmv on the basis of the control deviation of at least the whole floor reactive force moment (compensated whole floor reactive force moment Mdmd), and estimates the estimated flat floor inclination deviation of each leg θ fnestmx on the basis of the control deviation of each leg flat floor reactive force moment at least around a central point of the target flat floor reactive force of each leg. Further an estimation interrupting device (estimation interrupting device for floor inclination deviation between both legs and estimation interrupting device 146 for leg flat floor inclination deviation) judges whether the accuracy in estimation is lowering or not at least on the basis of a walking period of the robot, and interrupts the estimation of the floor shape when the circumstance of the lowering of the accuracy in estimation is judged.
HASEGAWA TADAAKI
MATSUMOTO TAKASHI
