A locomotion control system is constructed to input the quantity of
materials in the real world, such as the quantity of motion state of a
robot, external force and external moment, and environmental shapes,
measured with sensors or the like. By integrating all calculations for
maintaining a balance of the body into a single walking-pattern
calculating operation, both a locomotion generating function and an
adaptive control function are effectively served, the consistency of
dynamic models is ensured, and interference between the dynamic models is
eliminated. Calculations for generating a walking pattern of the robot
can be performed in an actual apparatus and in real time in a manner in
which parameters, such as a boundary condition concerning the quantity of
motion state, external force and external moment, and the trajectory of
the sole, are settable.
