JP2535737B

PURPOSE:To enable the safe and speedy accelerating and decelerating walk by controlling a walking machine with legs driven by bending leg joints by means of a joint control device, on the basis of leg joint command value preset after memorizing its accelerating and decelerating walk. CONSTITUTION:In a walking machine 1, four legs 3A, 3B, 4A, 4B (hereinafter referred to as 3, 4) are provided at a trunk part 2, and the respective legs 3, 4 are composed of plural joint parts J1-J3, leg parts L1, L2 and foot parts F. The respective joint parts J1-J3 are controlled by means of a leg control device 6 connected to an upper position control device 5 through a joint control device 7. The leg control device 6 is composed of a CPU 61, a first-fourth memories 63-66 that memorize the joint angle command value data of time series of one step cycle in stepping of the legs 3, 4, and a control program memory 62 that reads and outputs the data on the joint command value.