JPH05305580

PURPOSE:To recover a desired stable posture even if the foot sole of a robot treads an unexpected inclination or unevenness to incline the posture by providing a means for estimating the actual position of a determined part of a robot from a determined value, and a joint control means for driving and controlling the joint of the robot so that the estimated actual position is conformed to a target position. CONSTITUTION:This device has a means for determining an absolute angle and/or absolute angle speed to the gravity direction of the grounding part of a robot 1, and a means B1 for estimating the actual position of a determined part of the robot 1 from the determined value. The device also has a joint control means B5 for driving and controlling the joint of the robot 1 so that the estimated actual position is conformed to a target position. Assuming that the absolute angle speed to the gravity direction of the setting part of the robot 1 is differed from a desired value because of the encounter with an unexpected unevenness or inclination of road surface, and a determined position, for example, the actual value of the center-of-gravity orbit, is also deviated from a target value, the joint control means drives and controls the joint so that the actual value is conformed to the target value. Thus, the posture of the robot 1 can be quickly recovered.