A walking control system is so configured as to input the motion-status quantity of a robot measured by a sensor or the like and real-world quantities such a an external force, an external force moment and an environmental pattern. When all the calculations involved with body balance keeping is summarized as a single walking pattern computation, a gait generation function is efficiently made compatible with an adaptive control function, and the consistency of dynamic models is guaranteed to remove interference between respective dynamic models. A robot's walking pattern generation computation can be performed in real time on a real machine in such a form that parameters such as boundary conditions relating to motion status quantity, an external force, an external force moment and a sole path can be set.
ROBOT DEVICE AND CONTROL METHOD OF ROBOT DEVICE