Control device and footstep determination device for legged mobile robot

Group 2 at the same time for estimating the landing position and direction of the foot 22 to the landing with the landing operation of the robot 1 such as a mobile robot, and sets the target mark the path of the robot 1. The estimated landing position and direction to the target on the basis of the mark path, the robot 1 is the actual mark (landing column of the location and direction of the foot 22) to so as to reach the target mark, the goal of future landing position and direction of to be determined. Determining a desired gait of the robot 1 by using the determined target landing position, direction, and at least, in accordance with the desired gait carries out motion control of the robot (1). When deciding on a target landing position and direction, it allows for the robot 1, such as their mechanical constraints or constraints of the target present allowable range of ZMP, such as interference between the bridge body. 'S foot landing position and direction estimating means, the target path set means, the foot landing target direction determining means, the desired gait determination means, the operation control means, the foot landing position and direction estimating means, the desired ZMP