Gait production device and control device for leg type movable robot

When the whole leg body (2) of the legged mobile robot (1) to generate a gait which alternately repeating an landing to the ground aerial groups any of the leg body (2) floating in the air, which of being a public group and a mounting point, in setting the desired ZMP, and generates a desired gait such that a substantially zero horizontal component of a moment about the ZMP target of the resultant force of the inertial force and gravity generated by movement of a desired gait. The desired ZMP is set to be substantially continuous in the entire period of the gait. The dynamic model for obtaining a desired gait is, that, in any moment around the point of application of the resultant force of the inertial force and gravity is calculated by it, uses the approximation model that depends on the position of the point of action. The legged mobile robot, the air exchanger, being complex, the target ZMP, inertial force, moment, the desired gait, the gait generating device, the controller, the target reaction force, compliance control means