Self-attitude estimation apparatus of a legged mobile robot

Desired motion of the desired gait of the robot 1 provided with a gyro sensor (angular velocity sensor) in the body 3 or the like, displacement detection value of the joint, with a motion state quantity of the robot including target displacement value of the joint or the like, the movement of the robot or stopping state, to estimate the attitude angle sparse rate of predetermined site 3 such body when there is no slippage between the robot and the floor. The estimated value of the posture angular velocity to determine the drift correction value of the angular velocity sensor in accordance with the deviation between the attitude angular velocity value detected by the angular velocity sensor, with the drift correction value, by integrating those obtained by correcting the posture angular velocity detection value determining an estimated value of the orientation angle of the predetermined portion.