US Patent 7482775 Robot controller

Motions of a robot are defined by a plurality of frames P0 to P11 at a plurality of different time points. The frames include a plurality of reference frames. In the reference frames, the robot stands alone without falling. The data of the other frames, i.e., frames other than the reference frames, are set only roughly before the robot begins walking. When the robot starts walking, the roughly set data of the other frames is corrected based on control information calculated from the roughly set data and the data of the reference frames.