Abstract
A posture control device (200) for controlling a posture of a humanoid capable of bipedalism, the posture control device (200) comprising: a sway detector (10) that detects sway of the humanoid when the humanoid moves; and a controller (20), wherein the posture control device (200) performs spectrum analysis by resolving sway data outputted from the sway detector into frequency components, in a spectrum obtained from the spectrum analysis, a first peak, a second peak, and a third peak sequentially appear in order of increasing frequency, each of the first peak, the second peak, and the third peak is a peak that is derived from sway of a corresponding one of three centers of gravity existing in the humanoid, and the controller (20) controls the posture of the humanoid such that the sways of the respective three centers of gravity are in stable resonation with each other, wherein the sway detector (10) includes: an angular velocity sensor that detects an angular velocity of sway of the humanoid in a horizontal direction when the humanoid moves, the horizontal direction being orthogonal to a direction (that is hereinafter referred to as the perpendicular direction) in which gravitational force is exerted; and an accelerometer that detects acceleration of sway of the humanoid in the perpendicular direction when the humanoid moves, the first peak includes a first angular velocity peak and a first acceleration peak, the second peak includes a second angular velocity peak and a second acceleration peak, the third peak includes a third angular velocity peak and a third acceleration peak, each of the first angular velocity peak, the second angular velocity peak, and the third angular velocity peak is a peak that is derived from sway, in the horizontal direction, of a corresponding one of the three centers of gravity (GL, GM, GT) existing in the humanoid, each of the first acceleration peak, the second acceleration peak, and the third acceleration peak is a peak that is derived from sway, in the perpendicular direction, of a corresponding one of the three centers of gravity (GL, GM, GT) existing in the humanoid, and the controller (20) controls the posture of the humanoid such that the sways of the respective three centers of gravity (GL, GM, GT) in the horizontal direction are in stable resonation with each other at odd multiples, and such that the sways of the respective three centers of gravity (GL, GM, GT) in the perpendicular direction are in stable resonation with each other at integral multiples.