Frommer Lawrence & Haug, LLP.
Robot system and its control method
 A robot system and its control method making it possible to easily stabilize a working attitude when working with predetermined legs by a simple structure by using a plurality of legs moving while supporting a body. The number of portions requiring position control can be decreased by grounding a predetermined portion not grounded when moving all or some of legs other than predetermined legs used for working and/or a predetermined portion of a body. 
Sony Corporation
B
B62D
inventional
Masahiro
Fujita