And a control method for a mobile device

Providing the legged mobile robot and a control method having one or more motion unit. The legged mobile robot comprising: a first acceleration sensor, the setting of the legged mobile robot local coordinate system, measuring the acceleration of the origin of the local coordinate system; second acceleration sensor is deployed in the local coordinate system the one or more controlled-object point; known or unknown external force moment calculation means, based on acceleration information acquired from the first acceleration sensor and the second acceleration sensor, and deriving at least a ZMP equation or dynamic equation, calculation is applied known or unknown external force moment on the legged mobile robot; and a control means, based on the known or unknown external force for controlling the torque of the controlled-object point.