In a legged mobile robot, a pivoting motion of a foot relative to a leg is controlled such that, from an intermediate time point in a period of departure of a leg from a floor to a starting time point of a period of landing of the leg on the floor, an angle of inclination of the foot of the leg relative to the floor surface gradually approaches zero. Enhanced multimedia utilizes IDs for pieces of content on the media and a media key block. At the second position, the torque cam mechanism functions as a one-way clutch by extending axially in response to relative rotation between both sides in one rotational direction. When the bags are inflated the arms of the supporting frames are spread apart, lifting the frame.