WHOLE-BODY OPERATION CONTROL APPARATUS FOR HUMANOID ROBOT AND METHOD THEREOF

摘要

PURPOSE: A device for controlling the operation of a humanoid robot and a controlling method thereof are provided to express the general operation similar to the human behavior by using a control module controlling a task space and a joint space. CONSTITUTION: A device for controlling the operation of a humanoid robot comprises an outside controller(40) and a robot controller(10). The outside controller maps a motion command described according to a motion scenario using recognizable data. The outside controller offers mapping data. The robot controller controls the general operation of the robot according to general motion by using the control code acknowledged with mapping data.