Method and System for Controlling Walking of Wearable Boot

摘要

Disclosed are systems and methods for controlling walking of a wearable robot, which provide walking assistive power as if something were pulling the wearer of the robot from the front or pushing the wearer from the back, by applying the force of a virtual spring, whereby the wearer may comfortably walk. The systems for controlling walking of the robot include: a walking mode determination unit configured to determine whether the robot is walking; a virtual spring force calculation unit configured to calculate the force of a virtual spring of which one end is connected to the robot and the other end is connected to a target point in front of the robot based on the walking direction; and a joint driving unit configured to drive each joint of the robot using torque calculated based on the force of the virtual spring, which is calculated by the virtual spring force calculation unit.

主权项

1. A system for controlling walking of a robot, comprising:
a walking mode determination unit configured to determine whether the robot is walking; a virtual spring force calculation unit configured to calculate force of a virtual spring of which one end is connected to the robot and the other end is connected to a target point located in front of the robot based on a walking direction of the robot, when it is determined by the walking mode determination unit that the robot is walking; and a joint driving unit configured to drive joints of the robot using torque calculated based on the force of the virtual spring, which is calculated by the virtual spring force calculation unit.