| 摘要 |
<P>PROBLEM TO BE SOLVED: To perform walking control of a robot that can efficiently use necessary energy. <P>SOLUTION: In the balance control method for a robot having a plurality of legs provided with a plurality of joint parts respectively and an upper body coupled to the legs, an angle of pose of the upper body and angles of the plurality of joint parts are detected, a present capture point and a present hip height are obtained on the basis of the angle of pose angle and the angles of the plurality of joint parts of the upper body, the present capture point is compared with a preset target capture point to calculate a capture point error, the present hit height is compared with the preset target hip height to calculate a hip height error, compensation force is calculated on the basis of the capture point error and the hip height error, torque with respect to flexibility of at least one of the plurality of joint parts is calculated on the basis of the compensation force, the torque with respect to at least one flexibility is output to the plurality of joint parts, so that walking of a robot is controlled. <P>COPYRIGHT: (C)2013,JPO&INPIT |
