SYSTEM FOR CONTROLLING POSITION POSE OF ROBOT USING CONTROL OF CENTER OF MASS

摘要

The present invention relates to a system for controlling a robot for maintaining the entire posture of the robot which is not fixated on the ground. The robot comprises: a body which comprises multiple joints; multiple limbs; and a motor mounted on the joints. The position of the center of mass of the robot is controlled to keep the entire posture. The limbs comprise a robot arm having an end unit. When the end unit′s target position value is entered, the center of mass′s target position value is calculated by using the end unit′s target position value. The end unit′s target position value and the center of mass′s target position value are followed to drive the motor mounted on the joints for the center of mass of the end unit and the robot to move. The center of mass′s target position value changes in proportion to the changes of the end unit′s target position value.