Walking robot and method of controlling balance thereof

摘要

Disclosed herein are a walking robot which controls balance using an ankle when the robot walks, and a method of controlling balance thereof. In a method of determining an angle of an ankle joint without solving a complicated dynamic equation such that the robot stays balanced so as not to fall, an angle of the ground is fixed as a reference angle for balance control of the robot such that the robot stably walks while maintaining the same balance control performance even when the ground is inclined. When the robot moves slowly or quickly, the robot may maintain balance. Since the robot stays balanced using the ankle of a stance leg even when the ground is inclined, the method is simple and is applied to a robot having joints with 6 degrees of freedom.

主权项

1. A walking robot having a plurality of legs and a foot provided in each of the plurality of legs, the walking robot comprising:
a first sensor to detect whether the foot touches ground when the robot walks; a second sensor to detect a pose of the robot when the foot touches the ground; and a walking controller to control a servo gain of an ankle joint of the robot to increase flexibility of the ankle joint of the robot before and/or at a time when the foot touches the ground, to determine an angle of the ground based on a measured angle of the ankle of the robot when the foot is touching the ground, and to generate a reference desired angle of the ankle of the robot to maintain robot balance when the foot touches the ground, wherein the walking controller includes: an angle compensator to compensate for the reference desired angle of the ankle of the robot to control walking of the robot, to obtain a Center of Gravity (COG) position and a velocity of the robot according to the pose of the robot, and to calculate a compensation angle of the ankle of the robot using the COG position and the velocity of the robot.