Walking robot and control method thereof

摘要

A walking robot capable of implementing a balancing action to ensure a stable walking on uneven ground based on an FSM-based walking control method, and a control method thereof, is capable of implementing stable walking by controlling torques of the hip joint, the knee joint and the ankle joint by use of FSM without calculating complicated Dynamics Equations. The walking robot ensures stable walking on uneven ground through a simple calculation by use of the angle formed by the ground and the both feet The walking robot is made to be applied to a robot provided with joints having six degrees of freedom through a simple calculation of compensation angles.

主权项

1. A walking robot provided with a plurality of legs and feet provided at each of the plurality of legs, respectively, the walking robot comprising:
a plurality of joints provided at each of the plurality of legs; a position trajectory generator configured to generate a position trajectory of each joint which is set based on states of a Finite State Machine (FSM) control method of the plurality of legs; a ground angle calculator configured to calculate a ground angle formed by a ground and the feet; a compensation value calculator configured to calculate a compensation value of the each joint by use of the calculated ground angle; a target trajectory generator configured to generate a target trajectory of the each joint by use of the calculated compensation value of the each joint and the generated position trajectory of the each joint; a target torque calculator configured to calculate a target torque of the each joint so as to trace the generated target trajectory; and a servo controller configured to control a walking of the walking robot by transmitting the calculated target torque to the each joint.