System and method of controlling ankles of walking robot

摘要

Disclosed herein is a system and method of controlling one or more ankles of a walking robot. In the above system and method, an input torque u to be applied to an ankle of a robot is obtained by compensating a target torque τd with an acting torque τc measured using a sensor and applied by a support surface and then an actual torque τ applied by the ankle of a foot is instead fed back into the control system. Therefore, proper balance of the walking robot is ensured.

主权项

1. A method of controlling one or more ankles of a walking robot, comprising:
obtaining an input torque u to be applied to an ankle of a robot by compensating a target torque τd with an acting torque τc measured using a sensor and applied by a support surface; and in response to compensating the target torque with the acting torque, feeding back an actual torque τ applied by the ankle of a foot to ensure proper balance of the walking robot, wherein the input torque u is obtained by adding a product of the acting torque τc and a gain Kd (1−(τd/Kdτc)) to the target torque τd and then subtracting a product of the actual torque τ and a gain Kc from a result of the addition wherein Kd is an error compensation coefficient for a difference between an angle of a sole of the foot of the robot and an angel of the support surface, and Kc is an error compensation coefficient for a difference between an intended angle and an actually attained angle of the sole of the foot.