Robot and method of controlling walking thereof

摘要

Disclosed are a robot, which generates a stable walking pattern similar to that of a human, and a method of controlling walking thereof. The method includes generating a walking pattern of a leg connected to a torso of the robot; detecting whether or not a singularity pose of the leg walking according to the walking pattern is generated; and changing the walking pattern by adjusting a yaw direction angle of the torso when the singularity pose is generated.

主权项

1. A method of controlling walking of a robot comprising:
generating a walking pattern of a leg connected to a torso of the robot; detecting whether or not a singularity pose of the leg walking according to the walking pattern is generated, the singularity pose being a point in which a relative distance connecting an ankle joint of the leg and a hip joint located at a lower portion of the torso is equal to a length of the leg; and changing the walking pattern by adjusting a yaw direction angle of the torso when the generated singularity pose is detected, wherein the adjusted yaw direction angle is obtained using a position of the leg when the singularity pose is generated.