APPARATUS FOR CONTROLLING DIRECTION CHANGE OF LEGGED ROBOT AND METHOD THEREOF

摘要

The present invention relates to an apparatus to control redirection of a legged mobile robot which includes an input unit inputting a command coordinate value with respect to a point wherein the legs of the legged mobile robot would be landing, and a command rotation angle of the legged mobile robot; a measurement unit measuring a rotation angle of a body generated when the legged mobile robot is moved; a computing unit computing an error between the command rotation angle and the measured rotation angle using the error to compute side linear velocity to control the amount of rotation of the legged mobile robot; and an output unit sending the computed side linear velocity to a position attitude controller to maintain feet position and body attitude of the mobile robot. According to the present invention, the robot can actively be redirected when moved by a hopping motion. By controlling inevitable rotation of the body of the robot, sliding of the robot′s legs can be prevented to maintain smooth moving performance. Also, the present invention can be used as a platform to develop a locomotion algorithm for normal mechanisms in addition to being used in robots having a predetermined number of legs.