Walking robot and control method thereof

摘要

A walking robot and a control method in which conversion between walking servo control methods is stably carried out. The walking robot includes a sensor unit to measure angles and torques of joints, and a control unit to calculate voltages applied in a Finite State Machine (FSM) control mode and a Zero Moment Point (ZMP) control mode according to the angles and torques of the joints to drive respective joint motors, to store last target joint angles in the FSM control mode during conversion from the FSM control mode to the ZMP control mode, and to perform a motion based on the FSM control mode by substituting the last target joint angles in the FSM control mode for target joint angles in the FSM control mode during conversion from the ZMP control mode to the FSM control mode, thereby performing stable conversion between walking servo control modes without joint sagging.

主权项

1. A control method of a walking robot, which enables conversion between a Finite State Machine (FSM) control mode and a Zero Moment Point (ZMP) control mode, the control method comprising:
storing last target joint angles of the robot being controlled in the FSM control mode, during conversion from the FSM control mode to the ZMP control mode; after converting from the FSM control mode to the ZMP control mode, controlling the robot in the ZMP control mode; and after controlling the robot in the ZMP control mode, converting to the FSM control mode by substituting the stored last target joint angles for target joint angles, and then performing control of the robot in the FSM control mode based on the stored last target joint angles having been substituted for the target joint angles.