METHOD FOR CONTROLLING WALKING OF ROBOT

摘要

Introduced in the present invention is a method for controlling the walking of a robot, which comprises the following: a virtual wall forming step which forms a virtual wall separated at a fixed distance to the outer side from both feet of a robot when the robot is supported by both feet; a change calculating step which kinematically calculates distance and speed changes between the body of the robot and the virtual wall using a joint angle and a link length of the robot; a reaction calculating step which calculates a virtual reaction necessary for the body of the robot by substituting the distance and speed changes into a virtual spring-damper model that exists between the body of the robot and the virtual wall; and a reaction converting step which converts the calculated reaction into a driving torque at the joint of the robot using Jacobian transposed matrix.