METHOD AND SYSTEM FOR CONTROLLING WALKING OF ROBOT

摘要

Introduced in the present invention are a method and a system for controlling the walking of a robot. The method comprises the following: a measuring step which measures the load of an object when a robot lifts the object; a drawing step which draws the kinematically changed center of gravity of the robot by reflecting the measured load of the object; a calculating step which calculates separation displacement between the changed center of gravity and a ZMP area when the changed center of gravity diverges from the ZMP area of the robot; and a converting step which generates virtual supporting force by substituting the calculated separation displacement into a virtual spring-damper model, and converts the generated virtual supporting force into a driving torque of a joint of the robot using Jacobian transposed matrix.