CONTROL SYSTEM FOR COMPLIANT LEGGED ROBOT

摘要

The present invention relates to a control system for a robot with flexible legs, which comprises: a robot leg operating unit which operates the legs of a robot; a controller which controls the robot leg operating unit; and a driving route planning device which provides the controller with a control target value for the driving of the robot. The driving route planning device provides the control target value at time intervals of ts/scale. Here, ts is a feedback control loop sampling time and satisfies scale>=1. The purpose of the control system for a robot with flexible legs is to enable the robot to stand in a stop state, to reach a speed within a self-stable area at low speeds by avoiding the saturation state of a driver, and to perform high-speed driving using a driver having limited capacity.