METHOD FOR CONTROLLING WALKING OF ROBOT

摘要

The present invention relates to a walking control method of a robot using a foot sensor of a robot, and comprises: a determination step to determine that a robot is walking; a distinguishing step of distinguishing whether a robot is walking on one foot or both feet using a foot sensor when a robot is walking; a both feet support step performing posture maintaining control when a robot is walking on both feet; a support step operating a support control according to gravity compensation and weight compensation on a support bridge when a robot is walking on one foot; and a swing step generating virtual reaction for swing on a swing bridge when a robot is walking on one foot. [Reference numerals] (AA) Start; (BB) Measure an initial pose wearing a robot; (CC) Calculate additional heavy gravity; (DD) Transform robot pose after measuring a height(foot-back); (EE) Gravity + Heavy compensation algorithm; (FF) Walking speed discrimination algorithm; (GG) Virtual reaction generation algorithm; (HH) Walking control algorithm; (II) End; (S200) Walking state?; (S300) Foot sensor(Tape S/W); (S400) One leg support?; (S500) Support legs; (S600) Swing legs; (S700) Pose maintenance control