| 摘要 |
Disclosed herein is a system and method of controlling one or more ankles of a walking robot. In the above system and method, an input torque u to be applied to an ankle of a robot is obtained by compensating a target torque taud with an acting torque tauc measured using a sensor and applied by a support surface and then an actual torque tau applied by the ankle of a foot is instead fed back into the control system. Therefore, proper balance of the walking robot is ensured.
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