WALKING ROBOT AND CONTROL METHOD THEREOF

摘要

PURPOSE: A walking robot and a control method for the same are provided to perform a balancing operation which enables a walking robot to stably walk on the uneven ground using a finite state machine (FSM) based walking control method. CONSTITUTION: A walking robot comprises joint parts (210,220,230) separately equipped in a plurality of legs; a ground angle calculation part (333) for calculating the angle between both legs and the ground; a compensation value calculation unit (334) for calculating the compensation value of a joint part using the ground angle; a target trajectory creation part (335) for creating the target trajectory of the joint part using the compensation value; a target torque calculation part (336) for calculating the target torque of the joint part in order to follow the target trajectory; and a servo control part (340) for controlling the walking of a robot by delivering the target torque to the joint part. [Reference numerals] (14) Pose sensor; (210) Power joint part; (220) Knee joint part; (230) Ankle joint part; (24) F/T sensor; (310) User interface part; (331) Condition database part; (332) Location trajectory creation part; (333) Ground angle calculation part; (334) Compensation value calculation unit; (335) Target trajectory creation part; (336) Target torque calculation part; (340) Servo control part