STABLE BIPEDAL WALKING ROBOT METHOD FOR GENERATING VERTICAL DIRECTION AND THE CENTER OF THE WAIST AND FEET, THE MOVEMENT DIRECTION OF THE FRONT OF THE ROBOT

摘要

PURPOSE: A method for generating the movement of the center of waist and feet in a vertical, lateral, and front side of a robot to bipedal walk is provided to solve the short time in a bipedal support section by setting the movement around the waist and the feet in a horizontal direction with respect to the bipedal support section and to smoothly move even if the bipedal support section is increased. CONSTITUTION: A method for generating the movement of the center of waist and feet in a vertical, lateral, and front side of a robot to bipedal walk comprises a step of controlling the time in a bipedal support section by drawing the time of the bipedal support section of the bipedal robot and the trace of the waist and the feet using a central pattern generator(S10). [Reference numerals] (AA) Start; (BB) End; (S10) Draw the trace of the waist center and feet of a bipedal robot using a central pattern generator and control the time of a bipedal support section of the bipedal robot