| 摘要 |
<P>PROBLEM TO BE SOLVED: To prevent a swing foot from sliding when the swing foot is landed, in a walking robot and the control method of the walking robot. <P>SOLUTION: The control method of the walking robot includes: the step S810 of generating a target angle locus necessary for robot walking for each of a plurality of joint parts disposed at a plurality of legs in accordance with the operating state of the plurality of legs; the step S820 of calculating first torque following the target angle locus for each of the plurality of joint parts disposed at the plurality of legs; the step S830 of determining whether sliding has occurred in a swing foot connected to a swing leg among the plurality of legs; the step S850 of calculating final torque provided to at least one joint part of the swing leg based on a speed sensed from the swing foot in accordance with the determination result; and the step S860 of providing the calculated final torque to each joint part of the swing leg. Whether sliding has occurred when the swing foot is landed is sensed and, based on the sensed result, torque added to the joint of the swing leg is limited. Thus, stable walking is achieved. <P>COPYRIGHT: (C)2013,JPO&INPIT |
