DEVICE AND METHOD FOR CONTROLLING THE BALANCE OF BIPED WALKING ROBOTS

摘要

PURPOSE: A device and a method for controlling balance of a biped walking robot are provided to precisely control the balance using ZMP(Zero Moment Point) sensor data which is measured in the robot and to apply an identical control technique to both a state of one foot support and a state of feet support. CONSTITUTION: A device(100) for controlling balance of a biped walking robot(109) comprises a walk command receiving unit(101), a route generation unit(103), a balance control unit(105), and a joint control unit(107). The route generation unit generates a nominal angle using a command with respect to a walking pattern. The balance control unit measures a ZMP position of the robot using a power and torque data which apply to the feet of the robot, and generates a revised angle rotating pelvis or an ankle joint of the robot using the ZMP position. The joint control unit controls movement of the robot joint using the nominal angle and the revised angle. [Reference numerals] (101) Walk command receiving unit; (103) Route generation unit; (105) Balance control unit; (107) Joint control unit; (109) Robot; (AA) Actual joint angle; (BB) F/T sensor measurement data