WALKING ROBOT AND CONTROL METHOD THEREOF

摘要

PURPOSE: A walking robot and a control method thereof are provided to obtain stable and natural walking by adding a toe-off state of supporting legs. CONSTITUTION: A method for controlling a walking robot is as follows. When a first leg is in a swing state and a second leg in a support state, the second leg is transited to a toe-off state if force against the ground applied to the first leg exceeds a first set value(404). When the second leg is in the toe-off state, the second let is transited to the swing state and the first leg is in the support state if the force against the ground applied to the second leg is below a second set value(406). The robot walks by repeating the transition of the swing state, the support state and the toe-off state.