WALKING ROBOT AND CONTROL METHOD THEREOF

摘要

PURPOSE: A walking robot and a control method thereof are provided to prevent damage to hardware when a position control mode is switched into a torque control mode. CONSTITUTION: A control method of a walking robot is as follows. When an FSM(Finite State Machine) control mode is switched into a ZMP(Zero Moment Point) control mode, the final target joint angle of the FSM control mode is stored. When the ZMP control mode is switched into the FSM control mode, the operation of the FSM control mode is performed by substituting the stored final target joint angle to the target joint angle of the FSM control mode.