| 摘要 |
<p>PURPOSE: A walking robot and a control method thereof are provided to secure stable walking by controlling the torque of joint units using an FSM(Finite State Machine) without calculation of a complex dynamic equation. CONSTITUTION: A walking robot comprises one or more joint units(350), a sensing unit(320), a memory unit(330), a target trajectory generating unit(341), a control torque calculating unit(342), and a servo control unit(343). The joint units are installed in two legs. The sensing unit detects the angle and angular velocity of the joint units. The memory unit stores information on the angle and angular velocity of the joint units in a stable walking state. The target trajectory generating unit produces a target trajectory based on the angle and angular velocity information. The control torque calculating unit compares the target trajectory with the angle and angular velocity of the joint units to confirm the stability of the joint units and, if an unstable joint unit exists, controls walking by transmitting calculated control torque to the unstable joint unit.</p> |
