<p>A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque.</p>
申请公布号
EP2347868(A1)
申请公布日期
2011.07.27
申请号
EP20110151201
申请日期
2011.01.18
申请人
SAMSUNG ELECTRONICS CO., LTD.
发明人
KWON, WOONG;PARK, JOONG KYUNG;LEE, JU SUK;ROH, CHANG HYUN;LEE, MIN HYUNG;PARK, JAE HO;KIM, JOO HYUNG;KWAK, HO SEONG