WALKING CONTROL APPARATUS OF ROBOT AND METHOD FOR CONTROLLING THE SAME

摘要

PURPOSE: A walking control device and method for a robot are provided to reduce the energy consumption of a robot by performing FSM(Finite State Machine) control and torque servo control to allow the robot to walk with low servo gain. CONSTITUTION: A walking control device for a robot comprises a joint unit, a state database unit(340), a position command unit(350), an inclination sensing unit(320), a torque computation unit(360), and a servo controller(370). Joints are installed on a plurality of legs of a robot respectively. The state database unit stores data about the state of the legs and the state of the joints corresponding to the state of the legs. The position command unit stores the target position corresponding to the state data of the joints. The inclination sensing unit detects the inclination of the upper body of the robot. The torque computation unit computes the torque by using the target position and the inclination of the upper body. The servo controller controls the walking of the robot by outputting the torque to the joint unit.