WALKING ROBOT AND METHOD FOR CONTROLLING BALANCING THE SAME

摘要

PURPOSE: A walking robot and a balance control method thereof are provided to enable the walking robot to stably walk with the same balance control performance even in case of ground inclination by fixing the angle of the ground as the standard angle of robot balance control. CONSTITUTION: A walking robot comprises first and second sensors and a walking control unit(330). During the walking of the robot, the first sensor detects whether the feet of the robot touches the ground or not. If the feet touch the ground, the second sensor detects the position of the robot and the walking control unit measures the angle of the ground and generates the target reference angle of an ankle for keeping the balance of the robot. The walking control unit compensates the standard target angle and controls the walking of the robot according to the position of the robot.