发明名称 |
Walking robot and method of controlling the same |
摘要 |
<p>Disclosed herein are an apparatus and method for controlling stable walking of a robot based on torque. In a method of enabling stable walking by controlling torque of a hip joint portion using a Finite State Machine (FSM) without solving a complicated dynamic equation, torque of a stance leg is finally calculated using pose control torque of an upper body, pose control torque of a swing leg, and initial pose control torque of a stance leg supporting the upper body. Accordingly, the robot may stably walk with torque balance. Since gravity compensation torque is applied, a torso of the robot is not inclined and the pose of the robot is stably maintained.</p> |
申请公布号 |
EP2343161(A1) |
申请公布日期 |
2011.07.13 |
申请号 |
EP20110150390 |
申请日期 |
2011.01.07 |
申请人 |
SAMSUNG ELECTRONICS CO., LTD. |
发明人 |
PARK, JOONG KYUNG;ROH, KYUNG SHIK;KWON, WOONG;LEE, MIN HYUNG;KWAK, HO SEONG |
分类号 |
B25J9/00;B25J9/16;B62D57/032 |
主分类号 |
B25J9/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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