| 摘要 |
PURPOSE: A humanoid robot, for operating as the behavior of real human being and a control method thereof, is provided to simplify the motion optimization of the humanoid robot entire body by making the robot move within a pre-determined motion trajectory. CONSTITUTION: A humanoid robot comprises an input part(200), a controller(210), and a driving part(220). The input part receives an operation command from a user. The controller controls the robot that performs a main motion according to the motion command which is input through the input part by using the optimized motion trajectory. The optimized motion trajectory generates the optimized motion trajectory in consideration of the dynamic mechanics of the robot. The driving part drives each joint of the robot according to the control signal of the controller.
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