CONTROL DEVICE FOR LEGGED MOBILE ROBOT AND CONTROL METHOD THEREOF

摘要

PURPOSE: A control device and method for a legged mobile robot are provided to compensate the frictional force of each joint and change the gravity direction of robot joints into anti-gravity direction, thereby effectively keeping the robot balanced. CONSTITUTION: A control device for a legged mobile robot comprises a joint part(60) and a control part(40). The joint part drives an actuator installed in a joint of a robot. The control part operates the joint part to offset the mechanical friction force of the robot joint, thereby compensating the frictional force of the robot joint.