APPARATUS AND METHOD CONTROLLING LEGGED MOBILE ROBOT

摘要

Disclosed is an apparatus and method adjusting motion of each joint of a robot to compensate for friction force of each joint such that the sole of the foot of the robot clings to the ground. The motion of each joint is adjusted as if gravity acts on each joint of the robot in a direction opposite to gravity and the robot is held in an erect state. Therefore, the robot can stand while keeping its balance without falling.