ROBOT AND METHOD FOR CONTROLLING WALKING OF THE SAME

摘要

PURPOSE: A robot and a walking control method thereof are provided, which generate walking pattern which spreads the knee to the utmost and minimizes the horizontal motion of the waist according to the human walking similarity. CONSTITUTION: A walking control method of a robot is as follows. A walking pattern is generated(102). The walking pattern similarity corresponding to the walking pattern is calculated(104). The walking pattern similarity is compared with the reference pattern similarity(106). The walking pattern is changed according to the comparison result(108). The walking pattern satisfying the zero moment point equation is generated.