| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method of a bipedal walking robot prevented in the failure of a bipedal walking robot caused by the overload or accumulation of torque in a motor of each joint, and achieving operation in a rest like the operation of a human being. SOLUTION: By this control method of a bipedal walking robot, when the torque value of the motor is above a first predetermined value, a torque cumulative overload value is calculated as an integration value to the time of the torque value, the torque cumulative overload value is divided by a second predetermined value to calculate a torque cumulative overload rate, and when the torque cumulative overload rate in the motor of the knee of one leg exceeds a third predetermined value, the position of ZMP caused in a contact part between the foot plane of one leg and the road surface is moved to the position of a contact part between the foot plane of the other leg and the road surface. COPYRIGHT: (C)2007,JPO&INPIT
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