METHOD FOR CONTROLLING WALKING OF BIPED WALKING ROBOT FOR KEEPING BALANCE OF MOBILE ROBOT IN WALKING ON UNEVEN ROAD BY CONTROLLING MOTOR ACCORDING TO CALCULATED MOVING ANGLE

摘要

PURPOSE: A walking control method of a biped walking robot is provided to keep the balance and to walk stably by measuring the ground reaction force with a sensor and by making the ground reaction force plane corresponding to the measured value. CONSTITUTION: In a walking control method of a biped walking robot for keeping the balance by controlling the driving unit based on the ground reaction force, x and y-coordinates are applied to the point corresponding to a measuring sensor mounted to the lower part of a leg part. Z-coordinate is applied by measuring the ground reaction force of three points in the lower part of the leg part. A ground reaction force plane(7) is constructed based on the measured ground reaction force, and a normal vector(9) is calculated vertically to the ground reaction force plane. The roll angle of the rotational angle of the x-axis and the pitch angle of the rotational angle of the y-axis are calculated to accord the normal vector with a reference vector(11), and the driving unit is controlled corresponding to the roll angle and the pitch angle.