| 摘要 |
PURPOSE: A walking control device of a cherished walking robot and a controlling method thereof are provided to maintain the center of gravity of the cherished walking robot within a support polygon by using the mechanism of mobile mass. CONSTITUTION: A walking control device of a cherished walking robot includes a body part(20), a leg part(30) for supporting the body part(20) and performing a walking operation, and a control part for operating and controlling each joint of the legs of the leg part(30). The walking control device of the cherished walking robot further includes a mobile mass part(40) installed at one side of the body part(20). The mobile mass part(40) includes a mass drive motor for generating the driving force, a rotary shaft(42) for transmitting the rotatable power, a fixing arm(43) connected to an end of the rotary shaft(42), and a mass(44) connected to one end portion of the fixing arm(43).
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