Legged walking robot and system for controlling the same.

摘要

A biped walking robot and system for controlling the robot. The system provides smooth posture control by eliminating interference arising between the frictional force of the ground acting on the legs of the robot and the driving force of the leg joints. A six-dimensional force and torque sensor (26) is provided to detect six force or moment components and based thereon, an angular command to joint motors is corrected. Joint structures of the robot are described, wherein the axes of the drive joints are arranged at right-angles to one another to thereby enable accurate positional control to be effected using Cartesian coordinates.