WALKING CONTROL APPARATUS OF ROBOT AND METHOD OF CONTROLLING THE SAME
First Claim
1. A walking control apparatus of a robot comprising:
- joint portions provided in each of a plurality of legs of the robot;
a state database to store state data of each of the legs and state data of the joint portions corresponding to the state of each of the legs, when the robot walks;
a position instruction unit to store desired positions corresponding to the state data of the joint portions;
an inclination sensing unit to sense an inclination of an upper body of the robot;
a torque calculator to calculate torques using the inclination of the upper body and the desired positions; and
a servo controller to output the torques to the joint portions to control the walking of the robot.
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Accused Products
Abstract
A walking control apparatus of a robot includes joint portions provided in each of a plurality of legs of the robot, a state database to store state data of each of the legs and state data of the joint portions corresponding to the state of each of the legs, when the robot walks, a position instruction unit to store desired positions corresponding to the state data of the joint portions, an inclination sensing unit to sense an inclination of an upper body of the robot, a torque calculator to calculate torques using the inclination of the upper body and the desired positions, and a servo controller to output the torques to the joint portions to control the walking of the robot. Since the robot walks by Finite State Machine (FSM) control and torque servo control, the rotation angles of the joint portions do not need to be accurately controlled. Thus, the robot walks with low servo gain and energy consumption is decreased. Since the robot walks with low servo gain, each of the joints has low rigidity and thus shock generated by collision with surroundings is decreased.
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Citations
22 Claims
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1. A walking control apparatus of a robot comprising:
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joint portions provided in each of a plurality of legs of the robot; a state database to store state data of each of the legs and state data of the joint portions corresponding to the state of each of the legs, when the robot walks; a position instruction unit to store desired positions corresponding to the state data of the joint portions; an inclination sensing unit to sense an inclination of an upper body of the robot; a torque calculator to calculate torques using the inclination of the upper body and the desired positions; and a servo controller to output the torques to the joint portions to control the walking of the robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A walking control method of a robot comprising:
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outputting instructions of desired positions corresponding to state data of joint portions provided in the robot; sensing an inclination of an upper body of the robot; calculating torques using the desired positions and the inclination of the upper body; and outputting the calculated torques to the joint portions to control the walking of the robot. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification