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WALKING ROBOT AND CONTROL METHOD THEREOF

  • US 20120158175A1
  • Filed: 10/24/2011
  • Published: 06/21/2012
  • Est. Priority Date: 12/21/2010
  • Status: Active Grant
First Claim
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1. A control method of a walking robot, which has at least one joint unit provided on each leg of the robot, comprising:

  • storing angle change data according to time corresponding to the at least one joint unit in advance using human walking data;

    extracting reference knot points from the stored angle change data according to time, and generating a reference walking trajectory of the robot using the extracted reference knot points;

    calculating, by a computer, a walking change factor to perform change between walking patterns of the robot;

    generating, by a computer, a target walking trajectory by carrying out an arithmetic operation between the generated reference walking trajectory and the calculated walking change factor;

    calculating, by a computer, a control torque to track the generated target walking trajectory; and

    transmitting the calculated control torque to the at least one joint unit so as to control walking of the robot.

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