WALKING ROBOT AND CONTROL METHOD THEREOF
First Claim
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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Abstract
A walking robot and a control method thereof. The control method includes storing angle change data according to time corresponding to at least one joint unit of the robot using human walking data, extracting reference knot points from the angle change data according to time, and generating a reference walking trajectory using the extracted reference knot points, calculating a walking change factor to perform change between walking patterns of the robot, generating a target walking trajectory through an arithmetic operation between the reference walking trajectory and the calculated walking change factor, calculating 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, thereby achieving various walking patterns through a comparatively simple arithmetic operation process.
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Citations
26 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A control method of a walking robot, which has at least one joint unit provided on each leg of the robot, comprising:
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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, generating a reference walking trajectory of the robot using the extracted reference knot points, and storing the generated reference walking trajectory in advance; calculating walking change factors in respective walking patterns to perform change between walking patterns of the robot and storing the calculated walking change factors in advance; receiving a command instructing the robot to perform change from a current walking pattern of the robot to another walking pattern from a user; generating a target walking trajectory to perform change from the current walking pattern of the robot to said another walking pattern by carrying out an arithmetic operation between the generated reference walking trajectory and a walking change factor of the stored, calculated walking change factors corresponding to said another walking pattern; calculating 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. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A walking robot comprising:
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at least one joint unit provided on each leg of the robot; a memory unit to store angle change data according to time corresponding to the at least one joint unit in advance using human walking data; a knot point extraction unit to extract reference knot points from the stored angle change data according to time; a reference walking trajectory generation unit to generate a reference walking trajectory of the robot using the extracted reference knot points; a walking change factor calculation unit to calculate a walking change factor to perform change between walking patterns of the robot; a target walking trajectory generation unit to generate a target walking trajectory by carrying out an arithmetic operation between the generated reference walking trajectory and the calculated walking change factor; a control torque calculation unit to calculate a control torque to track the generated target walking trajectory; and a servo control unit to transmit the calculated control torque to the at least one joint unit so as to control walking of the robot. - View Dependent Claims (16, 17, 18, 19, 20)
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21. A walking robot comprising:
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a user interface unit to receive a command instructing the robot to perform change from a current walking pattern of the robot to another walking pattern from a user; at least one joint unit provided on each leg of the robot; a memory unit to store angle change data according to time corresponding to the at least one joint unit using human walking data; a knot point extraction unit to extract reference knot points from the stored angle change data according to time; a reference walking trajectory generation unit to generate a reference walking trajectory of the robot using the extracted reference knot points and to transmit the generated reference walking trajectory to the memory unit so that the generated reference walking trajectory is stored in the memory unit; a walking change factor calculation unit to calculate walking change factors in respective walking patterns to perform change between walking patterns of the robot and to transmit the calculated walking change factors to the memory unit so that the calculated walking change factors are stored in the memory unit; a target walking trajectory generation unit to generate a target walking trajectory to perform change from the current walking pattern of the robot to said another walking pattern by carrying out an arithmetic operation between the generated reference walking trajectory and a walking change factor of the stored, calculated walking change factors corresponding to said another walking pattern; a control torque calculation unit to calculate a control torque to track the generated target walking trajectory; and a servo control unit to transmit the calculated control torque to the at least one joint unit so as to control walking of the robot. - View Dependent Claims (22, 23, 24, 25, 26)
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Specification