WALKING ROBOT AND CONTROL METHOD THEREOF
First Claim
1. A control method of a walking robot, comprising:
- generating a target angle trajectory, required for walking of the robot, with respect to each of a plurality of joint units provided at a plurality of legs according to operating states of the plurality of legs;
calculating a first torque, which tracks the target angle trajectory, with respect to each of the plurality of joint units provided at the plurality of legs;
determining whether slippage of a swing foot connected to a swing leg among the plurality of legs occurs;
calculating a final torque to be provided to at least one joint unit of the swing leg based on a velocity sensed from the swing foot if it is determined slippage of the swing foot occurs; and
providing the calculated final torque to each joint unit of the swing leg.
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Accused Products
Abstract
A walking robot to prevent slippage of a swing foot on the ground and a control method thereof includes generating a target angle trajectory for each joint unit of legs, calculating a torque, which tracks the target angle trajectory, for each joint unit, determining whether slippage of a swing foot connected to a swing leg of the two legs occurs, calculating a final torque to be provided to each joint unit of the swing leg based on a velocity sensed from the swing foot if occurrence of slippage of the swing foot is determined, and providing the calculated final torque to each joint unit. By sensing whether slippage of the swing foot occurs when the swing foot touches the ground and restricting a torque to be applied to each joint unit based on the sensed result, stable walking of the robot is realized.
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Citations
23 Claims
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1. A control method of a walking robot, comprising:
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generating a target angle trajectory, required for walking of the robot, with respect to each of a plurality of joint units provided at a plurality of legs according to operating states of the plurality of legs; calculating a first torque, which tracks the target angle trajectory, with respect to each of the plurality of joint units provided at the plurality of legs; determining whether slippage of a swing foot connected to a swing leg among the plurality of legs occurs; calculating a final torque to be provided to at least one joint unit of the swing leg based on a velocity sensed from the swing foot if it is determined slippage of the swing foot occurs; and providing the calculated final torque to each joint unit of the swing leg. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A walking robot comprising:
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a target angle trajectory generator to generate a target angle trajectory, required for walking of the robot, with respect to each of a plurality of joint units provided at a plurality of legs according to operating states of the plurality of legs; a torque calculator to calculate a first torque, which tracks the target angle trajectory, with respect to each of the plurality of joint units provided at the plurality of legs; a walking state determiner to determine whether slippage of a swing foot connected to a swing leg among the plurality of legs occurs, wherein the torque calculator calculates a final torque to be provided to at least one joint unit of the swing leg based on a velocity sensed from the swing foot if it is determined slippage of the swing foot occurs; and a controller to provide the calculated final torque to each joint unit of the swing leg. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A control method of a walking robot, comprising:
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generating a target angle trajectory for a first joint unit provided at a swing leg of the robot among a plurality of legs of the robot, according an operating state indicating a pose of the swing leg; calculating a first torque, which tracks the target angle trajectory, for the first joint unit; determining whether slippage of a swing foot connected to the swing leg occurs; calculating and applying a second torque to the first joint unit of the swing leg based on a velocity sensed from the swing foot if it is determined slippage of the swing foot occurs, wherein the second torque is less than the first torque. - View Dependent Claims (23)
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Specification