Patent ID: 11944580
Assignee: KIA MOTORS CORPORATION
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 7:
8. The robot of claim 1, wherein the controller is configured to determine a ground impact absorbing and extension of virtual leg mode included in the second control mode as the control mode for the first leg to be operated based on the gait phases of both the first leg to be operated and the second leg, and
wherein the ground impact absorbing and extension of virtual leg mode is a mode in which the controller is configured to set a balance point in a impedance control direction for the virtual legs as 0 degrees and operate the joint-driving unit to pull the virtual leg to be vertically erected while making a virtual spring-damper in a longitudinal direction of a line connecting a hip joint and the end of the first leg to each other of the walking assist robot and operating the joint-driving unit, using impedance control to make the first leg of the robot absorb shock from the outside.