Patent ID: 11944580
Assignee: HYUNDAI MOTOR COMPANY
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 18:
19. The method of claim 11, wherein the operating of a joint-driving unit includes determining a ground impact absorbing and extension of virtual leg mode included in the second 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 in the operating of a joint-driving unit, the mode of the first leg to be operated is determined as the ground impact absorbing and extension of virtual leg mode, a balance point is set in a impedance control direction for a virtual leg as 0 degree and the joint-driving unit is operated to pull the virtual leg to be vertically erected while a virtual spring-damper is generated in a longitudinal direction of a line connecting a hip joint and the end of a leg to each other of the walking assist robot and the joint-driving unit is operated using impedance control to make the leg of the robot absorb shock from the outside.