Patent ID: 9079624
Filing Date: 2015-07-14
Classification: B25J,B62D

Abstract:
1. A walking robot having a plurality of legs and a foot provided in each of the plurality of legs, the walking robot comprising: a first sensor to detect whether the foot touches ground when the robot walks; a second sensor to detect a pose of the robot when the foot touches the ground; and a walking controller to control a servo gain of an ankle joint of the robot to increase flexibility of the ankle joint of the robot before and/or at a time when the foot touches the ground, to determine an angle of the ground based on a measured angle of the ankle of the robot when the foot is touching the ground, and to generate a reference desired angle of the ankle of the robot to maintain robot balance when the foot touches the ground, wherein the walking controller includes: an angle compensator to compensate for the reference desired angle of the ankle of the robot to control walking of the robot, to obtain a Center of Gravity (COG) position and a velocity of the robot according to the pose of the robot, and to calculate a compensation angle of the ankle of the robot using the COG position and the velocity of the robot.