Patent ID: 9073209
Filing Date: 2015-07-07
Classification: B25J,B62D

Abstract:
1. A walking robot provided with a plurality of legs and feet provided at each of the plurality of legs, respectively, the walking robot comprising: a plurality of joints provided at each of the plurality of legs; a position trajectory generator configured to generate a position trajectory of each joint which is set based on states of a Finite State Machine (FSM) control method of the plurality of legs; a ground angle calculator configured to calculate a ground angle formed by a ground and the feet; a compensation value calculator configured to calculate a compensation value of the each joint by use of the calculated ground angle; a target trajectory generator configured to generate a target trajectory of the each joint by use of the calculated compensation value of the each joint and the generated position trajectory of the each joint; a target torque calculator configured to calculate a target torque of the each joint so as to trace the generated target trajectory; and a servo controller configured to control a walking of the walking robot by transmitting the calculated target torque to the each joint.