Patent ID: 8958909
Filing Date: 2015-02-17
Classification: B25J,B62D,G05B

Abstract:
1. A control method of a walking robot, which has at least one joint unit provided on each leg of the robot, comprising: storing angle change data according to time corresponding to the at least one joint unit in advance using human walking data; extracting reference knot points from the stored angle change data according to time, each reference knot point being a point where an angular velocity of a respective joint unit of the at least one joint unit is changed and indicating a peak point where the angular velocity is zero, and generating a reference walking trajectory of the robot using the extracted reference knot points; calculating, by a computer, a walking change factor to perform change between walking patterns of the robot, the walking change factor including a scale factor to change a walking stride of the robot; generating, by a computer, a target walking trajectory by carrying out an arithmetic operation between the generated reference walking trajectory and the calculated walking change factor; calculating, by a computer, a control torque to track the generated target walking trajectory; and transmitting the calculated control torque to the at least one joint unit so as to control walking of the robot.