Patent ID: 8781628

Claim:
A control method of a torque-based walking robot having actuators and torque sensors, the method comprising: measuring a torque of each actuator of the robot through each torque sensor of the robot; calculating a target torque of each actuator; setting, in accordance with the calculated target torque of each actuator, a specific value to be added to the torque measured by each torque sensor, adding the set specific value to the torque measured by each torque sensor, and using the torque measured by each torque sensor and having the set specific value added thereto to calculate a voltage to be applied to each actuator to thereby control each actuator; and applying the calculated voltage to each actuator, wherein the setting of the specific value includes: limiting a torque range measurable by each torque sensor; and setting a difference between the torque measured by each torque sensor having the limited measurement torque range and the calculated target torque to the specific value.