Patent ID: 8868239

Claim:
A walking control apparatus of a robot comprising: joint portions provided in each of a plurality of legs of the robot; a state database to store state data of each of the legs and state data of the joint portions corresponding to the state of each of the legs, when the robot walks, the state data of the legs and the joint portions based on Finite State Machine (FSM); a position instruction unit to generate desired positions corresponding to the state data of the joint portions; an inclination sensing unit to sense an inclination of an upper body of the robot; a compensator to calculate compensation angles for the joint portions using the sensed inclination of the upper body; a torque calculator to determine whether the compensation angles are applied according to the magnitude of the inclination of the upper body, to calculate torques using the desired positions and the calculated compensation angles when it is determined that the compensation angles are applied; and a servo controller to output the torques to the joint portions to control the walking of the robot.