Patent ID: 8676381

Claim:
A humanoid robot comprising: a robot joint unit comprising joints movable during walking of the robot; a sensor unit to measure landing information and pose information of the robot; a joint position trajectory creation unit to create a joint position trajectory of each joint using the landing information and the pose information of the robot; a joint position trajectory compensation value calculation unit to calculate a joint position trajectory compensation value to compensate for the joint position trajectory of each joint; a joint torque calculation unit to compensate for the joint position trajectory of each joint using the joint position trajectory compensation value and to calculate a joint torque command of each joint according to the compensated joint position trajectory of each joint; a joint torque compensation value calculation unit to calculate a joint torque compensation value to compensate for the joint torque of each joint; and a joint torque servo control unit to compensate for the joint torque command of each joint using the joint torque compensation value, to calculate a motor current to follow the compensated joint torque command of each joint, and to control a motor mounted to each joint according to the calculated motor current, wherein the joint torque servo control unit comprises a motor controller and a torque sensor for each motor mounted to each joint to measure a torque of each motor mounted to each joint, and wherein the joint servo control unit calculates the motor current of each motor mounted to each joint based, in part, on subtracting the measured torque of each motor mounted to each joint from the joint torque command of each joint.