Patent ID: 8868240

Claim:
A pose control method of a walking robot, which has an upper body, a pelvis link connected to a lower portion of the upper body, hip joint units connected to a lower portion of the pelvis link, legs respectively connected to the hip joint units and feet respectively provided at the legs, comprising: calculating a position of a current center of gravity (COG) of the robot; calculating force, which needs to be compensated for to keep the robot balanced, by calculating an error between the calculated position of the current COG and a position of a target COG; converting the calculated force into a virtual acceleration of gravity; measuring actual rotating angles of the pelvis link; calculating moment, which needs to be compensated for to keep the robot balanced, by calculating errors between the measured actual rotating angles and target rotating angles, and distributing the calculated moment to the legs; calculating joint torques to control poses of the legs using the calculated moment and the virtual acceleration of gravity; and performing torque servo control to control joints of the robot using the calculated joint torques.