Patent Document ID: 9221507
Application ID: 12427009
Patent Status: 1

Claim One:
1. A method of controlling walking of a robot, the method comprising: generating a walking pattern within a processor configured to control walking of the robot; calculating a walking pattern similarity of the generated walking pattern with respect to a human walking pattern; comparing the walking pattern similarity with a predetermined reference pattern similarity, wherein the reference pattern similarity is a reference value to determine to what extent the generated walking pattern is similar to the human walking pattern; changing, subsequent to the generating, the calculating, and the comparing, the walking pattern of the robot so that a knee of the robot is stretched and a movement of a waist of the robot is minimized when the walking pattern similarity is not larger than the reference pattern similarity; and wherein the changing is performed by driving actuators associated with various joints of the robot according to the changed walking pattern to perform the walking of the robot.