Patent Document ID: 8682488
Application ID: 13006821
Patent Status: 1

Claim One:
1. 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 walking pattern creation unit to calculate a joint position trajectory command or a joint torque command of each joint to perform walking of the robot according to a walking pattern of the robot; a zero moment point (ZMP) calculation unit to output a calculated ZMP of the robot calculated using a trajectory of each joint calculated by the walking pattern creation unit; a ZMP measurement unit to output a measured ZMP of the robot measured using a measurement value of the sensor unit; a compensation value calculation unit to calculate and output a compensation value to compensate for the joint position trajectory command or the joint torque command using the calculated ZMP calculated by the ZMP calculation unit and the measured ZMP calculated by the ZMP measurement unit; and a compensation unit to add the compensation value calculated by the compensation value calculation unit to the joint position trajectory command or the joint torque command calculated by the walking pattern creation unit to compensate for the joint position trajectory command or the joint torque command, wherein the walking pattern creation unit comprises a plurality of state machines alternately operating when a left foot or a right foot lands on a ground to perform walking and a joint position trajectory calculator to determine landing of the left foot or the right foot to perform walking according to switching between the state machines to calculate a joint position trajectory command of each joint to perform walking.