ROBOT WITH JOINTS OF VARIABLE RIGIDITY AND METHOD FOR CALCULATING SAID OPTIMIZED RIGIDITY

摘要

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combined robot capable of moving on the ground. It has been known to limit the coat on which the motor of the robot's joint can be operated to a predetermined value. According to the present invention, the stiffness coefficient corresponding to the limit torque is calculated by solving the dynamic balance model of the robot. The point of contact of a particular effect is determined by selection from the list of potential impactors as a function of the distance reference from the virtual ground. The contact force on the effector is calculated by the optimal resolution of the balance equation. Therefore, the coefficients of the stiffness and the torque applied to the dynamic balance model of the robot are calculated.