A METHOD FOR CONTROLLING WALKING OF WEARABLE ROBOT AND AN APPARATUS FOR THE SAME

摘要

The present invention relates to a walking control method and apparatus for a wearable robot. A walking control method for a wearable robot according to the present invention includes the steps of determining a walking state of each leg member (100) of a wearable robot (S100); When the walking state of any one or more of the leg members 100 of the wearable robot is in a stance state, the joint angle of the joint 200 of the leg member 100 (S200); The joint angle ( Is set at a predetermined first reference angle ( ), Or the joint angle ( Is set to a predetermined second reference angle ( (S300); And controlling the driving unit 300 mounted on the joint 200 according to a result of the determining step S300. The present invention can prevent the control performance from being degraded according to the model error by omitting the process of establishing the model of the robot or estimating the parameters of the model in the control of the military wearing robot bearing heavy backlash.