METHOD FOR CONTROLLING BIPEDAL WALKING ROBOT AND SYSTEM FOR CONTROLLING BIPEDAL WALKING ROBOT

摘要

PROBLEM TO BE SOLVED: To realize an intuitive operation of a robot with a simple constitution.SOLUTION: A method for controlling a bipedal walking robot is a robot control method for master slave controlling of walking of the bipedal walking robot. This method for controlling the bipedal walking robot includes: a load detection step in which a load, which is given from each of a right foot and a left foot of an operator onto a ground, is detected; a target ZMP calculation step in which a target ZMP is calculated when a load having a ratio of the detected right foot load and left foot load is generated by the bipedal walking robot; and a control step in which the bipedal walking robot is controlled according to the calculated target ZMP.