DEVICE AND METHOD FOR CONTROLLING THE BALANCE OF BIPED WALKING ROBOTS

摘要

This invention discloses a posture control apparatus and method of a robot. The present invention is walking command receiving unit for receiving a command for the robot's walking pattern; Path generating unit for the respective joints of the robot move to produce a nominal angle of rotation of each of the time history, using a command to the walking pattern; Force acting on the foot of the robot / torque (Torque) using data measures the position of ZMP (Zero Moment Point) of the robot, and the angle of rotation of the hip and ankle joints of the robot by using the ZMP position balance control unit for generating the correction angle; And the nominal angle and the correction using an angle characterized in that it comprises a joint control unit for controlling the movement of the robot joints. According to the invention, it is only an advantage that can be precisely controlled by the balance ZMP sensor data to be measured by the robot. In addition, the robot's feet support the state and the case of drought conditions have the advantage of not all the same balance control technique is applied. ;