ROBOT AND A CONTROL METHOD THEREOF, CAPABLE OF WALKING ACCORDING TO DYNAMIC WALKING BASED ON DYNAMICS

摘要

PURPOSE: A robot and a control method thereof are provided to efficiently consume energy using a low position control gain.;CONSTITUTION: A control method comprises: a step of setting target walking motion of the robot with a combination of X-axis displacement, Y-axis displacement, and Z-axis rotation of a robot base(S410); a step of detecting the location data, speed, inclination, and an external force along the Z-axis direction of the robot base and about the location, angle, and speed of each rotational joint through a sensor which is installed to a body, feet, and each rotation joint(S420); a step of setting a coordinate and a support state of the robot based on the data(S430); a step of processing the state of the robot based on the data(S440); a step of controlling the legs by generating the target walking trace according to the target walking motion if the legs of the robot are changed(S450,S460); a step of setting a state machine presenting walking trace of the robot(S470); and a step of controlling the walking and balancing of the robot by following the state machine(S480).;COPYRIGHT KIPO 2013;[Reference numerals] (AA) Start; (BB) Yes; (CC) No; (DD) End; (S410) Setting a target walking motion; (S420) Processing sensor data; (S430) Setting a support state; (S440) Processing the state of a robot; (S450) Changing a leg to support?; (S460) Adaptively controlling; (S470) Setting a sate machine; (S480) Controlling walking and balancing;