WALKING ROBOT AND A CONTROL METHOD THEREOF CAPABLE OF MAINTAINING THE STABILITY OF A ROBOT WHEN CHANGING THE STRIDE AND SPEED OF THE ROBOT AND APPLYING AN EXTERNAL FORCE

摘要

PURPOSE: A walking robot and a control method thereof are provided to add virtual gravity of an antigravity direction to a supporting leg and virtual gravity of a gravity direction to a stretched leg so that the walking stability of the robot is obtained.;CONSTITUTION: A walking robot is as follows. A virtual gravity torque including antigravity vector components is applied to each joint of a supporting leg between two legs while walking(910). A virtual gravity torque including gravity vector components is applied to each joint of a stretched leg between the two legs while walking(912).;COPYRIGHT KIPO 2012