WALKING CONTROL DEVICE AND A CONTROL METHOD CAPABLE OF REDUCING ENERGY CONSUMPTION BY WALKING WITH THE LOW SERVO GAIN WITHOUT EXACTLY CONTROLLING A ROTATION ANGLE OF THE JOINT

摘要

PURPOSE: A walking control device and a control method are provided to execute walking stably by feeding back the angle of joint unit in the middle point of the present step, and anticipating the next step of a knot point. ;CONSTITUTION: A walking control device comprises a joint portion, a posture sensing unit(310), a judgment unit(320) of walking state, a computation unit(330) of knot point compensation value, and a generating unit(340) of target angel trajectory. The joint portion is respectively installed in the plurality of robot legs. The sensing unit senses the posture of robot. The computation unit of knot point compensation value compensates a knot point compensation value by determining the center of gravity of robot form the posture of robot. The generating unit of the target angle generates a reference knot point of the joint portion corresponding to the walking condition. The generating unit of the target angle compensates the knot point based on the compensated knot point, generates the target knot point, and generates the target angle of the joint portion by using the target knot point.;COPYRIGHT KIPO 2011