ROBOT AND A METHOD FOR CONTROLLING WALKING OF THE SAME, CAPABLE OF SECURING STABILIZED CONTROLLABILITY OF A ROBOT BY CREATING WALKING PATTERNS PRECLUDING A SINGULARITY NEAR A BODY

摘要

PURPOSE: A robot and a method for controlling walking of the same are provided to help a robot walk alike a human by creating walking patterns securing dynamic stability and keeping the height of a body of a biped robot similar to that of a human.;CONSTITUTION: A walking control method of a robot is as follows. The walking pattern of legs connected to a body(12) is created. The walking control method detects whether a singularity of the leg walking depending on the walking pattern was created or not. With the singularity, the walking pattern controls the yaw angle of the body to be changed.;COPYRIGHT KIPO 2010