Method for designing walking control system of walking robot and Recording medium thereof, Apparatus for for designing walking control system of walking robot and Robot thereby

摘要

Walking control system design method of the walking robot and the recording medium, the walking robot is disclosed designed as a walking control system design apparatus and device of the walking robot. ; The present invention the present invention comprises the steps of fuzzification a plurality of joints each of the walking motion of the walking robot, comprising: applying said fuzzification joints each with a predetermined fuzzy rule to create a balance trajectory model of the walking robot, the balance a trajectory model generating a fuzzy model by applying the least square method, and the fuzzy model to include the step of applying the control system of the walking robot. ; According to the present invention, by modeling in the fuzzy system the balance point trajectory of the walking robot, without heavy operation burden, can accurately predict the non-linearity and the uncertainty of robot walking, can be implemented in a strong intelligent control the noise and the noise, flat and inclined plane in improving the stability of the gait, the gait may be a flexible operation of the robot.