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

A method for designing a walk control system of a walking robot, a recording medium thereof, an apparatus for designing a walk control system of a walking robot and a robot designed by the apparatus are provided to allow the robot to stably walk on a hill as well as a flat land. A method for designing a walk control system of a walking robot, includes a step(210) of fuzzifying a plurality of joint angles during walking of the walking robot; a step(220) of creating a balancing point trajectory model of the walking robot by applying the fuzzified joint angles to a predetermined fuzzy rule; a step(230) of creating a fuzzy model by applying a least square method to the balancing point trajectory model; and a step(240) of applying the fuzzy model to the control system of the walking robot.