Legged robot and legged robot walking control method

Details Legged robot and legged robot walking control method Legged robot and legged robot walking control method

2008-05-27

2008-05-27

Ip, Paul (Department: 2837)

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

C318S568100, C318S568110, C701S023000, C073S065070

Reexamination Certificate

active

10587544

ABSTRACT:
A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means210for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means210for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means218, 220for detecting an actual torso motion, deviation calculation means312for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means308for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means306for correcting the target torso gait data based on the determined correction quantity.

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