Walking robot and control method thereof

A control method of a walking robot, which has at least one joint unit provided on each leg of the robot, a sensing unit to sense angle and angular velocity of the at least one joint unit, and a memory unit to store data of the angle and angular velocity of the at least one joint unit during stable walking, said control method comprising:

• generating a target trajectory using the data of the angle and angular velocity stored in the memory unit;
• checking stability of the at least one joint unit by comparing the sensed angle and angular velocity of the at least one joint unit with the generated target trajectory;
• if an unstable joint unit is present as a result of the checking of the stability of the at least one joint unit, calculating a control torque of the unstable joint unit to trace the target trajectory;
• and
• transmitting the calculated control torque to the unstable joint unit so as to control walking of the robot.

A walking robot comprising:

• a user interface unit through which a user inputs a robot walking transition command from a first walking motion to a second walking motion;
• at least one joint unit provided on each leg of the robot;
• a sensing unit to sense angle and angular velocity of the at least one joint unit;
• a memory unit to store data of the angle and angular velocity of the at least one joint unit in the first walking motion and the second walking motion;
• a target trajectory generation unit to generate target trajectories using the data of the angle and angular velocity in the first walking motion and the second walking motion, stored in the memory unit;
• a control torque calculation unit to calculate a control torque to trace the generated target trajectory in the second walking motion from the generated target trajectory in the first walking motion, if the robot walking transition command is input by the user;
• and
• a servo control unit to transmit the calculated control torque to the at least one joint unit so as to control the walking of the robot.

A control method of a walking robot, which has a user interface unit through which a user inputs a robot walking transition command from first walking motion to second walking motion, at least one joint unit provided on each leg of the robot, a sensing unit to sense angle and angular velocity of the at least one joint unit, and a memory unit to store data of the angle and angular velocity of the at least one joint unit in the first walking motion and the second walking motion, said control method comprising:

• generating target trajectories using the data of the angle and angular velocity in the first walking motion and the second walking motion, stored in the memory unit;
• calculating a control torque to trace the generated target trajectory in the second walking motion from the generated target trajectory in the first walking motion, if the robot walking transition command is input by the user;
• and
• transmitting the calculated control torque to the at least one joint unit so as to control the walking of the robot.