Walking robot and control method thereof

A walking robot comprising:

• hip joints respectively provided at plural legs;
• a pose detector to detect a pose of the walking robot;
• a walking state judger to judge a walking state from the pose;
• a target angle trajectory generator to judge a support leg and a swing leg based on the walking state, to generate plural knot points of the hip joints of the respective legs according to time, to calculate angle and time compensation values of next knot points by detecting the center of mass (COM) from the pose, to correct times and angles at the next knot points based on the angle and time compensation values, and to generate target angle trajectories of the hip joints using the next knot points with the corrected times and angles;
• a torque calculator to calculate torques tracking the target angle trajectories of the hip joints;
• and
• a controller to output the torques to the hip joints to control walking of the walking robot.

A control method of a walking robot comprising:

• detecting a pose of the walking robot at the current cycle during walking with plural legs;
• respectively generating, using a processor, knot points of the plural legs within a next cycle based on the detected pose of the walking robot;
• judging a swing leg and a support leg among the plural legs by judging a walking state from the pose of the walking robot;
• judging whether or not the swing leg contacts a surface prior to a predetermined time;
• shortening a time at the knot points within the support cycle executed by the swing leg when the swing leg contacts the surface prior to the predetermined time;
• generating target angle trajectories of the hip joints using the knot points having the shortened time within the support cycle;
• calculating torques tracking the target angle trajectories of the hip joints;
• and
• outputting the torques to the hip joints to control walking of the walking robot.

A control method of a walking robot comprising:

• detecting a pose of the walking robot walking with plural legs;
• judging a swing leg and a support leg by judging a walking state from the pose of the walking robot;
• generating next knot points of hip joints of the respective legs according to time;
• calculating angle and time compensation values at the next knot points by detecting the center of mass (COM) of the walking robot from the pose of the walking robot;
• correcting times and angles at the next knot points based on the angle and time compensation values;
• generating target angle trajectories of the hip joints using the next knot points with the corrected times and angles;
• calculating torques tracking the target angle trajectories of the hip joints;
• and
• outputting the torques to the hip joints to control walking of the walking robot.

A control method of a walking robot comprising:

• respectively generating, using a processor, knot points of plural legs within a next cycle of walking with the plural legs;
• judging a swing leg and a support leg among the plural legs by judging a walking state of the walking robot;
• judging whether or not the swing leg contacts a surface prior to a predetermined time;
• shortening a time at the knot points within the support cycle executed by the swing leg when the swing leg contacts the surface prior to the predetermined time;
• and
• generating target angle trajectories of the hip joints using the knot points having the shortened time within the support cycle.