Apparatus and Method for Controlling a Data-Based Biped

A data-driven biped control apparatus, comprising:

• a balancing maintenance module to generate target pose information to be tracked subsequently, by modulating reference pose information, based on current pose information of a biped to be fed back,
• wherein,
• the balancing maintenance module generates the target pose information to be tracked subsequently, by modulating the reference pose information corresponding to at least one of a stance hip, a swing hip, a stance ankle, and a swing foot height of the biped, based on the current pose information of the biped.

A data-driven biped control apparatus, comprising:

• a synchronization module to edit a trajectory according to a time flow of at least a partial element included in reference pose information, based on current pose information of a biped to be fed back,
• wherein,
• the synchronization module edits the trajectory of the reference pose information, by cutting off a portion of the trajectory of the reference pose information, when a swing foot landing of the current pose information of the biped is performed earlier than a swing foot landing of the reference pose information, or inserting a surplus trajectory into the trajectory of the reference pose information, when the swing foot landing of the current pose information of the biped is performed later than the swing foot landing of the reference pose information.

A data-driven biped control method, comprising:

• generating, by a balancing maintenance module of a biped control apparatus, target pose information to be tracked subsequently, by modulating reference pose information, based on current pose information of a biped to be fed back;
• and
• editing, by a synchronization module of the biped control apparatus, a trajectory according to a time flow of at least a partial element included in the reference pose information, based on the current pose information.