A method and system for controlling motion of a multi-segmented walking robot

A method for controlling motion of a multi-segmented walking robot, the method comprising:

• (A) generating walking pattern signals including BC (body-coxa) motor signals, CF (coxa-femur) motor signals and FT (femur-tibia) motor signals using a central pattern generator (CPG);
• (B) sending the generated walking pattern signals to a controller to generate motor commands to drive a plurality of joint motors of each leg of robot including BC joint motors, CF joint motors, and FT joint motors based on the generated motor commands;
• (C) detecting motion feedback signals using a plurality of sensors comprising a plurality of foot contact sensors installed at each foot and a plurality of torque sensors installed at each body joint motor;
• (D) processing the detected motion feedback signals of each foot and each body joint motor to recognize the motion of robot;
• and
• (E) adapting the motion of robot, by a controller, based on the recognized motion of robot;
• wherein (D) processing the detected motion feedback signals of each foot and each body joint motor comprises:
• (D1) processing the detected motion feedback signals of the foot contact sensor to obtain a CF and FT joint motor offset of each leg of the robot, and
• (D2) processing the detected motion feedback signals of the torque sensor to obtain a torque offset of each body joint motor of the robot;
• and
• wherein (E) adapting the motion of robot comprises:
• (E1) adjusting the generated motor commands based on the CF and FT joint motor offset such that a plurality of joint motors is controlled to cause the legs of the robot to change at least one of:
• a lifting height, a stepping frequency or a stepping phase, and
• (E2) generating the motor commands based on the torque offset such that each body joint motor of robot is controlled to minimize the torque offset.