Title:
人間型ロボットの歩行制御方法
Document Type and Number:
Japanese Patent JP2009512563
Kind Code:
A
Abstract:
The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.
Inventors:
Choi, Yang Jin
Kim, Duik
Oh, Yong Wan
Kim, Chang Wan
Youth, Bunje
Cho, Junsang
Kim, Duik
Oh, Yong Wan
Kim, Chang Wan
Youth, Bunje
Cho, Junsang
Application Number:
JP2008536473A
Publication Date:
March 26, 2009
Filing Date:
October 24, 2005
Export Citation:
Assignee:
Korea Institute of Science and Technology
International Classes:
B25J13/00; B25J5/00
Domestic Patent References:
| JP2004114243A | 2004-04-15 | |||
| JP2004174648A | 2004-06-24 | |||
| JPH05253868A | 1993-10-05 | |||
| JP2003058907A | 2003-02-28 |
Attorney, Agent or Firm:
Patent business corporation Yuko patent office