Humanoid robot and walking control method thereof
US8676381B2 · kind B2 · utility
10Cited by
5References
17Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jan 14, 2011 |
| Grant date | Mar 18, 2014 |
| Priority date | — |
| Expiry date | Dec 27, 2031 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.