Method for controlling the walk of humanoid robot
US8738178B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 24, 2005 |
| Grant date | May 27, 2014 |
| Priority date | — |
| Expiry date | Feb 15, 2030 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldTransport
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.