BIPED ROBOT AND A WALKING CONTROL METHOD FOR THE SAME TO ENABLE THE ROBOT TO WALK EVEN WHEN NOT FIXED TO THE GROUND

摘要

PURPOSE: A biped robot and a walking control method for the same are provided to enable the robot to walk on an uneven surface without using information about the surface.;CONSTITUTION: A biped robot comprises a hip joint(15), two left and right legs(LL,RL), and a controller. The two left and right legs are connected to the hip joint. The controller controls the ends of the left and right legs to follow an elliptical orbit in a coordinate system including the hip joint. The center of the elliptical orbit is determined based on the difference between the target speed and the measured speed of the hip joint.;COPYRIGHT KIPO 2010