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BIPEDAL WALKING ROBOT WITHOUT USING DEGREES OF FREEDOM OF ROLL DIRECTION AND BIPEDAL WALKING METHOD THEREOF
BIPEDAL WALKING ROBOT WITHOUT USING DEGREES OF FREEDOM OF ROLL DIRECTION AND BIPEDAL WALKING METHOD THEREOF
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机译：不使用滚动方向自由度的双向步行机器人及其双向步行方法
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摘要
The present invention relates to a bipedal walking robot capable of performing a stable bipedal walking without using degrees of freedom of a roll direction during the bipedal walking of a robot having degrees of freedom of multi-joint, and a bipedal walking method thereof. According to one embodiment of the present invention, the bipedal walking robot comprises: at least left and right pitch joint units forming left and right legs of the robot with left/right symmetricity, and having degrees of freedom of a pitch direction; left and right foot housings connected to the lowermost pitch joint unit among the pitch joint units in the left and right legs of the robot, and coming in contact with the ground; left and right roll joint replacing members installed in the left and right foot housings, respectively, and protruding to the inside of the left and right foot housings by a control signal; and a control unit to control operation of the left and right pitch joint units, and the left and right roll joint replacing member for bipedal walking of the robot. During the bipedal walking of the robot, the control unit controls the operation of the pitch joint unit of the left and right legs of the robot, and at the same time, controls the operation of the right and left roll joint replacing member corresponding to the operation of the pitch joint unit.;COPYRIGHT KIPO 2019
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