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WALKING ROBOT AND METHOD FOR CONTROLLING THE SAME, CAPABLE OF IMPROVING WALKING STABILITY OF A WALKING ROBOT THROUGH A POSTURE CONTROL OF AN UPPER BODY
WALKING ROBOT AND METHOD FOR CONTROLLING THE SAME, CAPABLE OF IMPROVING WALKING STABILITY OF A WALKING ROBOT THROUGH A POSTURE CONTROL OF AN UPPER BODY
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机译：步行机器人及其控制方法，能够通过上身的姿势控制来提高步行机器人的步行稳定性
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摘要
PURPOSE: A walking robot and method for controlling the same are provided to secure high energy efficiency by adjusting stiffness of leg joints when a biped walking robot walks.;CONSTITUTION: A control method of a biped walking robot comprises the followings. The walking pattern of multiple legs connected to an upper body(102) is generated. Leg stiffness of each leg is adjusted by interlinking with multiple leg walking states driven according to the walking pattern. The slope of the upper body is measured. The slope of the upper body is compensated for an upper body to be parallel to the gravity.;COPYRIGHT KIPO 2010
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