A method for controlling walking of a robot includes: determining a stance of the robot, in response to the robot being in a single-leg stance, determining a rotational angle of each of the joints, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints; in response to the robot being in a double-leg stance, calculating a position of a projection of a center of mass of the robot on a surface where the robot stands, and calculating a value of a torque produced by a force of gravity acting on the robot about each of the joints according to the position of the projection; obtaining a feed-forward current of each of the joints; and applying the feed-forward current of each of the joints to a corresponding actuator of this joints.


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    Title :

    Method for controlling walking of robot and robot


    Contributors:
    XIONG YOUJUN (author) / DONG HAO (author) / WANG YUESONG (author) / ZHAO MINGGUO (author)

    Publication date :

    2021-06-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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