Disclosed herein are a walking robot which controls balance using an ankle when the robot walks, and a method of controlling balance thereof. In a method of determining an angle of an ankle joint without solving a complicated dynamic equation such that the robot stays balanced so as not to fall, an angle of the ground is fixed as a reference angle for balance control of the robot such that the robot stably walks while maintaining the same balance control performance even when the ground is inclined. When the robot moves slowly or quickly, the robot may maintain balance. Since the robot stays balanced using the ankle of a stance leg even when the ground is inclined, the method is simple and is applied to a robot having joints with 6 degrees of freedom.


    Access

    Download


    Export, share and cite



    Title :

    Walking robot and method of controlling balance thereof


    Contributors:

    Publication date :

    2015-07-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



    Walking robot, method for controlling walking robot, and walking robot system

    MA MIAOWU | European Patent Office | 2023

    Free access

    Robot and method of controlling walking thereof

    KWON WOONG / PARK JOONG KYUNG / ROH CHANG HYUN et al. | European Patent Office | 2015

    Free access

    Method for controlling walking of robot and robot

    XIONG YOUJUN / DONG HAO / WANG YUESONG et al. | European Patent Office | 2021

    Free access

    Alternate walking type peristaltic robot and walking method thereof

    ZHANG HUAJUN / ZHANG ZHIYONG / SUN LEI et al. | European Patent Office | 2023

    Free access

    Complex road condition walking robot and walking method thereof

    LU BING / WANG FEIYANG / FU XIAOJIN | European Patent Office | 2023

    Free access