The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 27, 2014
Filed:
Oct. 24, 2005
Young Jin Choi, Seoul, KR;
DO Ik Kim, Seoul, KR;
Yong Hwan OH, Seoul, KR;
Chang Hwan Kim, Seoul, KR;
Bum Jae You, Seoul, KR;
Jung San Cho, Seoul, KR;
Young Jin Choi, Seoul, KR;
Do Ik Kim, Seoul, KR;
Yong Hwan Oh, Seoul, KR;
Chang Hwan Kim, Seoul, KR;
Bum Jae You, Seoul, KR;
Jung San Cho, Seoul, KR;
Korea Institute of Science and Technology, Seoul, KR;
Abstract
The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.