Method of controlling gait of robot
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United States of America Patent
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Sep 1, 2015
Grant Date -
Jun 19, 2014
app pub date -
Mar 15, 2013
filing date -
Dec 17, 2012
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Abstract
A method of controlling the gait of a wearable robot using foot sensors of the robot. Whether or not the robot is walking is determined. When the robot is walking, whether the robot is supported on both feet or one foot using the foot sensors is determined. When the robot is walking and is supported on both feet, posture-maintaining control is carried out. When the robot is walking and is supported on one foot, support control is carried out over a supporting leg based on gravity compensation and load compensation. When the robot is walking and is supported on one foot, an imaginary repulsive force by which a swinging leg swings is generated.
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