McDermott Will & Emery LLP
Method of controlling gait of robot
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.
HYUNDAI MOTOR COMPANY
B B Y
B62D B25J Y10S
inventional inventional additional
Woo Sung Seok Won
Yang Lee