公开(公告)号：US11253993B2

公开(公告)日：2022-02-22

申请号：US16463117

申请日：2017-03-29

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jongwoo Lee ,  Yonghwan Oh

IPC: B25J9/16 ,  B25J9/00 ,  B25J13/08 ,  B62D57/032

Abstract: A method for modeling a robot simplified for stable walking control of a bipedal robot provides a robot model that is simplified as a virtual pendulum model including a virtual body, two virtual legs connected to the body at a virtual pivot point (VPP) that is set at a position higher than the center of mass (CoM) of the body, and virtual feet connected to the two legs, respectively, to step on the ground. A ground reaction force, which acts on the two legs, acts towards the VPP, thereby providing a restoring moment with respect to the CoM such that stabilization of the posture of the body naturally occurs.