公开(公告)号：KR100860818B1

公开(公告)日：2008-09-30

申请号：KR1020070049086

申请日：2007-05-21

Applicant: 한국교통대학교산학협력단

Inventor： 정광석 ,  박준규 ,  반근수 ,  김영관 ,  안대식 ,  안태환 ,  전창덕 ,  정성엽

IPC: B25J13/00 ,  B25J5/00 ,  B25J9/16

Abstract: A walking robot having a hydraulic motion control device and a method for controlling the same are provided to improve walking stability of the walking robot by allowing the walking robot to walk according to an orbit of a ZMP(Zero Moment Point). A walking robot having a hydraulic motion control device comprises a pair of foot members(11a,11b), a pair of leg members provided at upper portions of the foot members, thigh members provided at upper portions of the leg members, and pelvic members(50) provided at upper portions of the thigh members. Upper tanks(21a,21b) are installed at upper portions of the pelvic members, intermediate tanks(26a,26b) serving as the thigh members are installed at lower portions of the pelvic members, and lower tanks(27a,27b) serving as the leg members are installed at lower portions of the thigh members. A base frame(40) is located on the pelvic members and a hydraulic tank unit(21) is installed on the base frame. A hydraulic pump(60) is installed at one side of the hydraulic tank unit to supply fluid to the tanks.

Abstract translation: 提供了一种具有液压运动控制装置的行走机器人及其控制方法，以通过允许步行机器人根据ZMP（零时刻点）的轨道行走来提高步行机器人的步行稳定性。 具有液压运动控制装置的步行机器人包括一对脚部件（11a，11b），设置在脚部件的上部的一对腿部件，设置在腿部件的上部的大腿部件和骨盆部件 50）设置在大腿部件的上部。 上部水箱（21a，21b）安装在骨盆部件的上部，作为大腿部件的中间罐（26a，26b）安装在骨盆部件的下部，下部罐（27a，27b） 腿部件安装在大腿部件的下部。 基座框架（40）位于骨盆构件上，液压缸单元（21）安装在基架上。 液压泵（60）安装在液压油箱单元的一侧以向油箱提供流体。