US Patent 11185975 Walking control system and control method of robot

A walking control method of a robot is provided. The method includes receiving a walking command of the robot including a link device having a plurality of links that correspond to both lower limbs. In response to receiving the walking command, implementing walking of the robot by providing torque to the link device to move a first lower limb is moved. In a double stance state where foot ends of the both lower limbs are simultaneously in contact with ground while the lower limb to be moved is changed, a driving force is generated in the double stance by adjusted the torque of the drive device to virtually move the foot ends of the both lower limbs by a predetermined stable distance in an opposite direction to a walking direction.