Walking robot and control method for thereof

PURPOSE: A walking robot and a control method thereof are provided to walk with low servo gain by walking based on FSM(Finite State Machine) control and torque servo control. CONSTITUTION: A control method of a walking robot comprises: a step of generating a target angle trace required to walk as a plurality of joint units equipped on a plurality of legs according to the operation of the legs(S810); a step of calculating torque following the target angle trace(S820); a step of determining whether or not a swing leg which is connected to a swing foot among the legs is slipped(S830); a step of calculating final torque provided to each joins of the swing leg based on the speed detected on the swing foot according to the determined result(S850); and a step of providing the final torque to each joint of the swing leg(S860). [Reference numerals] (AA) Start; (BB) No; (CC) Yes; (DD) End; (S800) Determine the operating state of two legs; (S810) Generate a target angle trace for each joint of the two legs; (S820) Calculate torque following the target angle trace; (S830) Swing leg slept?; (S840) Provide the calculated torque to each joint; (S850) Calculate final torque provided to each joint of the swing leg according to the slip direction of the swing leg; (S860) Provide the calculated final torque to each joint of the swing leg