Mobile robot apparatus and control method therefor
AssigneeSamsung Electronics Co., Ltd.
InventorYongtae Kim
Life of this patent
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Abstract
A mobile robot apparatus includes a main body; a first wheel and a second wheel respectively provided on opposite sides of the main body; a first driving device configured to rotate the first wheel and the second wheel; a second driving device configured to rectilinearly move the main body along a reference axis that is offset from a vertical line in a direction toward a front of the main body by a predetermined angle; and at least one processor configured to: based on the mobile apparatus accelerating, control the second driving device to cause the main body to move in a traveling direction of the mobile apparatus, and based on the mobile apparatus decelerating, control the second driving device to cause the main body to move in a direction opposite to the traveling direction.
Claims14
A mobile apparatus comprising:
- a main body;
- a first wheel and a second wheel respectively provided on opposite sides of the main body;
- a first driving device configured to rotate the first wheel and the second wheel;
- a second driving device configured to rectilinearly move the main body along a reference axis that is offset from a vertical line in a direction toward a front of the main body by a predetermined angle;
- and
- at least one processor configured to:
- based on the mobile apparatus accelerating, control the second driving device to cause the main body to move in a traveling direction of the mobile apparatus,
- based on the mobile apparatus decelerating, control the second driving device to cause the main body to move in a direction opposite to the traveling direction, and
- cause the main body to move to a first position at which a center of gravity of the main body is located forward from a grounding point of the first wheel and a grounding point of the second wheel or to move to a second position at which the center of gravity of the main body is located behind the grounding point of the first wheel and the grounding point of the second wheel,
- wherein the main body is configured to be movable in a vertical direction with respect to the first wheel and the second wheel.
A method of controlling a mobile apparatus comprising a main body and a first wheel and a second wheel respectively provided at both sides of the main body, the method comprising:
- based on sensing acceleration of the mobile apparatus, causing the main body of the mobile apparatus to move in a traveling direction of the mobile apparatus;
- based on sensing a deceleration of the mobile apparatus, causing the main body to move in a direction opposite from the traveling direction;
- and
- causing the main body to move to a first position at which a center of gravity of the main body is located forward from a grounding point of the first wheel and a grounding point of the second wheel or to move to a second position at which the center of gravity of the main body is located behind the grounding point of the first wheel and the grounding point of the second wheel,
- wherein the main body is configured to rectilinearly move along a reference axis that is offset from a vertical line in a direction toward a front of the main body by a predetermined angle, and
- wherein the main body is configured to be movable in a vertical direction with respect to the first wheel and the second wheel.
Dependencies are inferred from the claim text.