Mobile robot and method of controlling the same

A method of controlling a mobile robot the method comprising:

• modeling a spring property, wherein modeling the spring property comprises:
• deriving a rotation-displacement relationship between an electric current value of a drive motor of the mobile robot and a displacement amount of a spring member of the mobile robot;
• and
• deriving a steering-displacement relationship between a steering angle of a steering motor of the mobile robot and the displacement amount of the spring member,
• wherein:
• the mobile robot comprises:
• a body;
• a plurality of wheels;
• a plurality of link members;
• a plurality of spring members including the spring member;
• the drive motor configured to provide rotational driving power for rotating the plurality of wheels;
• and
• the steering motor configured to provide steering driving power for steering the plurality of wheels,
• the plurality of link members and the plurality of spring members are configured to connect the body and the plurality of wheels, and
• the spring member is configured to be elastically deformed by a change in position of a link member of the plurality of link members relative to the body;
• deriving, in response to an instruction related to a movement of the mobile robot being provided, output values, wherein deriving the output values comprises:
• deriving a first output value of the drive motor based on the rotation-displacement relationship;
• and
• deriving a second output value of the steering motor based on the steering-displacement relationship;
• and
• driving the mobile robot by controlling the drive motor and the steering motor based on the output values,
• wherein the plurality of wheels comprises:
• a first wheel and a second wheel provided to face each other with the body interposed therebetween;
• and
• a third wheel and a fourth wheel provided to face each other with the body interposed therebetween;
• and
• wherein deriving the rotation-displacement relationship comprises:
• aligning the first wheel, the second wheel, the third wheel, and the fourth wheel;
• and
• deriving a first equilibrium value by deriving deformation amounts of the plurality of spring members in a state in which the drive motor operates the first wheel, the second wheel, the third wheel, and the fourth wheel, respectively, so that the body is in a stationary state.

A mobile robot comprising:

• a body;
• a plurality of wheels provided at one side of the body;
• a plurality of link members;
• a plurality of spring members,
• wherein the plurality of link members and the plurality of spring members are configured to connect the body and the plurality of wheels;
• a drive motor configured to provide rotational driving power for rotating the plurality of wheels;
• a steering motor configured to provide steering driving power for steering the plurality of wheels,
• wherein:
• a spring member of the plurality of spring members is configured to be elastically deformed by a change in position of a link member of the plurality of link members relative to the body, and
• the plurality of link members comprise a first link member and a second link member each having one side rotatably connected to the body, and the other side rotatably connected to a wheel of the plurality of wheels;
• and
• a controller configured to:
• model a spring property, wherein, to model the spring property, the controller is configured to:
• derive a rotation-displacement relationship between an electric current value of the drive motor and a displacement amount of the spring member and
• derive a steering-displacement relationship between a rotation angle of the steering motor and the displacement amount of the spring member;
• derive, in response to an instruction related to a movement of the mobile robot being provided, output values, wherein, to derive the output values, the controller is configured to:
• derive a first output value of the drive motor based on the rotation-displacement relationship;
• and
• derive a second output value based on the steering-displacement relationship;
• and
• drive the mobile robot, wherein, to drive the mobile robot, the controller is configured to:
• control the drive motor and the steering motor based on the output values.