Robot and method of controlling the same
AssigneeSamsung Electronics Co., Ltd.
InventorsHo Seong Kwak, Woong Kwon, Kyung Shik Roh
Life of this patent
Estimating the term…
Abstract
Disclosed is a method of generating a hip trajectory of a biped walking robot to allow the robot to stably walk on a two-dimensional space without falling down. An angular velocity of a hip of a swinging leg is obtained by measuring the angle/angular velocity of an ankle pitch joint part of a supporting leg in real time when the robot walks on the two-dimensional space, and desired trajectories of the ankle and the hip are generated based on the angular velocity of the ankle of the supporting leg and the angular velocity of the hip of the swinging leg.
Claims17
A method of controlling a robot, comprising:
- measuring an angle of an ankle of a first leg of the robot, which supports the robot when the robot walks;
- obtaining an angular velocity of a hip of a second leg of the robot which swings, comprising calculating an angular velocity of the ankle of the first leg from the angle of the ankle of the first leg;
- and
- generating desired trajectories of the ankle and the hip based on the angular velocity of the ankle of the first leg and the angular velocity of the hip of the second leg.
A robot comprising:
- a measuring unit to measure an angle of an ankle of a first leg, the first leg comprising an ankle, the first leg supporting the robot when the robot walks;
- a second leg comprising a hip, the second leg swinging;
- and
- a control unit to obtain an angular velocity of the hip of the second leg, by calculating an angular velocity of the ankle of the first leg from the angle the ankle of the first leg, and to generate desired trajectories of the ankle and the hip based on the angular velocity of the ankle of the first leg and the angular velocity of the hip of the second leg.
Dependencies are inferred from the claim text.