Walking robot and method of controlling the same
AssigneeSamsung Electronics Co., Ltd.
InventorChang Hyun Roh
Life of this patent
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Abstract
Disclosed is a method of absorbing an impact generated when a foot of a walking robot lands on the ground to perform the walking of the walking robot. When the foot of the walking robot lands on the ground, an F/T sensor installed on the sole or the ankle of the foot measures external force and the posture of the sole of the foot is adjusted in a direction of complying with the external force, and thus an impact transmitted to the walking robot in landing is absorbed. Further, the posture adjusting speed of the sole of the foot is adjusted according to walking speeds (stopped, walking, running).
Claims11
A method of controlling a walking robot, comprising:
- measuring a moment of a landing foot of the walking robot;
- and
- adjusting a posture of the foot in a direction complying with external force according to the measured moment.
A walking robot comprising:
- a plurality of feet, each of the feet including a sole;
- a plurality of sensors, each of the sensors measuring a moment of a respective one of the feet when the respective foot is landing;
- and
- a posture adjusting unit to adjust a posture of the landing foot in a direction of complying with an external force according to the measured moment.
Dependencies are inferred from the claim text.