Apparatus, method and computer-readable medium controlling whole-body operation of humanoid robot
AssigneeSamsung Electronics Co., Ltd.
InventorsBok Man LIM, Kyung Shik Roh, San Lim, Myung Hee Kim, Guo Chun Xu
Life of this patent
Estimating the term…
Abstract
Disclosed are an apparatus, a method and a computer-readable medium controlling whole-body operation of a humanoid robot. The humanoid robot recognizes a motion control code using binary data mapped according to a motion command represented by a language understood by a human to implement a whole-body operation. Since a control mode corresponding to a task space control and a control mode corresponding to a joint space control are used together to describe whole-body motion, the whole-body operation more similar to a human action may be easily implemented.
Claims17
An apparatus controlling a whole-body operation of a humanoid robot, the apparatus comprising:
- an external controller to map a motion command described according to a motion scenario to data recognized by the robot and to provide the data;
- and
- a robot controller to control the whole-body operation of the robot according to whole-body motion generated using a control code recognized by the mapped data.
An apparatus controlling a whole-body operation of a humanoid robot, the apparatus comprising:
- an external controller to set control modes to define a motion feature and a restriction condition according to a motion command describing whole-body motion of the humanoid robot and to binary data mapped according to the set control modes to the robot;
- and
- a robot controller to drive joints of the robot according to whole-body motion generated using a control algorithm suitable for a control code recognized by the binary data.
A method of controlling a whole-body operation of a humanoid robot, the method comprising:
- mapping, by a processor, a motion command described according to a motion scenario to data recognized by the robot;
- providing the mapped data to the robot;
- and
- controlling, by the processor, the whole-body operation of the robot according to whole-body motion generated using a control code recognized by the mapped data.
A method of controlling a whole-body operation of a humanoid robot, the method comprising:
- converting, by a processor, a motion command represented by a language used by a human into a control code understood by the robot;
- generating, by the processor, whole-body motion using a control algorithm suitable for the converted control code;
- and
- driving, by the processor, joints of the robot according to the generated whole-body motion and controlling the whole-body operation.
Dependencies are inferred from the claim text.