# US 2013/0158712 A1 · Walking robot and control method thereof

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- Number: US 2013/0158712 A1
- Document ID: US20130158712A1
- Status: Published application
- Kind: A1
- Application number: 13/685,836
- Filed: 2012-11-27
- Published: 2013-06-20
- Earliest claimed: 2011-12-16
- Assignees: Samsung Electronics Co., Ltd.
- Inventors: Ju Suk Lee; Kyung Shik Roh
- Web page: https://patentgrep.com/patent/US20130158712A1

## CPC

- G05B 19/04: Program control other than numerical control, i.e. in sequence controllers or logic controllers (G05B19/418 takes precedence)
- B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence)
- Y10S 901/01: Mobile robot
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

A walking robot includes hip joints of plural legs, a pose detector to detect a pose, a walking state judger to judge a walking state from the pose, a target angle trajectory generator to judge support and swing legs based on the walking state, to judge whether or not the swing leg contacts a surface prior to a prestored time, to shorten the next support cycle executed by the swing leg upon judging that the swing leg contacts a surface prior to the prestored time, and to generate target angle trajectories of the hip joints based on the shortened support cycle, a torque calculator to calculate torques tracking the target angle trajectories, and a controller to output the torques to the hip joint to control walking of the walking robot.

## Claims

### Claim 1

A walking robot comprising:
hip joints respectively provided at plural legs;
a pose detector to detect a pose of the walking robot;
a walking state judger to judge a walking state from the pose;
a target angle trajectory generator to judge a support leg and a swing leg based on the walking state, to judge whether or not the swing leg contacts a surface prior to a predetermined time when the walking state of the plural legs is changed, to shorten a next support cycle executed by the swing leg when the swing leg contacts the surface prior to the predetermined time, and to generate target angle trajectories of the hip joints based on the shortened support cycle;
a torque calculator to calculate torques tracking the target angle trajectories of the hip joints; and
a controller to output the torques to the hip joint to control walking of the walking robot.

### Claim 2 (depends on 1)

The walking robot according to claim 1, wherein the target angle trajectory generator generates plural knot points within the next support cycle of the hip joint of the swing leg based on the pose during a swing cycle when one of the plural legs is in a swing state.

### Claim 3 (depends on 1)

The walking robot according to claim 1, wherein the target angle trajectory generator shortens a time at a first knot point of the next support cycle of the hip joint of the swing leg based on an angle difference between an angle when the swing leg contacts the surface and an angle at the first knot point of the next support cycle when the swing leg contacts the surface prior to the predetermined time.

### Claim 4 (depends on 1)

The walking robot according to claim 1, wherein the target angle trajectory generator shortens a time at a final knot point of the next support cycle of the hip joint of the swing leg based on an angle difference between an angle when the swing leg contacts the surface and an angle at the final knot point of the next support cycle when the swing leg contacts the surface prior to the predetermined time.

### Claim 5 (depends on 1)

The walking robot according to claim 1, wherein the plural knot points include at least one of a pitch knot point and a roll knot point of the hip joint.

### Claim 6 (depends on 1)

The walking robot according to claim 1, wherein:
the pose detector comprises force and torque (F/T) sensors to detect forces or torques transmitted to feet of the plural legs; and
the walking state judger judges the support leg and the swing leg based on the forces or torques transmitted to the feet.

### Claim 7 (depends on 1)

The walking robot according to claim 1, wherein the target angle trajectory generator judges a time at a knot point when the swing leg normally contacts the surface, and prestores the time.

### Claim 8 (depends on 7)

The walking robot according to claim 7, wherein the target angle trajectory generator judges whether or not the swing leg contacts the surface prior to the predetermined time by comparing a time when the swing leg actually contacts the surface with a time when the swing leg normally contacts the ground.

### Claim 9

A walking robot comprising:
hip joints respectively provided at plural legs;
a pose detector to detect a pose of the walking robot;
a walking state judger to judge a walking state from the pose;
a target angle trajectory generator to judge a support leg and a swing leg based on the walking state, to generate plural knot points of the hip joints of the respective legs according to time, to calculate angle and time compensation values of next knot points by detecting the center of mass (COM) from the pose, to correct times and angles at the next knot points based on the angle and time compensation values, and to generate target angle trajectories of the hip joints using the next knot points with the corrected times and angles;
a torque calculator to calculate torques tracking the target angle trajectories of the hip joints; and
a controller to output the torques to the hip joints to control walking of the walking robot.

### Claim 10 (depends on 9)

The walking robot according to claim 9, wherein the target angle trajectory generator corrects time and angle of a next knot point of the swing leg.

### Claim 11 (depends on 9)

The walking robot according to claim 9, wherein the target angle trajectory generator generates a target angle trajectory by connecting roll knot points of the hip joint by a spline.

### Claim 12 (depends on 11)

The walking robot according to claim 11, wherein the target angle trajectory generator judges a variation of the COM in the Y-axis direction, and calculates roll angle and time compensation values by comparing the judged variation of the COM in the Y-axis direction with a reference variation of the COM in the Y-axis direction.

### Claim 13 (depends on 9)

The walking robot according to claim 9, wherein the target angle trajectory generator judges whether or not the swing leg contacts a surface prior to a predetermined time based on the walking state, shortens the next support cycle executed by the swing leg when the swing leg contacts the surface prior to the predetermined time, and generates the target angle trajectory of the hip joint of the swing leg based on the shortened support cycle.

### Claim 14 (depends on 13)

The walking robot according to claim 13, wherein the target angle trajectory is a target pitch angle trajectory of the hip joint of the swing leg.

### Claim 15 (depends on 13)

The walking robot according to claim 13, wherein the target angle trajectory generator calculates time of the next support cycle based on an angle when the swing leg contacts the ground, a walking velocity and a predetermined leg length upon judging that the swing leg contacts the surface prior to the predetermined time.

### Claim 16 (depends on 13)

The walking robot according to claim 13, wherein the target angle trajectory generator calculates a time of the next support cycle based on a pitch angle when the swing leg contacts the ground, a walking velocity and the height of the COM when the swing leg contacts the surface prior to the predetermined time.

### Claim 17

A control method of a walking robot comprising:
detecting a pose of the walking robot at the current cycle during walking with plural legs;
respectively generating, using a processor, knot points of the plural legs within a next cycle based on the detected pose of the walking robot;
judging a swing leg and a support leg among the plural legs by judging a walking state from the pose of the walking robot;
judging whether or not the swing leg contacts a surface prior to a predetermined time;
shortening a time at the knot points within the support cycle executed by the swing leg when the swing leg contacts the surface prior to the predetermined time;
generating target angle trajectories of the hip joints using the knot points having the shortened time within the support cycle;
calculating torques tracking the target angle trajectories of the hip joints; and
outputting the torques to the hip joints to control walking of the walking robot.

### Claim 18 (depends on 17)

The control method according to claim 17, wherein the shortening of the time at the knot points within the support cycle comprises shortening the time of at least one knot point of a pitch knot point and a roll knot point of the hip joint of the swing leg.

### Claim 19 (depends on 18)

The control method according to claim 18, wherein the shortening of the time at the at least one knot point comprises:
judging whether or not a pitch angle of the hip joint when the swing leg contacts the surface is greater than a pitch angle at the first knot point of the support cycle;
calculating an angle difference between the pitch angle of the hip joint when the swing leg contacts the surface and the pitch angle at the first knot point of the support cycle when the pitch angle of the hip joint when the swing leg contacts the surface is greater than the pitch angle at the first knot point of the support cycle;
calculating a time based on the angle difference, a predetermined walking velocity and a leg length of the walking robot; and
shortening the time at the first pitch knot point within the support cycle to the calculated time.

### Claim 20 (depends on 18)

The control method according to claim 18, wherein the shortening of the time at the at least one knot point comprises:
judging whether or not a pitch angle of the hip joint when the swing leg contacts the surface is greater than a pitch angle at the first knot point of the support cycle;
calculating an angle difference between the pitch angle of the hip joint when the swing leg contacts the surface and a pitch angle at the final knot point of the support cycle when the pitch angle of the hip joint when the swing leg contacts the surface is less than the pitch angle at the first knot point of the support cycle;
calculating a time based on the angle difference, a predetermined walking velocity and a leg length of the walking robot; and
shortening the time at the final pitch knot point within the support cycle to the calculated time.

### Claim 21 (depends on 17)

The control method according to claim 17, wherein the generation of the target angle trajectory of the hip joint comprises generating a target angle trajectory of the hip joint of the swing leg by connecting the knot points with the shortened time by a spline.

### Claim 22 (depends on 17)

The control method according to claim 17, further comprising acquiring a time at a knot point when the swing leg normally contacts the surface and prestoring the time.

### Claim 23 (depends on 17)

The control method according to claim 17, wherein the judging whether or not the swing leg contacts the surface prior to a predetermined time comprises:
comparing a time when the swing leg actually contacts the surface with a time when the swing leg normally contacts the ground; and
judging that the swing leg contacts the surface prior to a predetermined time when the time when the swing leg actually contacts the surface is earlier than the time when the swing leg normally contacts the ground.

### Claim 24

A control method of a walking robot comprising:
detecting a pose of the walking robot walking with plural legs;
judging a swing leg and a support leg by judging a walking state from the pose of the walking robot;
generating next knot points of hip joints of the respective legs according to time;
calculating angle and time compensation values at the next knot points by detecting the center of mass (COM) of the walking robot from the pose of the walking robot;
correcting times and angles at the next knot points based on the angle and time compensation values;
generating target angle trajectories of the hip joints using the next knot points with the corrected times and angles;
calculating torques tracking the target angle trajectories of the hip joints; and
outputting the torques to the hip joints to control walking of the walking robot.

### Claim 25 (depends on 24)

The control method according to claim 24, wherein the correction of times and angles at the next knot points comprises correcting a time and an angle at the next roll knot point of the swing leg.

### Claim 26 (depends on 24)

The control method according to claim 24, wherein the calculation of the angle and time compensation values at the next knot points comprises:
judging a variation of the COM in the Y-axis direction; and
calculating roll angle and time compensation values by comparing the judged variation of the COM in the Y-axis direction with a reference variation of the COM in the Y-axis direction.

### Claim 27 (depends on 26)

The control method according to claim 26, wherein the variation of the COM in the Y-axis direction comprises a distance variation of the COM in the Y-axis direction and a velocity variation of the COM in the Y-axis direction.

### Claim 28 (depends on 24)

The control method according to claim 24, further comprising:
judging whether or not the swing leg contacts a surface prior to a predetermined time based on the walking state;
shortening a time at pitch knot points within the support cycle of the swing leg when the swing leg contacts the surface prior to the predetermined time; and
generating a target angle trajectory of the hip joint of the swing leg using the pitch knot points with the shortened time within the support cycle.

### Claim 29

A control method of a walking robot comprising:
respectively generating, using a processor, knot points of plural legs within a next cycle of walking with the plural legs;
judging a swing leg and a support leg among the plural legs by judging a walking state of the walking robot;
judging whether or not the swing leg contacts a surface prior to a predetermined time;
shortening a time at the knot points within the support cycle executed by the swing leg when the swing leg contacts the surface prior to the predetermined time; and
generating target angle trajectories of the hip joints using the knot points having the shortened time within the support cycle.

### Claim 30 (depends on 18)

The control method according to claim 18, wherein the shortening of the time at the knot points within the support cycle comprises:
judging whether or not a pitch angle of the hip joint when the swing leg contacts the surface is greater than a pitch angle at the first knot point of the support cycle;
calculating an angle difference between the pitch angle of the hip joint when the swing leg contacts the surface and the pitch angle at the first knot point of the support cycle when the pitch angle of the hip joint when the swing leg contacts the surface is greater than the pitch angle at the first knot point of the support cycle;
calculating a time based on the angle difference, a predetermined walking velocity and a leg length of the walking robot; and
shortening the time at the first pitch knot point within the support cycle to the calculated time.

### Claim 31 (depends on 18)

The control method according to claim 18, wherein the the shortening of the time at the knot points within the support cycle comprises:
judging whether or not a pitch angle of the hip joint when the swing leg contacts the surface is greater than a pitch angle at the first knot point of the support cycle;
calculating an angle difference between the pitch angle of the hip joint when the swing leg contacts the surface and a pitch angle at the final knot point of the support cycle when the pitch angle of the hip joint when the swing leg contacts the surface is less than the pitch angle at the first knot point of the support cycle;
calculating a time based on the angle difference, a predetermined walking velocity and a leg length of the walking robot; and
shortening the time at the final pitch knot point within the support cycle to the calculated time.

### Claim 32 (depends on 1)

The walking robot according to claim 1, wherein the a target angle trajectory generator comprises:
a support knot point compensator to regenerate a roll knot point of the hip joint of the support leg;
a swing knot point compensator to regenerate a roll knot point of the hip joint of the swing leg;
a first spline generator to generate a target roll angle trajectory of the hip joint of the support leg;
a second spline generator to generate a target roll angle trajectory of the hip joint of the swing leg;
a switch to judge the support and swing legs corresponding to the walking state data;
a left leg angle trajectory generator to generate a target roll angle trajectory to be tracked by the hip joint of the left leg; and
a right leg angle trajectory generator to generate a target roll angle trajectory to be tracked by the hip joint of the right leg.