Method of controlling balance of walking robot
AssigneeHyundai Motor Company
InventorsJung Ho Seo, Woo Sung Yang
Life of this patent
Estimating the term…
Abstract
Disclosed herein a method of controlling the balance of a walking robot. In the method, a location and an acceleration of a center of gravity of the walking robot are detected in a three-dimensional (3D) x, y, z coordinate system. A location of a Zero Moment Point (ZMP) on an xy plane is detected using the location of the center of gravity and the acceleration of the center of gravity in x- and y-axis directions. Walking of the walking robot is controlled so that the ZMP is located inside a stable area including a bottom of a foot of the walking robot on the xy plane.
Claims6
A method of controlling balance of a walking robot, comprising:
- a) detecting a location and an acceleration of a center of gravity of the walking robot in a three-dimensional (3D) x, y, z coordinate system;
- b) detecting a location of a Zero Moment Point (ZMP) on an xy plane using the location of the center of gravity and the acceleration of the center of gravity in x- and y-axis directions;
- and
- c) controlling walking of the walking robot so that the ZMP is located inside a stable area including a bottom of a foot of the walking robot on the xy plane.
A non-transitory computer readable medium containing program instructions executed by a processor or controller, the computer readable medium comprising:
- a) program instructions that detect a location and an acceleration of a center of gravity of the walking robot in a three-dimensional (3D) x, y, z coordinate system;
- b) program instructions that detect a location of a Zero Moment Point (ZMP) on an xy plane using the location of the center of gravity and the acceleration of the center of gravity in x- and y-axis directions;
- and
- c) program instructions that control walking of the walking robot so that the ZMP is located inside a stable area including a bottom of a foot of the walking robot on the xy plane.
Dependencies are inferred from the claim text.