# US 2025/0145232 A1 · A method and system for controlling motion of a multi-segmented walking robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0145232 A1 - Document ID: US20250145232A1 - Status: Published application - Kind: A1 - Application number: 18/690,652 - Filed: 2021-09-08 - Published: 2025-05-08 - Earliest claimed: 2021-09-08 - Assignees: Ptt Exploration and Production Public Company Limited - Applicants: Ptt Exploration and Production Public Company Limited - Inventors: Poramate MANOONPONG; Jettanan HOMCHANTHANAKUL; Binggwong LEUNG; Thirawat CHUTHONG; Suppachai PEWKLIANG - Web page: https://patentgrep.com/patent/US20250145232A1 ## CPC - B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 13/081: {Touching devices, e.g. pressure-sensitive} - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - 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) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract An aspect of the present invention relates to a method for controlling motion of a multi-segmented walking robot comprising the steps of: (A) generating walking pattern signals using a central pattern generator (CPG); (B) sending the generated walking pattern signals to a controller to generate motor commands to drive a plurality of joint motors of each leg of robot; (C) detecting motion feedback signals using a plurality of sensors; (D) processing the detected motion feedback signals to recognize the motion of robot; and (E) adapting the motion of robot, by a controller, based on the recognized motion of robot. Another aspect of the present invention relates to a system for controlling motion of a multi-segmented walking robot comprising: a central pattern generator (CPG); a controller; a plurality of sensors; an artificial hormone system processing unit; and a torque processing unit. ## Claims ### Claim 1 A method for controlling motion of a multi-segmented walking robot, the method comprising: (A) generating walking pattern signals including BC (body-coxa) motor signals, CF (coxa-femur) motor signals and FT (femur-tibia) motor signals using a central pattern generator (CPG); (B) sending the generated walking pattern signals to a controller to generate motor commands to drive a plurality of joint motors of each leg of robot including BC joint motors, CF joint motors, and FT joint motors based on the generated motor commands; (C) detecting motion feedback signals using a plurality of sensors comprising a plurality of foot contact sensors installed at each foot and a plurality of torque sensors installed at each body joint motor; (D) processing the detected motion feedback signals of each foot and each body joint motor to recognize the motion of robot; and (E) adapting the motion of robot, by a controller, based on the recognized motion of robot; wherein (D) processing the detected motion feedback signals of each foot and each body joint motor comprises: (D1) processing the detected motion feedback signals of the foot contact sensor to obtain a CF and FT joint motor offset of each leg of the robot, and (D2) processing the detected motion feedback signals of the torque sensor to obtain a torque offset of each body joint motor of the robot; and wherein (E) adapting the motion of robot comprises: (E1) adjusting the generated motor commands based on the CF and FT joint motor offset such that a plurality of joint motors is controlled to cause the legs of the robot to change at least one of: a lifting height, a stepping frequency or a stepping phase, and (E2) generating the motor commands based on the torque offset such that each body joint motor of robot is controlled to minimize the torque offset. ### Claim 2 (depends on 1) The method according to claim 1, wherein (D1) processing the detected motion feedback signals of the foot contact sensor comprises receiving a ground contact signals from the foot contact sensors, comparing the received ground contact signals with the CF motor signals to determine an error feedback, and calculating the CF and FT joint motor offset using the error feedback. ### Claim 3 (depends on 1) The method according to claim 1, wherein calculating the CF and FT joint motor offset is performed by an artificial hormone system processing unit. ### Claim 4 (depends on 1) The method according to claim 1, wherein (D2) processing the detected motion feedback signals of the torque sensor comprises processing the detected motion feedback signal of the torque sensor of a pitch body joint motor. ### Claim 5 (depends on 1) The method according to claim 1, wherein (D2) processing the detected motion feedback signal of the torque sensor comprises receiving an actual torque value from the torque sensor and determining a received torque value as the torque offset by a torque processing unit. ### Claim 6 (depends on 1) The method according to claim 1, wherein the minimized torque offset of (E2) is zero. ### Claim 7 (depends on 1) The method according to claim 1, wherein (C) detecting motion feedback signals further comprises detecting an inertial feedback signal from an inertial measurement unit (IMU) sensor installed at a body of the robot. ### Claim 8 (depends on 1) The method according to claim 1, wherein (C) detecting motion feedback signals further comprises detecting obstacle detecting feedback signals from a plurality of infrared sensors or ultrasonic sensors installed at each foot of the robot. ### Claim 9 (depends on 1) The method according to claim 1, wherein (C) detecting motion feedback signals further comprises detecting motor rotation feedback signals from a plurality of motor rotation sensors installed at each joint motor. ### Claim 10 A system for controlling motion of a multi-segmented walking robot, the system comprising: a central pattern generator (CPG) for generating walking pattern signals including BC (body-coxa) motor signals, CF (coxa-femur) motor signals, and FT (femur-tibia) motor signals; a controller for receiving the walking pattern signals generated from CPG, and generating motor commands to drive a plurality of joint motors of each leg of robot including BC joint motors, CF joint motors, and FT joint motors of the robot; a plurality of sensors for detecting motion feedback signals, the plurality of sensors comprising a plurality of foot contact sensors installed at each foot of the robot and a plurality of torque sensors installed at each body joint motor; an artificial hormone system processing unit for processing the detected motion feedback signals derived from the foot contact sensor to obtain a CF and FT joint motor offset of each leg of the robot to recognize the motion of robot; and a torque processing unit for processing the detected motion feedback signals derived from the torque sensor to obtain a torque offset of each body joint motor of the robot, wherein the controller is performed to adapt the motion of robot comprising adjusting the generated motor commands based on the CF and FT joint motor offset such that a plurality of joint motors is controlled to cause a plurality of legs of the robot to change at least one of: a lifting height, a stepping frequency or a stepping phase, and generating the motor commands based on the torque offset such that each body joint motor of robot is controlled to minimize the torque offset. ### Claim 11 (depends on 10) The system according to claim 10, wherein the artificial hormone system processing unit is configured to receive ground contact signals from the foot contact sensors, compare the received ground contact signals with the CF motor signals to determine an error feedback, and calculate the CF and FT joint motor offset using the error feedback. ### Claim 12 (depends on 10) The system according to claim 10, wherein the torque processing unit is configured to process the detected motion feedback signal of the torque sensor of a pitch body joint motor. ### Claim 13 (depends on 10) The system according to claim 10, wherein the torque processing unit is configured to receive an actual torque value from the torque sensor and determine a received torque value as the torque offset. ### Claim 14 (depends on 10) The system according to claim 10, wherein the minimized torque offset is zero. ### Claim 15 (depends on 10) The system according to claim 10, wherein the plurality of sensors further comprises an inertial measurement unit (IMU) sensor installed at a body of the robot for detecting an inertial feedback signal. ### Claim 16 (depends on 10) The system according to claim 10, wherein the plurality of sensors further comprises a plurality of infrared sensors or ultrasonic sensors installed at each foot of the robot for detecting obstacle detecting feedback signals. ### Claim 17 (depends on 10) The system according to claim 10, wherein the plurality of sensors further comprises a plurality of motor rotation sensors installed at each joint motor for detecting motor rotation feedback signals.