Apparatus for controlling robot and method thereof

A robot comprising:

• a drive wheel;
• a head part;
• maximal four distance measuring sensors arranged at the head part,
• wherein the head part with the maximal four sensors is arranged above the drive wheel;
• and
• a controller configured to:
• determine a driving environment of the robot based on distances measured by the maximal four sensors;
• and
• adjust a control gain related to a balance control of the robot based on the determined driving environment.

A robot comprising:

• a wheel part including a driving wheel;
• a head part arranged above the wheel part, the head part providing an inner loading space;
• a support structure connecting the wheel part to the head part;
• at least one first sensor disposed on a front bottom of the head part and configured to sense a first distance from a ground;
• at least one second sensor disposed on a rear bottom of the head part and configured to sense a second distance from the ground;
• and
• a controller configured to:
• determine a driving environment of the robot based on at least one of the first distance or the second distance;
• incline the support structure in a travel direction when the robot travels on flat ground,
• incline the support structure in the travel direction when the robot ascends the stairs or the steps, and
• incline the support structure in a direction opposite to the travel direction when the robot descends the stairs or the steps.