Robot and method of controlling the same
AssigneeSamsung Electronics Co., Ltd.
InventorsHo Seong Kwak, Woong Kwon, Kyung Shik Roh
Life of this patent
Estimating the term…
Abstract
Disclosed is a method of defining control angles to use a limit cycle in order to balance a biped walking robot on a three-dimensional space. In order to balance an FSM-based biped walking robot right and left on a three-dimensional space, limit cycle control angles to balance the robot according to states of the FSM-based robot are set on the three-dimensional space, and the limit cycle control angles on the three-dimensional space are controlled using a sinusoidal function to allow relations between the control angles and control angular velocities to form a stable closed loop within a limit cycle.
Claims15
A method of controlling a robot comprising:
- setting limit cycle control angles to balance the robot on a three-dimensional space;
- and
- controlling the set limit cycle control angles on the three-dimensional space comprising using a sinusoidal function to balance the robot within a limit cycle,
- wherein the setting of the limit cycle control angles includes
- defining a virtual plane on the basis of a torso of the robot, and generating a contact point on the virtual plane comprising projecting a contact point of the robot with the ground onto the virtual plane;
- generating a contact point on the space comprising using positions of the contact point on the virtual plane and a center of gravity of the robot;
- generating vectors on the space comprising using positions of the contact point on the space, the contact point on the virtual plane, and the center of gravity;
- and
- obtaining the limit cycle control angles comprising using the generated vectors on the space.
A robot comprising:
- a plurality of ankles;
- a set unit to set limit cycle control angles of the ankles on a three-dimensional space;
- and
- a control unit to control the set limit cycle control angles on the three-dimensional space using a sinusoidal function and thus control the angles of the ankles within a limit cycle using the sinusoidal function, wherein control unit controls the set limit cycle control angles by defining a virtual plane on the basis of a torso of the robot, generating a contact point on the virtual plane by projecting a contact point of the robot with the ground onto the virtual plane, generating a contact point on the space by using positions of the contact point on the virtual plane and a center of gravity of the robot, generating vectors on the space by using positions of the contact point on the space, the contact point on the virtual plane, and the center of gravity, and obtaining the limit cycle control angles by using the generated vectors on the space.
Dependencies are inferred from the claim text.