Walking robot and method of controlling the same
AssigneeSamsung Electronics Co., Ltd.
InventorsChang Hyun Roh, Woong Kwon
Life of this patent
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Abstract
Disclosed are a walking robot and a method of controlling the same, in which impedance control and torso tilt control are achieved complementarily such that impedance can be adjusted according to the tilt of a torso or the tilt of the torso can be adjusted according to the impedance. The method includes measuring a moment of a foot; measuring a tilt of a torso; adjusting the scale of the measured moment based on the tilt of the torso, and controlling the foot based on the scale-adjusted moment; and adjusting the scale of the measured tilt based on a ZMP variation amount of the foot, and controlling the tilt of the torso based on the scale-adjusted ZMP variation amount.
Claims19
A method of controlling a walking robot, comprising:
- measuring a moment of a foot of the robot;
- measuring a tilt of a torso of the robot;
- reducing a scale of the measured moment prior to controlling the foot if the measured tilt of the torso is within a predetermined range;
- controlling, by way of at least one processor, the foot based on the scale-reduced moment;
- adjusting the scale of the measured tilt based on a ZMP variation amount of the foot;
- and
- controlling the tilt of the torso based on the scale-adjusted tilt.
A method of controlling a walking robot, comprising:
- measuring a moment of a foot of the robot;
- reducing a scale of the measured moment prior to controlling the foot if the measured tilt of the torso is within a predetermined range;
- measuring a tilt of a torso of the robot;
- controlling, by way of at least one processor, the foot based on the scale-reduced moment to increase the walking stability of the walking robot, when the tilt of the torso exceeds a predetermined range;
- and
- controlling the tilt of the torso to reduce a ZMP error between an actual ZMP of the foot and a target ZMP, when the ZMP error exceeds a predetermined range.
A walking robot comprising:
- a torso;
- a plurality of feet supporting the torso;
- a plurality of first sensors to respectively measure moments of the plurality of feet;
- a second sensor to measure a tilt of the torso;
- a first signal changing unit to scale down the measured moment prior to controlling the plurality of feet, when the tilt of the torso does not exceed a predetermined range;
- and
- a control unit to control the plurality of feet based on the scale-adjusted moment, and to adjust a scale of the measured tilt based on a ZMP variation amount of the plurality of feet and control the tilt of the torso based on the scale-adjusted ZMP variation amount.
Dependencies are inferred from the claim text.