Robot and control method thereof
AssigneeSamsung Electronics Co., Ltd.
InventorsBok Man Lim, Kyung Shik Roh, Woong Kwon, Ju Suk Lee
Life of this patent
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Abstract
A robot, which performs natural walking similar to a human with high energy efficiency through optimization of actuated dynamic walking, and a control method thereof. The robot includes an input unit to which a walking command of the robot is input, and a control unit to control walking of the robot by calculating torque input values through control variables, obtaining a resultant motion of the robot through calculation of forward dynamics using the torque input values, and minimizing a value of an objective function set to consist of the sum total of a plurality of performance indices through adjustment of the control variables.
Claims23
A walking control method of a robot comprising:
- setting a plurality of variables to determine target joint routes and control gains as control variables;
- calculating, by a computer, torque input values based on the control variables;
- obtaining a resultant motion through calculation of forward dynamics using the calculated torque input values;
- setting an objective function consisting of the sum total of a plurality of performance indices;
- and
- adjusting, by a computer, the control variables so that a value, calculated using the obtained resultant motion, of the objective function satisfies a predetermined condition.
A robot comprising:
- an input unit to which a walking command of the robot is input;
- and
- a control unit to control walking of the robot in accordance with a walking command input to the input unit by
- calculating torque input values through control variables,
- obtaining a resultant motion of the robot through calculation of forward dynamics using the calculated torque input values, and
- adjusting the control variables so that a value, calculated using the obtained resultant motion, of an objective function, set to consist of the sum total of a plurality of performance indices, satisfies a predetermined condition.
A method comprising:
- adjusting, by a computer, variables used to determine at least one of target joint routes and control gains of a walking robot so that a value, calculated using a resultant motion of the robot obtained through calculation of forward dynamics of the robot, of an objective function including of a plurality of performance indices satisfies a predetermined condition;
- and
- controlling, by a computer, the robot in accordance with the adjusted variables.
Dependencies are inferred from the claim text.