Robot and method of controlling the same

A method comprising:

• when power supplied from a main power source to a motor of a robot to drive the motor is cut off,
• supplying power to the motor from a subsidiary power source to thereby drive the motor with the power supplied from the subsidiary power source,
• determining whether a selection condition of a safety control mode is satisfied, starting with a safety control mode of a plurality of safety control modes having highest priority and continuing, in order of decreasing priority, through other safety control modes, until it is determined that a selection safety condition is satisfied,
• selecting a safety control mode of the plurality of safety control modes according to a result of said determining, and
• controlling the robot to operate in the selected safety control mode.

A robot comprising:

• a main power source;
• a subsidiary power source;
• a motor to receive power from at least one of the main power source and the subsidiary power source;
• and
• a controller to, when power supplied from the main power source to a motor to drive the motor is cut off,
• drive the motor with power supplied from the subsidiary power source to thereby drive the motor with the power supplied from the subsidiary power source,
• select at least one of a plurality of safety control modes to stably control the robot in consideration of a current state of the robot with the motor being driven with the power supplied from the subsidiary power source, and
• control the robot to operate in the selected safety control mode.