Back to results
US 9,002,512 B2Granted
Robot and method of controlling walking thereof
AssigneeSamsung Electronics Co., Ltd.
InventorsJae Ho Park, Kyung Shik Roh, Woong Kwon
Life of this patent
Estimating the term…
Abstract
Disclosed are a robot, which generates a stable walking pattern similar to that of a human, and a method of controlling walking thereof. The method includes generating a walking pattern of a leg connected to a torso of the robot; detecting whether or not a singularity pose of the leg walking according to the walking pattern is generated; and changing the walking pattern by adjusting a yaw direction angle of the torso when the singularity pose is generated.
Claims13
A method of controlling walking of a robot comprising:
- generating a walking pattern of a leg connected to a torso of the robot;
- detecting whether or not a singularity pose of the leg walking according to the walking pattern is generated, the singularity pose being a point in which a relative distance connecting an ankle joint of the leg and a hip joint located at a lower portion of the torso is equal to a length of the leg;
- and
- changing the walking pattern by adjusting a yaw direction angle of the torso when the generated singularity pose is detected,
- wherein the adjusted yaw direction angle is obtained using a position of the leg when the singularity pose is generated.
2 more elements
A robot comprising:
- a leg;
- a torso connected to the leg;
- a walking pattern generating unit to generate a walking pattern of the leg;
- a singularity pose detecting unit to detect whether or not a singularity pose of the leg walking according to the walking pattern is generated, the singularity pose being a point in which a relative distance connecting an ankle joint of the leg and a hip joint located at a lower portion of the torso is equal to a length of the leg;
- a torso position adjusting unit to adjust a yaw direction angle of the torso when the generated singularity pose is detected;
- and
- a control unit to change the walking pattern to avoid the detected singularity pose using the yaw direction angle of the torso and to control the walking of the leg according to the changed walking pattern,
- wherein the adjusted yaw direction angle is obtained using a position of the leg when the singularity pose is generated.
5 more elements
A method of controlling walking of a robot, comprising:
- determining an imbalance of the robot;
- detecting a singularity pose generated in response to the determined imbalance, the singularity pose being a point in which a relative distance connecting an ankle joint of a leg of the robot and a hip joint located at a lower portion of a torso of the robot is equal to a length of the leg;
- adjusting a yaw direction angle of a torso of the robot when the generated singularity pose is detected;
- and
- maintaining a height of the torso while adjusting the yaw direction angle,
- wherein the adjusted yaw direction angle is obtained using a position of the leg when the singularity pose is generated.
3 more elements
Dependencies are inferred from the claim text.