System and method of controlling ankles of walking robot
AssigneeHyundai Motor Company
InventorWoo Sung Yang
Life of this patent
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Abstract
Disclosed herein is a system and method of controlling one or more ankles of a walking robot. In the above system and method, an input torque u to be applied to an ankle of a robot is obtained by compensating a target torque τd with an acting torque τc measured using a sensor and applied by a support surface and then an actual torque τ applied by the ankle of a foot is instead fed back into the control system. Therefore, proper balance of the walking robot is ensured.
Claims9
A method of controlling one or more ankles of a walking robot, comprising:
- obtaining an input torque u to be applied to an ankle of a robot by compensating a target torque τd with an acting torque τc measured using a sensor and applied by a support surface;
- and
- in response to compensating the target torque with the acting torque, feeding back an actual torque τ applied by the ankle of a foot to ensure proper balance of the walking robot,
- wherein the input torque u is obtained by adding a product of the acting torque τc and a gain Kd (1−(τd/Kdτc)) to the target torque τd and then subtracting a product of the actual torque τ and a gain Kc from a result of the addition wherein Kd is an error compensation coefficient for a difference between an angle of a sole of the foot of the robot and an angel of the support surface, and Kc is an error compensation coefficient for a difference between an intended angle and an actually attained angle of the sole of the foot.
A non-transitory computer readable medium containing program instructions executed by a processor or controller for controlling one or more ankles of a walking robot, the non-transitory computer readable medium comprising:
- program instructions that obtain an input torque u to be applied to an ankle of a robot by compensating a target torque τd with an acting torque τc measured using a sensor and applied by a support surface;
- and
- program instructions that feed back an actual torque τ applied by the ankle of a foot to ensure proper balance of the walking robot in response to compensating the target torque with the acting torque,
- where the input torque u is obtained by adding a product of the acting torque τc and a gain Kd (1−(τd/Kdτc)) to the target torque τd and then subtracting a product of the actual torque τ and a gain Kc from a result of the addition wherein Kd is an error compensation coefficient for a difference between an angle of a sole of the foot of the robot and an angel of the support surface, and Kc is an error compensation coefficient for a difference between an intended angle and an actually attained angle of the sole of the foot.
A system for controlling one or more ankles of a walking robot, the system comprising:
- a processor configured to obtain an input torque u to be applied to an ankle of a robot by compensating a target torque τd with an acting torque τc measured using a sensor and applied by a support surface, and feed back an actual torque τ applied by the ankle of a foot to ensure proper balance of the walking robot in response to compensating the target torque with the acting torque,
- where the input torque u is obtained by adding a product of the acting torque τc and a gain Kd (1−(τd/Kdτc)) to the target torque τd and then subtracting a product of the actual torque τ and a gain Kc from a result of the addition wherein Kd is an error compensation coefficient for a difference between an angle of a sole of the foot of the robot and an angel of the support surface, and Kc is an error compensation coefficient for a difference between an intended angle and an actually attained angle of the sole of the foot.
Dependencies are inferred from the claim text.