Patent application number | Description | Published |
20110172823 | ROBOT AND CONTROL METHOD THEREOF - A robot and a control method thereof may adjust a yaw moment generated from a foot contacting a ground to achieve stable walking of the robot. The robot, which may have an upper body and a lower body, may include a main controller starting walking of the robot through only motions of joints of the lower body and adjusting a motion of the upper body such that a yaw moment generated from a foot the lower body during walking of the robot is less than the maximum static frictional force of a ground to perform stable walking of the robot, and sub controllers driving actuators of the joints according to a control signal of the main controller. | 07-14-2011 |
20110172824 | WALKING ROBOT AND METHOD OF CONTROLLING THE SAME - Disclosed herein are an apparatus and method for controlling stable walking of a robot based on torque. In a method of enabling stable walking by controlling torque of a hip joint portion using a Finite State Machine (FSM) without solving a complicated dynamic equation, torque of a stance leg is finally calculated using pose control torque of an upper body, pose control torque of a swing leg, and initial pose control torque of a stance leg supporting the upper body. Accordingly, the robot may stably walk with torque balance. Since gravity compensation torque is applied, a torso of the robot is not inclined and the pose of the robot is stably maintained. | 07-14-2011 |
20110172825 | WALKING CONTROL APPARATUS OF ROBOT AND METHOD OF CONTROLLING THE SAME - A walking control apparatus of a robot includes joint portions provided in each of a plurality of legs of the robot, a state database to store state data of each of the legs and state data of the joint portions corresponding to the state of each of the legs, when the robot walks, a position instruction unit to store desired positions corresponding to the state data of the joint portions, an inclination sensing unit to sense an inclination of an upper body of the robot, a torque calculator to calculate torques using the inclination of the upper body and the desired positions, and a servo controller to output the torques to the joint portions to control the walking of the robot. Since the robot walks by Finite State Machine (FSM) control and torque servo control, the rotation angles of the joint portions do not need to be accurately controlled. Thus, the robot walks with low servo gain and energy consumption is decreased. Since the robot walks with low servo gain, each of the joints has low rigidity and thus shock generated by collision with surroundings is decreased. | 07-14-2011 |
20110178639 | HUMANOID ROBOT AND WALKING CONTROL METHOD THEREOF - A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque. | 07-21-2011 |
20120059518 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot and a control method thereof. The robot includes at least one joint unit on each leg, a sensing unit to sense angle and angular velocity of the at least one joint unit, a memory unit to store data of the angle and angular velocity during stable walking, a target trajectory generation unit to generate a target trajectory, a control torque calculation unit to check stability of the at least one joint unit by comparing the sensed angle and angular velocity with the target trajectory, and, if an unstable joint unit is present, to calculate a control torque of the unstable joint unit to trace the target trajectory, and a servo control unit to transmit the calculated control torque to the unstable joint unit, thereby controlling torques of joint units using an FSM without solving the complicated dynamic equation, thus achieving stable walking. | 03-08-2012 |
20120083922 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot and a control method in which conversion between walking servo control methods is stably carried out. The walking robot includes a sensor unit to measure angles and torques of joints, and a control unit to calculate voltages applied in a Finite State Machine (FSM) control mode and a Zero Moment Point (ZMP) control mode according to the angles and torques of the joints to drive respective joint motors, to store last target joint angles in the FSM control mode during conversion from the FSM control mode to the ZMP control mode, and to perform a motion based on the FSM control mode by substituting the last target joint angles in the FSM control mode for target joint angles in the FSM control mode during conversion from the ZMP control mode to the FSM control mode, thereby performing stable conversion between walking servo control modes without joint sagging. | 04-05-2012 |
20120158175 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot and a control method thereof. The control method includes storing angle change data according to time corresponding to at least one joint unit of the robot using human walking data, extracting reference knot points from the angle change data according to time, and generating a reference walking trajectory using the extracted reference knot points, calculating a walking change factor to perform change between walking patterns of the robot, generating a target walking trajectory through an arithmetic operation between the reference walking trajectory and the calculated walking change factor, calculating a control torque to track the generated target walking trajectory, and transmitting the calculated control torque to the at least one joint unit so as to control walking of the robot, thereby achieving various walking patterns through a comparatively simple arithmetic operation process. | 06-21-2012 |
20120158183 | WALKING ROBOT AND CONTROL METHOD THEREOF - A robot which naturally walks with high energy efficiency similar to a human through optimization of actuated dynamic walking, and a control method thereof. The control method includes defining a plurality of unit walking motions, in which stride, velocity, rotating angle and direction of the robot are designated, through combination of parameters to generate target joint paths, and constructing a database in which the plurality of unit walking motions is stored, setting an objective path up to an objective position, performing interpretation of the objective path as unit walking motions, generating walking patterns consisting of at least one unit walking motion to cause the robot to walk along the objective path based on the interpretation of the objective path, and allowing the robot to walk based on the walking patterns. | 06-21-2012 |
20130116820 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot generates a target trajectory for walking on stairs using a target trajectory used for walking on level ground. A control method controls the robot by generating a target trajectory for walking on stairs using a target trajectory used for walking on level ground. The stairs-walking target-trajectory is generated via simplified calculation using the level-walking target-trajectory. | 05-09-2013 |
20130144439 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot to prevent slippage of a swing foot on the ground and a control method thereof includes generating a target angle trajectory for each joint unit of legs, calculating a torque, which tracks the target angle trajectory, for each joint unit, determining whether slippage of a swing foot connected to a swing leg of the two legs occurs, calculating a final torque to be provided to each joint unit of the swing leg based on a velocity sensed from the swing foot if occurrence of slippage of the swing foot is determined, and providing the calculated final torque to each joint unit. By sensing whether slippage of the swing foot occurs when the swing foot touches the ground and restricting a torque to be applied to each joint unit based on the sensed result, stable walking of the robot is realized. | 06-06-2013 |
20130218345 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot capable of implementing a balancing action to ensure a stable walking on uneven ground based on an FSM-based walking control method, and a control method thereof, is capable of implementing stable walking by controlling torques of the hip joint, the knee joint and the ankle joint by use of FSM without calculating complicated Dynamics Equations. The walking robot ensures stable walking on uneven ground through a simple calculation by use of the angle formed by the ground and the both feet The walking robot is made to be applied to a robot provided with joints having six degrees of freedom through a simple calculation of compensation angles. | 08-22-2013 |
20140046128 | SURGICAL ROBOT SYSTEM AND CONTROL METHOD THEREOF - A control method may be applied to a surgical robot system including a slave robot having a robot arm to which a main surgical tool and an auxiliary surgical tool are coupled, and a master robot having a master manipulator to manipulate the robot arm. The control method includes acquiring data regarding a motion of the master manipulator, predicting a basic motion to be performed by an operator based on the acquired motion data and results of learning a plurality of motions constituting a surgical task, and adjusting the auxiliary surgical tool so as to correspond to the operator basic motion based on the predicted basic motion. The control method allows an operator to perform surgery more comfortably and to move or fix all required surgical tools to or at an optimized surgical position. | 02-13-2014 |
20140331798 | WIRE CONNECTION APPARATUS - A wire connection apparatus includes a link unit and a drive unit configured to drive the link unit. The link unit includes a first link, a second link rotatably coupled to the first link, a third link rotatably coupled to the second link, a plurality of wires, each of which is fixed at one end thereof to the third link, and is fixed at the other end thereof to the drive unit, and through which a driving force is transmitted from the drive unit to the third link, a path forming structure to form a path of each of the wires between the drive unit and the third link, and a length holding structure to hold constant a length of each of the wires between the drive unit and the third link. | 11-13-2014 |