KR101485939B1 - Method and device for controlling walking of robot - Google Patents

Method and device for controlling walking of robot Download PDF

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Publication number
KR101485939B1
KR101485939B1 KR20140057827A KR20140057827A KR101485939B1 KR 101485939 B1 KR101485939 B1 KR 101485939B1 KR 20140057827 A KR20140057827 A KR 20140057827A KR 20140057827 A KR20140057827 A KR 20140057827A KR 101485939 B1 KR101485939 B1 KR 101485939B1
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South Korea
Prior art keywords
robot
walking
slope
angle
controller
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KR20140057827A
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Korean (ko)
Inventor
박종현
이정훈
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한양대학교 산학협력단
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

A method for controlling walking of a robot according to an embodiment of the present invention comprises the steps of: sensing entry of the robot into a slope surface via a sensor installed in the robot when the robot walks; if the entry of the robot into the slope surface is sensed, gradually bending a front leg of the robot while maintaining the walking of the robot; and gradually moving a rear leg of the robot backwards while maintaining the walking of the robot.

Description

TECHNICAL FIELD [0001] The present invention relates to a method and apparatus for controlling walking,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot control method and apparatus, and more particularly, to a method and apparatus for controlling the walking of a robot on an inclined plane or an inclination change period (operation transition period).

In general, a four-legged walking robot that does not have visual information called a vision needs to generate a rotated foot path that coincides with the angle of the inclined surface only by the angle information obtained by the sensor in order to pass the inclined surface. Furthermore, in order for a quadruped robot to move smoothly from a flat surface to a sloped surface or from a sloping surface, it is necessary to perform a motion transition.

In order for the robot to move the slope, it is necessary to rotate the footprint at an angle of the slope. However, in most cases, the angle detected by the sensor attached to the robot is different from the angle of the actual slope, including the angle of the slope, as well as the motion of the robot's body or foot.

Accordingly, the inclined plane can not be walked with the turned footprint. In addition, in order to move the flat land from the flat land to the slope or the slope, it is very difficult for the robot to make the transition motion smooth without stopping the walking.

Related Prior Art Patent Publication No. 2009-0128766 (entitled " a walking robot and its control method, public date: December 16, 2009) is known.

An embodiment of the present invention provides a robot walking control method and apparatus that can smoothly perform a transition operation without stopping walking when the walking gradient changes.

The problems to be solved by the present invention are not limited to the above-mentioned problem (s), and another problem (s) not mentioned can be clearly understood by those skilled in the art from the following description.

The robot walking control method according to an embodiment of the present invention includes the steps of sensing an entrance of a slope of the robot through a sensor installed on the robot when the robot is walking; Bending the front leg of the robot gradually while maintaining the walking of the robot when the inclination of the robot is detected; And gradually moving the rear leg of the robot backward while maintaining the walking of the robot.

The step of detecting the inclination of the robot may include sensing the inclination of the robot in real time using a gyro sensor.

Wherein the sensing of the inclination of the robot includes calculating a pitch angle of the robot body by analyzing the attitude of the robot body through the sensed value of the gyro sensor; And comparing the calculated pitch angle with a preset reference pitch angle to detect entry of the slope of the robot.

According to another aspect of the present invention, there is provided a robot walking control method comprising: matching a degree of bending of a front leg of a robot with an inclination angle and storing the same in a memory mounted on the robot; And calculating an inclination angle of the slope based on a pitch angle of the robot body calculated through the sensor and an angle difference between a preset reference pitch angle, wherein the step of gradually bending the front leg of the robot comprises: Extracting a degree of bending of the robot front leg matching the inclined angle from the memory; And gradually bending the forelegs of the robot based on the extracted degree of bending.

The robot walking control method according to an embodiment of the present invention further includes a step of matching the degree of the displacement of the robot rear leg by the angle of inclination and storing the same in the memory, and the step of gradually moving the rear leg of the robot backward Extracting a degree of displacement of the rear leg of the robot matching the inclined angle from the memory; And a step of gradually moving the rear leg of the robot backward based on the extracted moving displacement degree.

The robot walking control method according to an embodiment of the present invention includes the steps of: obtaining a force generated from the foot of the robot based on at least one of a mass, a damping ratio, and an intensity of the robot when walking on the slope; Generating a position offset based on a current foot position of the robot through impedance control using the obtained force; And correcting a walking trajectory on the slope using the generated position offset.

The step of generating the position offset may include calculating an impedance parameter including a damping ratio and a strength of the robot using a force generated from the foot of the robot according to a yaw angle and a roll angle of the robot body And generating the position offset by varying impedance control.

The step of correcting the gait locus on the slope may include applying a value obtained by differentiating the position offset twice to the gait locus of the robot to correct the gait locus on the slope.

The robot walking control apparatus according to an embodiment of the present invention includes a sensor sensing unit for sensing the inclination of the robot through a sensor installed on the robot when the robot is walking; And a walking motion controller for gradually bending the front leg of the robot while gradually moving the robot, and gradually moving the rear leg of the robot backward when the inclination of the robot is detected.

The robot walking control apparatus according to an embodiment of the present invention obtains a force generated from the foot of the robot based on at least one of the mass, the damping ratio, and the strength of the robot at the time of walking on the slope, And an impedance controller for generating a position offset based on the current foot position of the robot through impedance control using the obtained force and correcting a walking trajectory on the slope using the generated position offset .

The details of other embodiments are included in the detailed description and the accompanying drawings.

According to an embodiment of the present invention, the method of moving the center of gravity of the robot body and the impedance control method are fused to gradually bend the front leg of the robot using a function, and at the same time, moving the rear leg backward, And the disturbance (inclined plane) can be overcome by using the impedance control.

According to an embodiment of the present invention, the robot can stably and smoothly walk without needing to rotate the foot path on the inclined surface or the operation transition section.

1 and 2 are views showing an example of walking on an inclined surface of a robot according to the related art.
3 to 6 are flowcharts illustrating a robot walking control method according to an embodiment of the present invention.
FIG. 7 to FIG. 8 are diagrams showing examples of a walking posture of a robot walking on a slope according to an embodiment of the present invention.
9 is a flowchart illustrating a method of compensating a foot path on an inclined plane through impedance control according to an embodiment of the present invention.
10 is a diagram showing an example of compensating the foot path of the robot when disturbance occurs.
11 is a block diagram illustrating a robot walking control apparatus according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and / or features of the present invention, and how to accomplish them, will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but is capable of many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2 are views showing an example of walking on an inclined surface of a robot according to the related art.

First, as shown in FIG. 1, when the robot tilts on an inclined surface, the robot on the inclined surface bends the front leg so that the center of gravity of the robot body exists in the front leg and the back leg.

Since the center of gravity of the robot body is located in the middle of the forelegs and hind legs, the robot can stably walk on the slope. However, a rotated foot path that always coincides with the angle of the inclined surface is required, otherwise the foot path is completely clogged with the inclined surface, and stable walking can not be performed.

Next, as shown in FIG. 2, at the time of walking on the slope of the robot, the robot on the inclined surface simultaneously moves the forelegs and the rear legs back so that the center of gravity of the robot body exists between the forelegs and the hind legs.

Since the center of gravity of the robot body is located in the middle of the forelegs and hind legs, the robot can stably walk on the slope. However, since there is a fear that the stride may be very small by moving both the forelegs and the hind legs in the direction opposite to the walking direction, as shown in Fig. 1, there is no need for a rotated foot path coinciding with the angle of the slope. The crowd follows.

Accordingly, in one embodiment of the present invention, the two methods described above are fused so that the robot can stably walk on an inclined plane.

3 to 6 are flowcharts illustrating a robot walking control method according to an embodiment of the present invention. 7 to 8 are illustrations showing a walking posture of a robot walking on a slope according to an embodiment of the present invention.

Particularly, FIG. 7 is a diagram showing an example where a transition section is naturally walked without stopping by a gait control at a portion where a flat surface and a slope meet, and FIG. 8 is a view showing an example in which a stable walking is performed through a gait control .

For reference, the robot walking control method may be performed by the robot walking control device 1100 of FIG.

Referring to FIG. 3, in step 310, the robot walking control apparatus senses the inclination of the robot through the sensor installed on the robot when the robot is walking. That is, the robot walking control device detects whether the robot enters the slope in real time using a gyro sensor mounted on the robot.

Hereinafter, the step 310 will be described in more detail with reference to FIG.

Referring to FIG. 4, in step 410, the robot walking control apparatus can analyze the posture of the robot body through the sensing value of the gyro sensor.

Thereafter, in step 420, the robot walking controller may calculate a pitch angle of the robot body based on a result of analyzing the attitude of the robot body.

Thereafter, in step 430, the robot walking controller may compare the calculated pitch angle P1 with a preset reference pitch angle P2.

As a result of the comparison, if the pitch angle P1 is larger than the reference pitch angle P2 (the "yes" direction of 440), the robot walking control device can detect the entry of the slope of the robot in step 450 . That is, the robot walking controller determines that the robot has entered the inclined plane.

On the other hand, if the pitch angle P1 is less than or equal to the reference pitch angle P2 (the "no" direction of 440), the robot walking control device returns to step 410 .

Referring again to FIG. 3, when the inclination of the robot is detected through the step 310 (Yes in step 320), in step 330, the robot walking controller maintains the walking of the robot, Bend the robot's forelimbs gradually.

Hereinafter, the step 330 will be described in more detail with reference to the drawings.

5, 7 and 8, in step 510, the robot walking control device may store the degree of bending of the front leg of the robot in the memory mounted on the robot by matching the angle of inclination.

Next, in step 520, the robot walking control device calculates the difference between the pitch angle P1 of the robot body calculated through the sensor (e.g., gyro sensor) and the preset reference pitch angle P2, The inclination angle of the inclined surface can be calculated.

Next, in step 530, the robot walking control device can extract, from the memory, the degree of bending of the robot forele, which is matched with the calculated inclination angle of the inclined surface.

Next, in step 540, the robot walking control device may gradually bend the front leg of the robot based on the degree of bending of the extracted front leg of the robot.

Referring again to FIG. 3, in step 340, the robot walking control device gradually moves the rear leg of the robot back while maintaining the walking of the robot.

Hereinafter, the step (340) will be described in more detail with reference to the drawings.

Referring to FIGS. 6 to 8, in step 610, the robot walking control device may store movement displacement of the robot rear leg in the memory by matching the inclination angle. That is, the inclination angle corresponding to the displacement of the robot rear leg may be matched and stored in advance in the memory.

Next, in step 620, the robot walking control device can extract, from the memory, the degree of displacement of the robot rear leg, which is matched with the calculated inclination angle of the inclined surface.

Next, in step 630, the robot walking control device may gradually move the rear leg of the robot backward based on the degree of movement displacement of the extracted rear leg of the robot.

In the present embodiment, the front legs are gradually bent when the robot enters the inclined surface, and the rear legs are gradually moved backward so that the center of gravity of the robot is positioned within the polygon generated by the connection of the front legs and the end effectors of the rear legs , It is possible to move the center of gravity of the robot on an inclined plane or a transition section (a flat plane on an inclined plane, or an inclined plane on a flat plane) so as to naturally and stably walk.

FIG. 9 is a flowchart illustrating a method of compensating a foot path on an inclined plane through impedance control according to an embodiment of the present invention. FIG. 10 is a view illustrating an example of compensating a foot path of a robot when disturbance occurs to be.

As shown in FIG. 10, when the disturbance occurs, the robot walking control apparatus can compensate for the foot trajectory of the robot in consideration of disturbance. At this time, the robot walking control apparatus can compensate the foot trajectory of the robot using an impedance control method.

In this embodiment, the foot path of the robot can be compensated by considering the inclined plane as a disturbance as shown in Fig. In other words, as shown in the dotted arrows of the footprint in FIGS. 7 and 8, the footprint may not be fully generated.

In this case, in this embodiment, the foot trajectory on the inclined plane can be compensated in the same manner as in FIG.

That is, referring to FIG. 9, in step 910, the robot walking control device calculates the walking speed of the robot based on at least one of the mass, the damping ratio, You can gain power.

Next, in step 920, the robot walking control apparatus can generate a position offset based on the current foot position of the robot through impedance control using the obtained force.

That is, the robot walking control device calculates an impedance parameter including the damping ratio and the strength of the robot using a force generated from the foot of the robot according to a yaw angle and a roll angle of the robot body The position offset can be generated through impedance control which changes the position offset.

Next, in step 930, the robot walking controller may correct (compensate) the walking trajectory on the inclined plane using the generated position offset.

That is, the robot walking control apparatus can correct the walking trajectory on the slope by applying a value obtained by differentiating the position offset twice to the walking trajectory of the robot. At this time, the robot walking control device can correct the walking trajectory on the inclined plane by adjusting the joint displacement of the robot through the position offset.

11 is a block diagram illustrating a robot walking control apparatus according to an embodiment of the present invention.

11, a robot walking control apparatus 1100 according to an embodiment of the present invention includes a sensor sensing unit 1110, a walking motion control unit 1120, an impedance control unit 1130, and a central control unit 1140 can do.

The sensor sensing unit 1110 senses the entrance of the slope of the robot through a sensor installed on the robot when the robot is walking. To this end, the sensor sensing unit 1110 may use a gyro sensor.

That is, the sensor sensing unit 1110 calculates the pitch angle of the robot body by analyzing the attitude of the robot body through the sensed value of the gyro sensor, and outputs the calculated pitch angle to the preset reference pitch angle It is possible to detect the entry of the slope of the robot by comparison.

When the inclination of the robot is detected, the walking motion controller 1120 gradually bends the front leg of the robot while maintaining the walking of the robot.

For this purpose, the walking motion controller 1120 matches the degree of bending of the front leg of the robot by the angle of inclination, stores it in a memory mounted on the robot, calculates a pitch angle of the robot body calculated through the sensor, The inclination angle of the inclined surface can be calculated based on the difference.

The walking motion controller 1120 may extract the degree of bending of the robot front leg matching the calculated tilt angle from the memory and gradually bend the front leg of the robot based on the extracted bending degree.

The walking motion controller 1120 gradually moves the rear leg of the robot backward while maintaining the walking of the robot.

For this purpose, the walking motion controller 1120 may match the degree of the displacement of the robot's hind legs according to the inclination angle and store the same in the memory.

The walking motion controller 1120 may extract the degree of the moving displacement of the rear leg of the robot matched with the calculated inclination angle from the memory and gradually move the rear leg of the robot backward based on the extracted degree of the moving displacement .

The impedance controller 1130 obtains a force generated from the foot of the robot based on at least one of a mass, a damping ratio, and an intensity of the robot at the time of walking on the slope, A position offset based on the current foot position of the robot can be generated through the control.

At this time, the impedance controller 1130 controls the impedance of the robot using the force generated from the foot of the robot according to the yaw angle and the roll angle of the robot body, the impedance including the damping ratio and the strength of the robot The position offset can be generated through impedance control that changes the parameter.

The impedance controller 1130 can correct the walking trajectory on the slope using the generated position offset. That is, the impedance controller 1130 may apply the value obtained by differentiating the position offset twice to the walking trajectory of the robot to correct the walking trajectory on the inclined plane.

The central control unit 1140 controls the operation of the robot walking control apparatus 1100 according to an embodiment of the present invention such as the sensor sensing unit 1110, the walking motion control unit 1120, the impedance control unit 1130, Overall controllable.

As described above, according to the embodiment of the present invention, by combining the method of moving the center of gravity of the robot body and the impedance control method, the forelegs of the robot are gradually bent by using the function and at the same time, the rear legs are moved backward, And the disturbance (slope) can be overcome by using the impedance control.

Thus, according to the embodiment of the present invention, the robot can stably and smoothly walk without needing to rotate the foot trajectory in the inclined plane or the motion transition section.

Embodiments of the present invention include computer readable media including program instructions for performing various computer implemented operations. The computer-readable medium may include program instructions, local data files, local data structures, etc., alone or in combination. The media may be those specially designed and constructed for the present invention or may be those known to those skilled in the computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floppy disks, and ROMs, And hardware devices specifically configured to store and execute the same program instructions. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Modification is possible. Accordingly, the spirit of the present invention should be understood only in accordance with the following claims, and all equivalents or equivalent variations thereof are included in the scope of the present invention.

1100: Robot walking control device
1110:
1120: Walking motion controller
1130: Impedance control section
1140:

Claims (10)

Detecting the entrance of the slope of the robot through a sensor installed on the robot when the robot is walking;
Acquiring a force generated from the foot of the robot based on at least one of a mass, a damping ratio, and an intensity of the robot when the inclination of the robot is detected;
Generating a position offset based on a current foot position of the robot through impedance control using the obtained force;
Correcting a walking locus on the inclined plane by adjusting a joint displacement of the robot using the generated position offset;
Bending the front leg of the robot gradually while maintaining the walking of the robot based on the corrected walking trajectory; And
A step of gradually moving the rear leg of the robot backward while maintaining the walking of the robot on the basis of the corrected walking trajectory
Lt; / RTI >
The step of gradually moving the rear leg of the robot backward
The center of gravity of the robot is positioned within a polygon generated by the connection of the front leg and the end effector of the hind leg so that the weight of the robot at the slope or transition section (slope -> flat, flat -> slope) Moving the center
And a controller for controlling the robot.
The method according to claim 1,
The step of sensing the inclination of the robot
Detecting a slope entrance of the robot in real time using a gyro sensor
And a controller for controlling the robot.
3. The method of claim 2,
The step of sensing the inclination of the robot
Analyzing a posture of the robot body through a sensing value of the gyro sensor and calculating a pitch angle of the robot body; And
Comparing the calculated pitch angle with a predetermined reference pitch angle to detect the entry of the slope of the robot
And a controller for controlling the robot.
The method according to claim 1,
Matching the degree of bending of the front leg of the robot with the angle of inclination and storing the same in a memory mounted on the robot; And
Calculating a tilt angle of the inclined surface based on a pitch angle of the robot body calculated through the sensor and an angle difference between a preset reference pitch angle
Further comprising:
The step of gradually bending the front leg of the robot
Extracting a bending degree of the robot forele that matches the calculated tilt angle from the memory; And
Bending the front leg of the robot gradually based on the extracted degree of bending
And a controller for controlling the robot.
5. The method of claim 4,
Matching the degree of movement displacement of the rear leg of the robot with the inclination angle and storing the same in the memory
Further comprising:
The step of gradually moving the rear leg of the robot backward
Extracting a degree of displacement of the rear leg of the robot matching the calculated inclination angle from the memory; And
A step of gradually moving the rear leg of the robot backward based on the extracted degree of the moving displacement
And a controller for controlling the robot.
delete The method according to claim 1,
The step of generating the position offset
The impedance of the robot is controlled by changing the impedance parameter including the damping ratio and the strength of the robot using a force generated from the foot of the robot according to a yaw angle and a roll angle of the robot body. Step of generating offset
And a controller for controlling the robot.
The method according to claim 1,
The step of correcting the walking locus on the inclined plane
Applying a value obtained by differentiating the position offset twice to a walking trajectory of the robot to correct a walking trajectory on the inclined surface
And a controller for controlling the robot.
A sensor sensing unit for sensing the inclination of the robot through the sensor installed on the robot when the robot is walking;
Wherein when the inclination of the robot is detected, a force generated from the foot of the robot is acquired based on at least one of a mass, a damping ratio, and an intensity of the robot, An impedance controller for generating a position offset based on a current foot position of the robot and correcting a walking locus on the slope by adjusting a joint displacement of the robot using the generated position offset; And
And a step of gradually bending the front leg of the robot while maintaining the walking of the robot on the basis of the corrected gait locus and moving the back leg of the robot gradually backward while maintaining the gait of the robot based on the corrected gait locus The motion controller
Lt; / RTI >
The walking motion controller
The center of gravity of the robot is positioned within a polygon generated by the connection of the front leg and the end effector of the hind leg so that the weight of the robot at the slope or transition section (slope -> flat, flat -> slope) Thereby moving the center of gravity of the robot. delete
KR20140057827A 2014-05-14 2014-05-14 Method and device for controlling walking of robot KR101485939B1 (en)

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GB2536553A (en) * 2015-02-09 2016-09-21 Harris Corp Unmanned ground vehicle stability control
KR20180087521A (en) * 2017-01-24 2018-08-02 한양대학교 산학협력단 Method for controlling of walking robot having four legs

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KR20120137229A (en) * 2011-06-10 2012-12-20 삼성전자주식회사 Balancing control apparatus of robot and method for controlling the same
JP2013237126A (en) * 2012-05-15 2013-11-28 Nsk Ltd Device and method for generating gait data

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KR20030067023A (en) * 2002-02-06 2003-08-14 엘지전자 주식회사 Walking control method for robot
JP2011093093A (en) * 2004-01-13 2011-05-12 Honda Motor Co Ltd Gait generation device of leg-type mobile robot
KR20120137229A (en) * 2011-06-10 2012-12-20 삼성전자주식회사 Balancing control apparatus of robot and method for controlling the same
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Cited By (4)

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Publication number Priority date Publication date Assignee Title
GB2536553A (en) * 2015-02-09 2016-09-21 Harris Corp Unmanned ground vehicle stability control
GB2536553B (en) * 2015-02-09 2018-12-12 Harris Corp Unmanned ground vehicle stability control
KR20180087521A (en) * 2017-01-24 2018-08-02 한양대학교 산학협력단 Method for controlling of walking robot having four legs
KR101908215B1 (en) * 2017-01-24 2018-10-16 한양대학교 산학협력단 Method for controlling of walking robot having four legs

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