KR20170001260A - Apparatus and method for controlling attitude of wearable robot in slope - Google Patents

Apparatus and method for controlling attitude of wearable robot in slope Download PDF

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Publication number
KR20170001260A
KR20170001260A KR1020150090992A KR20150090992A KR20170001260A KR 20170001260 A KR20170001260 A KR 20170001260A KR 1020150090992 A KR1020150090992 A KR 1020150090992A KR 20150090992 A KR20150090992 A KR 20150090992A KR 20170001260 A KR20170001260 A KR 20170001260A
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South Korea
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robot
wearer
center
mass
posture
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KR1020150090992A
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Korean (ko)
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KR101795852B1 (en
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서창훈
홍만복
신영준
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국방과학연구소
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    • 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
    • B25J19/0008—Balancing 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
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a device and a method for maintaining an inclined posture of a wearable robot that maintains the posture by adjusting the angle of each joint part of the wearer robot so that the orthogonal point of the ground of the combined mass center of the wearer robot and the wearer is located inside the support base will be.
The inclined posture maintaining device of the wearable robot according to the present invention is characterized in that the angle of rotation of each joint part constituting the wearable robot, the posture of the wearable robot, the posture of the wearer's foot on the wearer's foot, A sensor part 21 for detecting a repulsive force of the joint robot 15 and a center position of the repulsive force in the joint link part 15, a driving part 23 for adjusting the rotation angle of each joint part constituting the wear robot, The center of mass COM of the wearing robot, the position of the orthogonal point of the ground at the center of mass and the position of the supporting base BOS from the input value inputted from the sensor unit 21, If the orthogonal inflection point of the center of mass (COM) of the mass is not located inside the supporting base (BOS), it is judged whether or not the ortho-inflection point is located inside the supporting base (BOS) rotation By controlling the degree and a controller (22) to move into the interior of the base surface (BOS) support the point when the orthogonal projection of the center of mass (COM).

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus and a method for maintaining an inclined posture of a wearable robot,

[0001] The present invention relates to an apparatus and method for maintaining an inclined posture of a wearing robot that prevents overturning of a wearing robot on an inclined or rough terrain, and more particularly, The present invention relates to an apparatus and method for maintaining an inclined posture of a wearing robot that maintains a posture by adjusting the angle of each joint part of the wearing robot so that the orthopedic point is located inside a base of support (BOS).

A wearing robot that supports or assists the strength of a person wearing a person (hereinafter referred to as "wearer") plays a role in helping the robot perform smoothly with less force.

For example, the wearable robot assists the elderly, the disabled, or the patient in the exercise, assists the work ability of the worker in the industrial field, and is also applied to the military so as to assist the maneuvering force of the soldier to improve the combat power.

Particularly, when the wearing robot is applied to the military, it is difficult to maintain the posture stability as compared with other cases because the environment to which the wearing robot is applied is rough compared with other cases.

That is, when a soldier wears the wearable robot, it is applied to a rough terrain such as an unsealed slope or rock in a state of wearing heavy combat equipment. Therefore, the inclination of the terrain, the weight of the wearing robot, , The center of gravity is shifted forward or backward and the balance can be easily lost.

Also, you have to operate your combat equipment like a gun, so you have to be free.

As an example of the conventional technique, a ZMP (Zero Moment Position) estimation technique used for controlling a bipedal walking robot is applied to a wearable robot, but in such a case, there is a possibility that the wearer's motion will be in conflict with the wear robot Therefore, it is necessary to approach the control of the wearing robot in such a direction as to assist the motion to correct the wearer's posture.

On the other hand, the following prior art reference discloses a technique relating to an elastic mechanism for supporting a wear robot in the knee joint torque.

KR 10-2014-0010736 A

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a method of measuring the angle of the joint part of the wear robot in a state in which the wearer wears the wear robot, And an object of the present invention is to provide an apparatus and method for maintaining an inclined posture of a wearing robot capable of computing the center of gravity and ensuring posture stability of the wearing robot.

According to another aspect of the present invention, there is provided an apparatus for maintaining an inclined posture of a wearable robot, the apparatus comprising: A sensor unit for detecting a rotation angle, an attitude of the wearer robot, a repulsive force between the knee link part and the ground which is worn on the wearer's foot of the wearer robot, and a center position of the repulsive force in the knee link part, A center of gravity of the mass center of the wearer robot, a position of an orthogonal center of gravity of the center of mass of the center of mass and a position of a supporting base surface of the center of mass orthogonal to the ground from the input value inputted from the sensor unit, And determines whether the orthogonal point of the ground of the center of mass of the wearing robot is located inside the supporting base, And a control unit controlling the driving unit to adjust the rotation angle of the joint part to move the center of mass to the inside of the supporting base surface if the ground orthogonal point of the center of the base mass is not located inside the supporting base. do.

The control unit calculates the mass center of the wearing robot from the rotation angle of each joint part input from the sensor unit and the repulsive force between the base link and the ground, And the supporting base surface is calculated from the center position.

The control unit controls the angle of the backpack support unit or the pelvis link unit of the wearer robot so that the upper body of the wearer is bowed down if the orthogonal point of the ground of the center of mass of the wearer robot is located behind the wearer robot from the support base And controlling the angle of the backpack support portion or the pelvis link portion of the wearer robot to be turned back when the orthogonal point of the ground of the center of mass of the wearer robot is positioned in front of the wearer robot from the support base surface .

Further comprising an operation unit operated by the wearer and outputting a signal according to an operation input from the wearer to the control unit, wherein when the wearer operates the operation unit, the angle of the backpack support unit or the pelvis link unit is adjusted .

The sensor unit includes an attitude measuring sensor installed on a backpack part of the wearer robot and a foot link part of the wearer robot to sense the attitude of the wearer robot and a backpack support supporting the backpack part on the wearer's robot, A joint angle sensor provided between the pelvis link portion and the pelvis link portion to be worn on the wearer's pelvic joint and between the pelvis link portion and the femur link portion to be worn on the wearer's femur; And a foot sensor for measuring a pressure applied to the foot link portion.

The method of maintaining the inclined posture of the wearing robot according to the present invention is a method of maintaining the attitude of the wearing robot so that the wearing robot positioned on a slope is not rolled over, A sensing step of sensing an angle, a posture of the wearing robot, a repulsive force of the wearer robot with respect to the ground, and a center position of the repulsive force of the wearer robot, and a mass of the mass centered at the center of the wearer robot Determining whether an orthogonal projection point of the center is located inside the supporting base surface of the wearer robot; and determining whether the orthogonal projection point of the center of gravity of the mass center is located on the supporting base surface And an attitude control step of controlling the attitude of the wearing robot of the robot.

In the posture control step, the angle of the backpack support portion of the wearer robot is controlled to control the ground orthogonal point of the center of mass to be positioned inside the support base.

The posture control step controls the angle of the pelvis link portion of the wearing robot so that the ground orthogonal point of the center of mass is located inside the supporting base.

The angle of at least one of the backpack supporter and the pelvis link is reduced so that the waist of the wearer is bowed in the posture control step if the orthogonal point of the ground of the center of mass of the wearer robot is located behind the base And controls the angle of at least one of the backpack support portion and the pelvis link portion to be increased so that the waist of the wearer is bent back in the posture control step if the orthogonal point of the ground of the center of mass of the wearer robot is located forward from the base surface .

According to the apparatus and method for maintaining the inclined posture of the wearing robot according to the present invention, the position of the center of mass of the wearer worn by the wearing robot is determined, and the orthogonality point of the ground at the center of mass is located inside the supporting base It is possible to prevent the wearer wearing the wearing robot from losing balance due to the posture of the wearing robot.

In particular, since the orthogonal points of the center of mass are located inside the supporting base, the soldiers wearing various combat equipment can prevent the risk of injury of the soldiers by preventing slippage or falling in battlefields made of inclined or rocky hills have.

In addition, since the wearable robot can assist the soldier's exercise ability in the battlefield, the combat power is improved by improving the maneuverability of the soldier and reducing fatigue.

1 is a side view showing a wearing robot to which an inclined posture maintaining device of a wearing robot according to the present invention is applied.
2 is a block diagram showing an inclined posture maintaining apparatus of a wearing robot according to the present invention.
FIGS. 3A and 3B are side views illustrating a process of controlling a wearing robot by an inclined posture maintaining device of a wearing robot according to an embodiment of the present invention; FIG.
4A and 4B are side views illustrating a process of controlling a wearing robot by an inclined posture maintaining device of a wearing robot according to another embodiment of the present invention.
FIG. 5 is a flowchart showing a method of maintaining an inclined posture of a wearable robot according to the present invention. FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a slant posture maintaining apparatus for a wearable robot according to the present invention will be described in detail with reference to the accompanying drawings.

The inclined posture maintaining device of the wearable robot according to an embodiment of the present invention includes a rotation angle of each joint part constituting the wearable robot, an attitude of the wearable robot, a position of the knee link part supporting the foot of the wearer A sensor unit 21 for detecting the center position of the repulsive force in the base link, a driving unit 23 for adjusting a rotation angle of each joint constituting the wearing robot, The center of mass COM of the wearing robot and the position of the supporting base BOS are calculated from the input value inputted from the sensor unit 21 and the orthogonal point of the ground of the center of mass COM of the wearing robot is detected on the supporting base surface BOS And controls the driving unit 23 to adjust the rotation angle of the joint part if the orthogonal point of the center of mass (COM) is not located inside the supporting base (BOS) And a control unit 22 for moving an orthogonal point of the center of mass COM to the inside of the supporting base surface BOS.

Before describing the inclined posture maintaining device of the wearing robot according to the present invention, the configuration of the wearing robot will be described as follows.

As shown in FIG. 1, the wearing robot includes a backpack part 1 in which a wearer such as a soldier wears a bag battery, a hydraulic pressure generating unit, and the like, and the backpack part 1, A pelvis link portion 12 whose one end is linked to the backpack support portion 11 and is worn on the pelvis of the wearer and a pelvis link portion 12 whose upper end is connected to the pelvis link portion 12, A lower link portion 14 linked to the lower end of the femoral link portion 13 and worn on the lower portion of the wearer, a lower link portion 14 linked to the lower end of the femur link portion 13, And a knee link part (15) linked to the lower end of the lower link part (14) and worn on the wearer 's foot part.

The portions where the backpack support portion 11, the pelvis link portion 12, the femur link portion 13, the lower link portion 14, and the base link portion 15 are linked to each other are link- It acts like the wearer's joint.

2, the inclined posture maintaining device 20 of the wearable robot according to an embodiment of the present invention is configured to determine the angle of rotation of each joint part constituting the wearable robot, the angle of rotation between the joint link parts of the wearable robot and the ground A sensor unit 21 for detecting the center position of the repulsive force in the knee link part, a driving unit 23 for adjusting the rotation angle of each joint part constituting the wearing robot, It is determined whether the center of mass COM of the wearing robot is positioned inside the supporting base BOS with the input value inputted from the control unit 23. If it is not positioned in the center of mass COM, And a control unit (22) for adjusting the angle of rotation of the joint and moving the orthogonal point of the ground of the center of mass (COM) to the inside of the supporting base (BOS).

The sensor unit 21 includes a backpack part 1 of the wearing robot and an attitude measuring sensor 21a provided on the base link part 15 to measure the attitude of the wearing robot, A joint angle sensor 21b for measuring the angle of rotation of each joint by measuring the angle of rotation between the links, and a joint angle sensor 21b for measuring the angle of rotation between the joint link 15 and the ground And a foot sensor 21c for measuring a repulsive force or a pressure applied to the base link portion 15. [

The posture measuring sensor 21a is installed on the backpack part 1 and the base link part 15 of the wearing robot to measure the posture. The joint angle sensor 21b can measure the angle formed by the connecting portions of the two links. The foot sensor 21c can measure the repulsive force between the base link 15 and the ground or the pressure applied to the base link 15.

Meanwhile, the attitude measuring sensor 21a, the joint angle sensor 21b and the foot sensor 21c can be constructed using conventional sensors, and the detailed configuration will be omitted.

The driving unit 23 adjusts the angle between the links constituting the wearing robot to control the attitude of the wearing robot. By operating the driving unit 23, the angle between the links constituting the wearing robot is adjusted. As a specific example of the drive unit 23, it may be a hydraulic actuator that is extended or contracted by hydraulic pressure, or a motor that rotates by supplying power or hydraulic pressure.

The control unit 22 determines whether an orthorhombination point of the center of mass (COM) of the wearer robot is positioned inside the supporting base surface (BOS) of the wearer robot as an input value inputted from the sensor unit (21). In addition, when the center of gravity of the center of gravity COM of the wearer robot is not positioned within the support base BOS, the control unit 22 determines that the ground orthocontour point of the center of mass (COM) The center of gravity of the center of mass COM is positioned inside the supporting base surface BOS by controlling the posture of the wearing robot by operating the driving unit 23 so as to be positioned inside the supporting base surface BOS.

The center of mass (COM) becomes the center of mass when the wearer wears the wearing robot. The mass center COM is calculated by the controller 22 using information obtained from the attitude measuring sensor 21a, the joint angle sensor 21b and the foot sensor 21c of the wearing robot. The supporting base surface (BOS) is determined by measuring the distance between the foot part sensor 21c provided on the bottom of the foot link part 15 of the wearing robot.

The control unit 22 calculates the mass center COM of the wearing robot, the center of mass of the wearing robot 21b using the values input from the orientation sensor 21a and the joint angle sensor 21b constituting the sensor unit 21, (BOS) of the wearing robot and the ground orthostatic point of the robot (COM). Since the center of mass (COM) is located at a center of mass of the combined mass of the wearer and the wearer robot, the center of mass of the composite mass of the wearer and the wearer robot is orthogonal to the ground, , And compares the orthogonal point of the ground of the center of mass (COM) to the inside of the supporting base surface (BOS).

Further, the control unit 22 controls the driving unit 23 to vary the angle between the links constituting the wearable robot. The control unit 22 controls the driving unit 23 to operate so that the wearer robot maintains the posture in a stable state on an inclined or rough surface.

The inclined posture maintaining device of the wearing robot according to the present invention having the above-described configuration is operated by the following method of maintaining the inclined posture of the wearing robot so as to maintain a stable posture on an inclined or rough surface.

Meanwhile, another embodiment of the inclined posture maintaining apparatus of the wearing robot according to the present invention is shown in Figs. 4A to 4C.

The inclined posture maintaining apparatus of the wearing robot according to another embodiment of the present invention includes an operation unit 24 operated by the wearer and outputting a signal to the control section 22 by the operation of the wearer. The operation unit 24 is the same as a kind of wired remote controller, and the attitude of the wearing robot can be changed by operating the operation unit 24 by the wearer while the wearer is carrying it.

In the above-described embodiment, in controlling the attitude of the wearing robot, the attitude of the wearing robot is measured through the sensor unit 21 and then the driving unit 23 is controlled through the control unit 22, . However, when the operation unit 24 is applied, the wearer can predict the posture of the wearing robot and control the posture of the wearing robot. In addition to the control by the control unit 22, the wearer can precisely control the posture of the wearer robot, so that the wearer can control the posture of the wearer robot in an optimal state desired by the wearer.

Hereinafter, a method of maintaining an inclined posture of a wearable robot according to the present invention will be described with reference to the accompanying drawings.

As shown in FIG. 5, the method of maintaining the inclined posture of the wearable robot according to the present invention is characterized in that the angle of rotation of each joint part of the wearable robot, the posture of the wearable robot, A sensing step S110 of sensing the center position of the repulsive force of the wearer robot and the center position of the repulsive force in the base link unit 15, Of the center of mass (COM) of the mass center (COM) is located on the supporting base surface (BOS) when the center of gravity of the mass center (COM) (S130) for controlling the posture of the wearing robot of the BOS.

The detecting step S110 is a step of detecting the rotational angle of each joint part of the wearing robot, the attitude of the wearing robot, the repulsive force between the wearer's joint 15 and the ground, and the repulsive force acting on the wearer's joint 15 The process of detecting the center position is a process of collecting basic data for maintaining the attitude of the wearing robot moving on the slope, the rough, and the like.

The rotation angles of the respective joint parts can be obtained from the joint angle sensor 21b provided at each joint part of the wearing robot and the attitude of the wearing robot can be obtained from the attitude measuring sensor 21a provided in the wearing robot . The repulsive force between the base link unit 15 and the ground surface can be obtained from the foot sensor 21c provided on the bottom surface of the base link unit 15. The center of the repulsion force acting on the base link unit 15 The position is the distance between the foot sensors 21c provided on the foot link portions 15, that is, the distance between the centers of the two feet.

The posture determination step S120 determines whether the control unit 22 of the wearing robot maintains the stable posture of the wearing robot based on the data obtained from the sensing step S110. That is, in the posture determining step S120, it is determined whether the ground orthogonal point of the center of mass (COM) of the wearing robot is located inside the supporting base surface (BOS).

The control unit 22 calculates the supporting base surface (BOS) of the wearing robot on the basis of the distance between the center positions of the pair of link portions 15 of the wearing robot. That is, the repulsive force acting on the two-row link portion 15 becomes the supporting base surface (BOS). When the supporting base surface (BOS) is calculated, the position of an orthorhombic point of the ground of the center of mass (COM) of the wearing robot is grasped. The control unit 22 determines that the posture of the wearing robot is stable when it is determined that the ground orthocrite point of the center of mass COM of the wearing robot is located inside the supporting base BOS, COM is judged to be unstable when it is determined that the ground orthostatic point of the wearable robot is not positioned inside the supporting base (BOS).

The posture control step S130 is performed when it is determined that the posture of the wearing robot is unstable in the posture judging step S120. In the posture control step S130, the attitude of the wearing robot is controlled so that the ground orthocrite point of the center of mass (COM) of the wearing robot is located inside the supporting base surface (BOS) so as to become a more stable state of the wearing robot .

That is, when the orthogonal point of the ground of the center of mass (COM) of the wearing robot is located rearward from the supporting base surface (BOS), the wearing robot is tilted backward, The center of mass COM of the wear robot is moved so that the orthogonal point of the ground of the center of mass COM of the wear robot is moved forward. On the contrary, if the center of mass of the wearing robot is located in front of the supporting base surface (BOS), the wear robot is caused to fall forward, so that the orthocrite point of the ground of the center of mass (COM) Move the center of mass (COM) of the robot.

On the other hand, to move the center of mass (COM), the angle of the waist joint of the wearable robot is controlled or the angle of the pelvic joint is controlled. For example, when the center of gravity of the center of gravity COM of the wearer robot is located behind the support base BOS, the angle of the backpack support part 11 or the angle of the pelvis link part 12, . That is, as shown in FIG. 3B or FIG. 4B, the angle of the backpack support portion 11 is controlled, or the angle of the pelvis link portion 12 is controlled, as shown in FIG. 3C or FIG. 4C.

When the waist of the wearing robot is tilted, the center of mass (COM) of the wearing robot moves forward, and the orthogonal point of the ground of the center of mass (COM) is positioned inside the supporting base (BOS) The attitude of the wearing robot becomes stable.

If the center of mass of the wearing robot is in front of the supporting base (BOS), the center of gravity (COM) of the wearing robot is controlled by controlling the angle of the waist joint or the angle of the pelvis joint so that the waist of the wearer robot is extended. To the rear.

1: backpack part 11: backpack support part
12: pelvis link portion 13: femoral link portion
14: lower link portion 15:
21 sensor section 21a: attitude measuring sensor
21b: joint angle sensor 21c: foot sensor
22: control unit 23:
24: Operation unit S110: Detection step
S120: Posture determination step S130: Posture control step

Claims (9)

A posture maintaining apparatus for a wearable robot,
A rotation angle of each joint part constituting the wearer robot, an attitude of the wearer robot, a repulsive force between the knee link part and the ground worn on the wearer's foot of the wearer robot, and a center position of the repulsive force in the knee link part A sensor unit for sensing,
A driving unit for adjusting a rotation angle of each joint part constituting the wearing robot,
Calculating a position of a center of mass of the wearer robot, a position of an orthogonal point of the ground at the center of mass of the mass center of the mass centered at the center of the mass, and a position of the support base from the input value input from the sensor unit, Wherein the control unit controls the driving unit to adjust the angle of rotation of the joint so that the orthogonal point of the ground of the center of mass is located inside the support base And a control unit for controlling the movement of the wearer robot. The method according to claim 1,
Wherein,
Calculating a mass center of the wearer robot based on a rotation angle of each joint part input from the sensor unit and a repulsive force between the joint link unit and the ground,
Wherein the supporting base is calculated from a center position of the repulsive force at the base link portion input from the sensor unit. The method according to claim 1,
Wherein,
And controlling the angle of the backpack support portion or the pelvis link portion of the wearer robot so that the upper body of the wearer is bowed when the orthogonal point of the ground at the center of mass of the wearer robot is located at the rear of the wearer robot from the support base,
And controls the angle of the backpack support portion or the pelvis link portion of the wearer robot to be turned back when the orthogonal point of the ground on the center of mass of the wearer robot is located in front of the wearer robot from the support base surface And the inclined posture maintaining device of the wearing robot. 5. The method of claim 4,
Further comprising an operation unit operated by the wearer and outputting a signal according to an operation input from the wearer to the control unit,
Wherein the angle of the backpack support portion or the pelvis link portion is adjusted when the wearer operates the operation unit. The method according to claim 1,
The sensor unit includes:
A posture measuring sensor installed on the backpack part of the wearer robot and the foot link part of the wearer robot to sense the posture of the wearer robot,
A backpack support portion for supporting the backpack portion of the wearer robot and worn on the back of the wearer and a pelvis link portion to be worn on the wearer's pelvic joint and a fulcrum link portion to be worn on the femur of the wearer Joint angle sensor,
And a foot sensor for measuring a repulsive force between the base link unit and the ground or a pressure applied to the base link unit. A method of maintaining a posture of a wearable robot that maintains a posture of the wearable robot so that a wearable robot located on a slope is not rolled over,
A sensing step of sensing a rotation angle of each joint part of the wearer robot, an attitude of the wearer robot, a repulsive force between the wearer's joint and the ground, and a center position of the repulsive force in the wearer's joint,
A posture judging step of judging whether an orthogonality point of a center of mass centered at the center of mass of the wearer robot is orthogonal to the ground,
And an attitude controlling step of controlling the attitude of the wearing robot on the supporting base surface if the ground orthogonal point of the center of mass is not located inside the supporting base surface. How to maintain posture. The method according to claim 6,
In the posture control step,
And controlling the angle of the backpack support portion of the wearer robot so that the orthogonal point of the ground of the center of mass is located inside the support base surface. The method according to claim 6,
In the posture control step,
And controlling the angle of the pelvis link portion of the wearing robot so that the orthogonal point of the ground of the center of mass is located inside the supporting base. The method according to claim 6,
In the posture determination step,
And controlling the angle of at least one of the backpack support portion and the pelvis link portion to be reduced so that the waist of the wearer is bowed in the posture control step when the orthogonal point of the ground of the center of mass of the wearer robot is located behind the base,
And controlling the angle of at least one of the backpack support portion and the pelvis link portion to be increased so that the waist of the wearer is bent back in the posture control step if the orthogonal point of the ground of the center of mass of the wearer robot is located forward from the base surface Of the worn robot.
KR1020150090992A 2015-06-26 2015-06-26 Apparatus and method for controlling attitude of wearable robot in slope KR101795852B1 (en)

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CN113534828A (en) * 2020-04-14 2021-10-22 腾讯科技（深圳）有限公司 Centroid position determining method and device, foot type robot and storage medium
WO2024051408A1 (en) * 2022-09-07 2024-03-14 腾讯科技（深圳）有限公司 Moving trajectory determining method and apparatus, computer device, and storage medium

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