Robot and method of controlling walking thereof
First Claim
Patent Images
1. 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; and
changing the walking pattern by adjusting a yaw direction angle of the torso when detected that the singularity pose is generated.
1 Assignment
0 Petitions
Accused Products
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.
-
Citations
14 Claims
-
1. 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; and changing the walking pattern by adjusting a yaw direction angle of the torso when detected that the singularity pose is generated. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. 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; a torso position adjusting unit to adjust a yaw direction angle of the torso when the singularity pose is generated; 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. - View Dependent Claims (10, 11, 12, 13)
-
-
14. 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; adjusting a yaw direction angle of a torso of the robot when detected that the singularity pose is generated; and maintaining a height of the torso while adjusting the yaw direction angle.
-
Specification