Robot and method of controlling the same

• US 20100057252A1
• Filed: 03/19/2009
• Published: 03/04/2010
• Est. Priority Date: 09/04/2008
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Kim, Jong Owan
• Granted Patent: US 8,831,769 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: G05B 19/4067 Restoring data or position after power failure or other interruption

Abstract

A robot and a method for controlling the same are provided. The robot includes a first control unit to control the overall operation of the robot and a second control unit to supplement the function of the control unit in preparation for the malfunction of the first control unit such that the second control unit controls the robot to perform a predetermined safety-considered motion when the first control unit malfunctions.

Claims

1. A robot comprising:

a first control unit controlling the robot to carry out a given instruction to perform a motion; and

a second control unit controlling the robot to perform a predetermined safety-considered motion when a malfunction of the robot occurs.

2. The robot according to claim 1, wherein the malfunction of the robot includes a malfunction of the first control unit.

3. The robot according to claim 1, wherein:

the first control unit transmits a monitoring signal to the second control unit when the robot normally operates; and

the first control unit stops transmission of the monitoring signal to the second control unit when the robot does not normally operate.

4. The robot according to claim 1, wherein the predetermined safety-considered motion is a motion of the robot to stop at a current position of the robot.

5. The robot according to claim 1, wherein the predetermined safety-considered motion is a motion of the robot to stop at a current position of the robot and maintain a balance of the robot.

6. A method for controlling a robot having a first control unit and a second control unit, comprising:

controlling the robot through the first control unit to carry out a given instruction to perform a motion; and

controlling the robot through the second control unit to perform a predetermined safety-considered motion when a malfunction of the robot occurs.

7. The method according to claim 6, wherein the malfunction of the robot includes a malfunction of the first control unit.

8. The method according to claim 6, wherein:

the first control unit transmits a monitoring signal to the second control unit when the robot normally operates; and

the first control unit stops transmission of the monitoring signal to the second control unit when the robot does not normally operate.

9. The method according to claim 6, wherein the predetermined safety-considered motion is a motion of the robot to stop at the current position.

10. The method according to claim 6, wherein the predetermined safety-considered motion is a motion of the robot to stop at a current position of the robot and maintain a balance of the robot.

11. A robot comprising:

a first control unit controlling the robot in a position-based first control mode to carry out a given instruction to perform a motion; and

a second control unit controlling the robot in a torque-based second control mode to perform a predetermined safety-considered motion when a malfunction of the robot occurs.

12. The robot according to claim 11, wherein the position-based first control mode is a ZMP-based control mode.

13. The robot according to claim 11, wherein the torque-based second control mode is an FSM-based control mode.

14. The robot according to claim 11, wherein the malfunction of the robot includes a malfunction of the first control unit.

15. The robot according to claim 11, wherein:

the first control unit controls the robot respectively in the position-based first control mode and the torque-based second control mode; and

the first control unit controls the robot in at least one control mode of the position-based first control mode and the torque-based second control mode according to kinds of the motion corresponding to the instruction, and thus carries out the instruction.

16. A method for controlling robot malfunction comprising:

controlling a robot in a normal mode to execute an inputted instruction to perform a motion when no malfunction exists; and

controlling the robot in a malfunction mode to perform a predetermined safety-considered motion when a malfunction of the robot occurs.

17. The method according to claim 16, wherein the controlling a robot in a normal mode further comprises transmitting a signal indicating that no malfunction exists.

18. The method according to claim 17, further comprising:

monitoring the presence of the signal; and

determining whether a malfunction of the robot has occurred based on the monitoring.

19. The method according to claim 16, wherein the predetermined safety-considered motion is a motion of the robot to stop at a current position and maintain a current balance.

20. The method according to claim 16, wherein controlling the robot in the malfunction mode requires less computer processing capability than controlling the robot in the normal mode.

21. The method according to claim 18, further comprising displaying a warning to inform a user of the malfunction upon determining that the malfunction has occurred.

22. The method according to claim 16, wherein the controlling a robot in a normal mode further comprises:

determining a position and balance of the robot;

analyzing position/torque data, and pose data of the robot; and

commanding walking and gripping motions of the robot based on the determining, and analyzing.