Robot and method of controlling balance thereof
First Claim
1. A method of controlling balance of a robot comprising:
- setting control angles to balance the robot; and
controlling the set control angles using a sinusoidal function to balance the robot within a limit cycle.
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Accused Products
Abstract
An finite state machine (FSM)-based biped walking robot, to which a limit cycle is applied to balance the robot right and left on a two-dimensional space, and a method of controlling balance of the robot. In order to balance an FSM-based biped walking robot right and left on a two-dimensional space, control angles to balance the robot according to states of the FSM-based biped walking robot are set, and the control angles are controlled using a sinusoidal function to allow relations between the control angles and control angular velocities to form a stable closed loop within a limit cycle, thereby allowing the biped walking robot to balance itself while changing its supporting foot and thus to safely walk without falling down.
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Citations
18 Claims
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1. A method of controlling balance of a robot comprising:
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setting control angles to balance the robot; and controlling the set control angles using a sinusoidal function to balance the robot within a limit cycle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A robot comprising:
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ankles; a set unit to set control angles of the ankles; and a control unit to control the set control angles using a sinusoidal function to control the angles of the ankles within a limit cycle. - View Dependent Claims (15, 16, 17, 18)
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Specification