Humanoid robot and control method of controlling joints thereof
First Claim
1. A humanoid robot comprising:
- an input unit to receive an action command input from a user;
a control unit to generate a first control signal to control robot parts performing main motions of a commanded action according to the action command input through the input unit using optimized motion trajectories generated through motion optimization in consideration of robot dynamics, and to generate a second control signal to control robot parts performing remaining motions using predetermined motion trajectories corresponding to the commanded action; and
a driving unit to drive respective joints of the humanoid robot according to the first and second control signals of the control unit.
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Abstract
Disclosed herein are a humanoid robot and a control method thereof. The humanoid robot controls robot parts performing main motions having high relevance with respect to a commanded action to the humanoid robot such that these robot parts move along optimized motion trajectories generated through motion optimization in consideration of robot dynamics, and controls robot parts performing remaining motions having low relevance with respect to the commanded action such that these robot parts move along predetermined motion trajectories corresponding to the commanded action, thereby simplifying optimization of whole body motions of the humanoid robot while performing the commanded action maximally similarly to a real human action.
16 Citations
19 Claims
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1. A humanoid robot comprising:
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an input unit to receive an action command input from a user; a control unit to generate a first control signal to control robot parts performing main motions of a commanded action according to the action command input through the input unit using optimized motion trajectories generated through motion optimization in consideration of robot dynamics, and to generate a second control signal to control robot parts performing remaining motions using predetermined motion trajectories corresponding to the commanded action; and a driving unit to drive respective joints of the humanoid robot according to the first and second control signals of the control unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A control method for a humanoid robot, the method comprising:
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receiving an action command input from a user; interpreting the input action command, and determining first robot parts performing main motions of a commanded action and second robot parts performing remaining motions of the commanded action; and controlling the first robot parts using optimized motion trajectories generated through motion optimization in consideration of robot dynamics, and controlling the second robot parts performing the remaining motions using predetermined motion trajectories corresponding to the commanded action. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A humanoid robot, comprising:
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an input unit to receive an action command input from a user; a controller comprising; a command interpretation unit interpreting the action command input to the input unit and determining robot parts performing main motions having a high relevance compared with all motions of the robot with respect to the commanded action and robot parts performing remaining motions having a low relevance compared with all motions of the robot with respect to the commanded action, a motion trajectory generation unit generating optimized motion trajectories of the robot parts performing the main motions and generating predetermined motion trajectories of the robot parts performing the remaining motions, and a motion command unit outputting a first motion command for the robot parts performing the main motions to move along the optimized motion trajectories and second motion command for the robot parts performing the remaining motion to move along the predetermined motion trajectories; and a driving unit receiving the first and second motion commands and driving respective joints of the humanoid robot according to the first and second motion commands.
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19. A control method for a robot, comprising:
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receiving an action command input from a user; interpreting the action command input to the input unit and determining robot parts performing main motions having a high relevance compared with all motions of the robot with respect to the commanded action and robot parts performing remaining motions having a low relevance compared with all motions of the robot with respect to the commanded action; generating optimized motion trajectories through motion optimization in consideration of robot dynamics for the robot parts determined to perform the main motions; accessing a storage unit to obtain predetermined motion trajectories stored in advance for the robot parts determined to perform the remaining motion; and driving respective joints of the robot according to the optimized motion trajectories and the predetermined motion trajectories.
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Specification