Ambulatory robot and method for controlling the same
First Claim
1. An ambulatory robot including a lower body part having two or more legs and an upper body part installed on an upper end of the lower body part and capable of performing positional displacement by moving the lower body part, the ambulatory robot comprising:
- slope-detection means for sensing a slope of a floor, the slope of the floor being defined only directly under the two or more legs of the ambulatory robot;
rotating means installed on a bottom surface of each of the two or more legs; and
control means for controlling a motion of the ambulatory robot using the lower and upper body parts,wherein the control means controls a speed of revolution of the rotating means and a speed of motion of the two or more legs of the ambulatory robot based on the slope of the floor, the control means being configured to vary the speed of motion of the two or more legs between at least three different values based on the slope of the floor, andwherein the control means controls the motion of the ambulatory robot so that the positional displacement of the ambulatory robot is performed by any of running, walking and sliding, depending on the controlled speed of revolution and on the speed of motion of the two or more legs.
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Accused Products
Abstract
An ambulatory robot including a lower body part having two or more legs and an upper body part installed on an upper end of the lower body part and capable of performing positional displacement by moving the lower body part, includes slope-detection means for sensing a slope of a floor, rotating means installed on a bottom surface of each of the two or more legs, and control means for controlling a motion of the ambulatory robot using the lower and upper body parts, wherein the control means controls a speed of revolution of the rotating means based on the slope of the floor, and controls the motion of the ambulatory robot so that the positional displacement of the ambulatory robot is performed by any of running, walking and sliding, depending on the controlled speed of revolution.
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Citations
21 Claims
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1. An ambulatory robot including a lower body part having two or more legs and an upper body part installed on an upper end of the lower body part and capable of performing positional displacement by moving the lower body part, the ambulatory robot comprising:
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slope-detection means for sensing a slope of a floor, the slope of the floor being defined only directly under the two or more legs of the ambulatory robot; rotating means installed on a bottom surface of each of the two or more legs; and control means for controlling a motion of the ambulatory robot using the lower and upper body parts, wherein the control means controls a speed of revolution of the rotating means and a speed of motion of the two or more legs of the ambulatory robot based on the slope of the floor, the control means being configured to vary the speed of motion of the two or more legs between at least three different values based on the slope of the floor, and wherein the control means controls the motion of the ambulatory robot so that the positional displacement of the ambulatory robot is performed by any of running, walking and sliding, depending on the controlled speed of revolution and on the speed of motion of the two or more legs. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for controlling an ambulatory robot, the ambulatory robot including a lower body part having two or more legs and an upper body part installed on an upper end of the lower body part and performing positional displacement by moving the lower body part, the method comprising:
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sensing a slope of a floor; controlling a speed of revolution of a rotating means that is installed on a bottom surface of each of the two or more legs based on the slope of the floor; and controlling a motion of the ambulatory robot using the upper and lower body parts so that the positional displacement of the robot is performed by any of running, walking or sliding, depending on the controlled speed of revolution with respect to the slope of the floor, so that the positional displacement of the ambulatory robot is performed by walking when the slope of the floor sensed by the slope-detector is greater than a first preset angle, by sliding when the slope of the floor sensed by the slope-detector is less than the first preset angle but not less than a second preset angle, and by running when the slope of the floor sensed by the slope-detector is less than the second preset angle. - View Dependent Claims (11, 12, 13, 14)
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15. An ambulatory robot including a lower body part having two or more legs and an upper body part installed on an upper end of the lower body part and capable of performing positional displacement by moving the lower body part, the ambulatory robot comprising:
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a slope-detector for sensing a slope of a floor; a rotator on a bottom surface of each of the two or more legs; a decelerator adjacent to the rotator and configured to slow a speed of revolution of the rotator; a controller for controlling a motion of the ambulatory robot using the lower and upper body parts, wherein the controller controls a speed of revolution of the rotator via the decelerator based on the slope of the floor, and controls the motion of the ambulatory robot so that the positional displacement of the ambulatory robot is performed by any of running, walking and sliding, depending on the controlled speed of revolution, wherein the controller is configured to control the motion of the ambulatory robot so that the positional displacement of the ambulatory robot is performed by walking when the slope of the floor sensed by the slope-detector is greater than a first preset angle, by sliding when the slope of the floor sensed by the slope-detector is less than the first preset angle but not less than a second preset angle, and by running when the slope of the floor sensed by the slope-detector is less than the second preset angle. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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Specification