Wheeled moving robot
First Claim
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1. A method for controlling a robot including a main body;
- wheels provided on at least opposite sides of the main body and configured to move the main body;
an actuator configured to generate torque to rotate the wheels; and
an auxiliary wheel provided in front or rear of the main body, the auxiliary wheel being movable between a position in which it contacts a floor and a position in which it does not contact the floor, the method comprising;
detecting with a detector whether the main body moves when the wheels rotate;
increasing the torque of the actuator until the detector detects a movement of the main body; and
performing an auxiliary movement which pushes the auxiliary wheel toward the floor when the torque of the actuator is increased to a maximum and a movement of the main body is not detected.
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Abstract
A wheeled moving robot including a main body; wheels provided at least at opposite sides of the main body and configured to move the main body; an actuator configured to generate torque which rotates the wheels; a detector configured to detect whether the main body moves when the wheels rotates by the actuator; and a compensation unit configured to perform an auxiliary movement which pushes an auxiliary wheel in front or rear of the main body toward a floor based as a detection result of the detector.
12 Citations
7 Claims
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1. A method for controlling a robot including a main body;
- wheels provided on at least opposite sides of the main body and configured to move the main body;
an actuator configured to generate torque to rotate the wheels; andan auxiliary wheel provided in front or rear of the main body, the auxiliary wheel being movable between a position in which it contacts a floor and a position in which it does not contact the floor, the method comprising; detecting with a detector whether the main body moves when the wheels rotate; increasing the torque of the actuator until the detector detects a movement of the main body; and performing an auxiliary movement which pushes the auxiliary wheel toward the floor when the torque of the actuator is increased to a maximum and a movement of the main body is not detected. - View Dependent Claims (2, 3, 4)
- wheels provided on at least opposite sides of the main body and configured to move the main body;
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5. A wheeled moving robot comprising:
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a main body; wheels provided on at least opposite sides of the main body and configured to move the main body; an actuator configured to generate torque to rotate the wheels; a detector configured to detect whether the main body moves when the wheels are rotated by the actuator; a compensation unit configured to perform an auxiliary movement which pushes an auxiliary wheel in front or rear of the main body towards a floor based on a detection result of the detector; and a controller configured to control the torque of the actuator and the auxiliary movement of the compensation unit according to the detection result of the detector, wherein the controller is configured to increase the torque of the actuator until the detector detects a movement of the main body and the controller is configured to perform the auxiliary movement of the compensation unit when the controller increases the torque of the actuator to a maximum and the detector fails to detect a movement of the main body. - View Dependent Claims (6, 7)
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Specification