Robot and method of controlling balance thereof
First Claim
1. A method of controlling balance of a finite state machine (FSM)-based biped walking 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,wherein the control angles arise from the contact point of the robot with the ground, and thus control ankles of the robot,the control angles are set to angles between a vector being perpendicular to the ground and a vector coming up to the center of gravity of the robot, andthe FSM-based biped walking robot is balanced right and left on a two-dimensional space by alternately swinging the two feet without making contact of two feet simultaneously with the ground.
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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.
17 Citations
13 Claims
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1. A method of controlling balance of a finite state machine (FSM)-based biped walking 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, wherein the control angles arise from the contact point of the robot with the ground, and thus control ankles of the robot, the control angles are set to angles between a vector being perpendicular to the ground and a vector coming up to the center of gravity of the robot, and the FSM-based biped walking robot is balanced right and left on a two-dimensional space by alternately swinging the two feet without making contact of two feet simultaneously with the ground. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A finite state machine (FSM)-based biped walking 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, wherein the control angles arise from the contact point of the robot with the ground, and thus control ankles of the robot, the control angles are set to angles between a vector being perpendicular to the ground and a vector coming up to the center of gravity of the robot, and the FSM-based biped walking robot is balanced right and left on a two-dimensional space by alternately swinging the two feet without making contact of two feet simultaneously with the ground. - View Dependent Claims (12, 13)
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Specification