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 having a right foot and a left foot comprising:
- reducing a range of control angles to balance the robot; and
controlling the control angles using a sinusoidal function to balance the robot within a limit cycle,wherein the states of the FSM include a double support (DS) state, in which the robot is supported with both feet, andthe reduction of the range of the control angles is achieved by reducing an interval between both feet on the ground by drawing both legs inward in the DS state.
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Accused Products
Abstract
A finite state machine (FSM)-based biped 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 robot right and left on a two-dimensional space, control angles to balance the robot according to states of the FSM-based biped robot are set. The range of the control angles is restricted to reduce the maximum right and left moving distance of the biped robot and thus to reduce the maximum right and left moving velocity of the biped robot, thereby reducing the sum total of the moments of the biped robot and thus allowing the ankles of the biped robot to balance the biped robot to be controlled, and causing the soles of the feet of the biped robot to parallel contact the ground.
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Citations
15 Claims
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1. A method of controlling balance of a finite state machine (FSM)-based biped walking robot having a right foot and a left foot comprising:
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reducing a range of control angles to balance the robot; and controlling the control angles using a sinusoidal function to balance the robot within a limit cycle, wherein the states of the FSM include a double support (DS) state, in which the robot is supported with both feet, and the reduction of the range of the control angles is achieved by reducing an interval between both feet on the ground by drawing both legs inward in the DS state. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. 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, the set unit setting the control angles corresponding to states of the FSM to balance the robot; and a control unit to reduce a range of the set control angles and control the control angles using a sinusoidal function to control the angles of the ankles within a limit cycle, wherein the control unit reduces the range of the control angles by reducing an interval between both feet on the ground by drawing both legs inward in the DS state. - View Dependent Claims (13, 14, 15)
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Specification