The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 13, 2006
Filed:
Jul. 08, 2004
Yong-kwun Lee, Suwon, KR;
Joo-young Kwak, Seongnam, KR;
Young Son, Yongin, KR;
Yeon-taek OH, Yongin, KR;
Kyoung-sig Roh, Seongnam, KR;
Yong-kwun Lee, Suwon, KR;
Joo-young Kwak, Seongnam, KR;
Young Son, Yongin, KR;
Yeon-taek Oh, Yongin, KR;
Kyoung-sig Roh, Seongnam, KR;
Samsung Electronics Co., Ltd., Suwon-Si, KR;
Abstract
A method of controlling a biped walking robot to balance the robot based on a sensed ground reaction force. In the method, X and Y coordinates are assigned to positions of sensors attached to a sole of a leg of the robot and a corresponding Z coordinate is assigned for at least three of the sensors based on the sensed ground reaction force sensed by at the sensors, respectively. A ground reaction force plane is specified based on the sensed ground reaction force and a normal vector perpendicular to the ground reaction force plane is calculated. A roll angle about an X-axis and a pitch angle about a Y-axis are calculated and an actuator is driven in correspondence to the roll angle and the pitch angle to move a part of the robot to align the normal vector with a reference vector of the gravity direction.