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:
Oct. 21, 2014
Filed:
Jan. 05, 2011
Min Hyung Lee, Anyang-si, KR;
Woong Kwon, Seongnam-si, KR;
Kyung Shik Roh, Seongnam-si, KR;
Joong Kyung Park, Suweon-si, KR;
Min Hyung Lee, Anyang-si, KR;
Woong Kwon, Seongnam-si, KR;
Kyung Shik Roh, Seongnam-si, KR;
Joong Kyung Park, Suweon-si, KR;
Samsung Electronics Co., Ltd., Suwon-Si, KR;
Abstract
A walking control apparatus of a robot includes joint portions provided in each of a plurality of legs of the robot, a state database to store state data of each of the legs and state data of the joint portions corresponding to the state of each of the legs, when the robot walks, a position instruction unit to store desired positions corresponding to the state data of the joint portions, an inclination sensing unit to sense an inclination of an upper body of the robot, a torque calculator to calculate torques using the inclination of the upper body and the desired positions, and a servo controller to output the torques to the joint portions to control the walking of the robot. Since the robot walks by Finite State Machine (FSM) control and torque servo control, the rotation angles of the joint portions do not need to be accurately controlled. Thus, the robot walks with low servo gain and energy consumption is decreased. Since the robot walks with low servo gain, each of the joints has low rigidity and thus shock generated by collision with surroundings is decreased.