Patent application number | Description | Published |
20110172823 | ROBOT AND CONTROL METHOD THEREOF - A robot and a control method thereof may adjust a yaw moment generated from a foot contacting a ground to achieve stable walking of the robot. The robot, which may have an upper body and a lower body, may include a main controller starting walking of the robot through only motions of joints of the lower body and adjusting a motion of the upper body such that a yaw moment generated from a foot the lower body during walking of the robot is less than the maximum static frictional force of a ground to perform stable walking of the robot, and sub controllers driving actuators of the joints according to a control signal of the main controller. | 07-14-2011 |
20110178637 | WALKING CONTROL APPARATUS OF ROBOT AND METHOD OF CONTROLLING THE SAME - A walking control apparatus of a robot includes a joint portion provided in each of a plurality of legs of the robot, a pose sensing unit to sense the pose of the robot, a walking state determination unit to determine a walking state from the pose of the robot, a knot point compensation value calculator to determine a Center Of Mass (COM) of the robot from the pose of the robot and to calculate a knot point compensation value, a desired angle trajectory generator to generate a reference knot point of the joint portion corresponding to the walking state, to compensate for the reference knot point using the knot point compensation value so as to generate a desired knot point, and to generate a desired angle trajectory of the joint portion using the desired knot point. The knot point which is the angle command of the joint portion of each of the legs to perform the next step is compensated for based on the COM, and the compensated desired knot point is smoothly connected using the spline curve such that the robot walks similar to a human. In addition, in order to maintain balance while walking, the angle of the joint portion of the intermediate point of the current step is fed back and the knot point of the next step is predicted and adjusted, such that the robot stably and smoothly walks. | 07-21-2011 |
20110178639 | HUMANOID ROBOT AND WALKING CONTROL METHOD THEREOF - A humanoid robot that achieves stable walking based on servo control of a joint torque and a walking control method thereof. The humanoid robot calculates a joint position trajectory compensation value and a joint torque compensation value using a measurement value of a sensor, compensates for a joint position trajectory and a joint torque using the calculated compensation value, and drives a motor mounted to each joint according to the compensated joint torque. | 07-21-2011 |
20120065778 | ROBOT AND CONTROL METHOD THEREOF - A robot, which performs natural walking similar to a human with high energy efficiency through optimization of actuated dynamic walking, and a control method thereof. The robot includes an input unit to which a walking command of the robot is input, and a control unit to control walking of the robot by calculating torque input values through control variables, obtaining a resultant motion of the robot through calculation of forward dynamics using the torque input values, and minimizing a value of an objective function set to consist of the sum total of a plurality of performance indices through adjustment of the control variables. | 03-15-2012 |
20120158182 | WALKING CONTROL APPARATUS AND METHOD OF ROBOT - A walking control apparatus and method of a robot. The walking control method include confirming a swing leg and a support leg by judging a walking state of the robot when a walking velocity of the robot and a walking command are received by the robot, generating reference pitch knot points of a hip joint unit of the swing leg based on the walking state and the walking velocity of the robot, generating a target pitch angle trajectory of the hip joint unit of the swing leg using the reference pitch knot points, calculating torques tracking the target pitch angle trajectory, and outputting the torques to the hip joint unit of the swing leg to control the walking velocity of the robot. The walking velocity of the robot is rapidly and easily changed by adjusting at least one of a step length and a step time. | 06-21-2012 |
20120165983 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot and a control method thereof. The control method includes performing transition of a second leg to a toe-off state, when ground reaction force applied to a first leg exceeds a first set value under the condition that the first leg is in a swing state and the second leg is in a support state, performing transition of the second leg to the swing state and transition of the first leg to the support state, when ground reaction force applied to the second leg is below a second set value under the condition that the second leg is in the toe-off state, and achieving walking of the walking robot by repeating the transitions among the swing state, the support state and the toe-off state. Thereby, the control method allows the robot to more stably and naturally walk. | 06-28-2012 |
Patent application number | Description | Published |
20130144439 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot to prevent slippage of a swing foot on the ground and a control method thereof includes generating a target angle trajectory for each joint unit of legs, calculating a torque, which tracks the target angle trajectory, for each joint unit, determining whether slippage of a swing foot connected to a swing leg of the two legs occurs, calculating a final torque to be provided to each joint unit of the swing leg based on a velocity sensed from the swing foot if occurrence of slippage of the swing foot is determined, and providing the calculated final torque to each joint unit. By sensing whether slippage of the swing foot occurs when the swing foot touches the ground and restricting a torque to be applied to each joint unit based on the sensed result, stable walking of the robot is realized. | 06-06-2013 |
20130158712 | WALKING ROBOT AND CONTROL METHOD THEREOF - A walking robot includes hip joints of plural legs, a pose detector to detect a pose, a walking state judger to judge a walking state from the pose, a target angle trajectory generator to judge support and swing legs based on the walking state, to judge whether or not the swing leg contacts a surface prior to a prestored time, to shorten the next support cycle executed by the swing leg upon judging that the swing leg contacts a surface prior to the prestored time, and to generate target angle trajectories of the hip joints based on the shortened support cycle, a torque calculator to calculate torques tracking the target angle trajectories, and a controller to output the torques to the hip joint to control walking of the walking robot. | 06-20-2013 |
20140343730 | ROBOT CONTROL METHODS - A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion and ‘n’ second nodes participating in tilt motion may include: measuring a translational motion distance, a pan motion angle, and a tilt motion angle of the flexible module; calculating state vectors of the ‘n’ first nodes and the ‘n’ second nodes using the measured translational motion distance; calculating operating angle distribution rates of the ‘n’ first nodes and operating angle distribution rates of the ‘n’ second nodes using the calculated state vectors of the ‘n’ first nodes and the calculated state vectors of the ‘n’ second nodes; and/or calculating operating angles of the ‘n’ first nodes and operating angles of the ‘n’ second nodes using the calculated operating angle distribution rates and the measured pan motion angle and tilt motion angle. | 11-20-2014 |
20150139382 | X-RAY IMAGING APPARATUS AND METHOD OF CONTROLLING THE SAME - Provided are an X-ray imaging apparatus that is capable of tracking a position of an object of interest using a Kalman filter so as to reduce the amount of X-ray radiation exposure of a subject, calculating covariance indicative of accuracy of the tracing, and controlling a collimator so that the position of the object of interest and calculated covariance may be correlated with a position and an area of a region into which X-rays are radiated, and a method of controlling the X-ray imaging apparatus. | 05-21-2015 |
20150190923 | WALKING ASSISTANT DEVICE AND METHOD OF CONTROLLING WALKING ASSISTANT DEVICE - A walking assistant device may calculate a walking cycle by measuring only motion of a specific joint without a force/torque sensor (F/T sensor) of a foot, and a method of controlling the walking assistant device. The method may include measuring motion of a hinge to which different support frames are connected; overlapping a reference trajectory corresponding to the measured motion and modulation trajectories that have been modulated from the reference trajectory; correcting the overlapping trajectory to correspond to the measured motion; determining assistant torque corresponding to a phase of the corrected trajectory; and providing the determined assistant torque to the support frame. | 07-09-2015 |
20150196403 | WEARABLE ROBOT AND CONTROL METHOD THEREOF - Disclosed herein is a control method of a wearable robot, including: generating reference gait data based on the results of sensing by a sensor unit included in a structure; estimating, when a wearer walks, the wearer's gait phase based on the results of sensing by the sensor unit; detecting a gait phase having a minimum difference from the estimated gait phase from the reference gait data; and driving a driver of the structure, according to a control signal generated based on the estimated gait phase and the detected gait phase. | 07-16-2015 |
20150206614 | METHODS OF TRACING REGIONS OF INTEREST, RADIOGRAPHIC APPARATUSES, METHODS OF CONTROLLING THE RADIOGRAPHIC APPARATUSES, AND RADIOGRAPHY METHODS - A radiographic apparatus may comprise: a radiation irradiating module configured to irradiate radiation to an object; and/or a processing module configured to automatically set a part of a region to which the radiation irradiating module is able to irradiate the radiation, to a region of interest, and further configured to determine at least one of a radiation irradiation position and a radiation irradiation zone of the radiation irradiating module based on the region of interest. | 07-23-2015 |