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    • 2. 发明授权
    • Walking robot and control method thereof
    • 步行机器人及其控制方法
    • US08874263B2
    • 2014-10-28
    • US13249950
    • 2011-09-30
    • Ho Seong KwakKyung Shik RohWoong KwonMin Hyung LeeJoo Hyung Kim
    • Ho Seong KwakKyung Shik RohWoong KwonMin Hyung LeeJoo Hyung Kim
    • B25J11/00B62D57/032
    • B62D57/032Y10S901/01
    • A walking robot and a control method in which conversion between walking servo control methods is stably carried out. The walking robot includes a sensor unit to measure angles and torques of joints, and a control unit to calculate voltages applied in a Finite State Machine (FSM) control mode and a Zero Moment Point (ZMP) control mode according to the angles and torques of the joints to drive respective joint motors, to store last target joint angles in the FSM control mode during conversion from the FSM control mode to the ZMP control mode, and to perform a motion based on the FSM control mode by substituting the last target joint angles in the FSM control mode for target joint angles in the FSM control mode during conversion from the ZMP control mode to the FSM control mode, thereby performing stable conversion between walking servo control modes without joint sagging.
    • 一种行走机器人和其中稳定执行步行伺服控制方法之间的转换的控制方法。 行走机器人包括用于测量关节角度和扭矩的传感器单元,以及控制单元,用于根据角度和转矩的角度和转矩来计算在有限状态机(FSM)控制模式和零点(ZMP)控制模式中施加的电压 在从FSM控制模式到ZMP控制模式的转换期间,驱动各个关节电动机的关节,以在FSM控制模式中存储最后的目标关节角度,并且通过代替最后的目标关节角度来执行基于FSM控制模式的运动 在FSM控制模式下,在从ZMP控制模式转换到FSM控制模式时,在FSM控制模式下的目标关节角度,从而在没有关节下垂的步行伺服控制模式之间进行稳定的转换。
    • 4. 发明授权
    • Robot and method of controlling balance thereof
    • 机器人及其平衡方法
    • US08498743B2
    • 2013-07-30
    • US12588847
    • 2009-10-29
    • Ho Seong KwakKyung Shik RohWoong Kwon
    • Ho Seong KwakKyung Shik RohWoong Kwon
    • G06F19/00
    • B62D57/032
    • 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.
    • 基于有限状态机(FSM)的双足机器人,其应用极限循环以在二维空间上左右平衡机器人,以及控制机器人平衡的方法。 为了平衡基于FSM的两足动物机器人在二维空间上的左右左右,设置了根据基于FSM的两足动物机器人的状态来平衡机器人的控制角度。 控制角度的范围被限制以减少双足机器人的最大左右移动距离,从而减少双足机器人的最大左右移动速度,从而减少两足动物机器人的力矩总和 从而允许Biped机器人的脚踝平衡要被控制的Biped机器人,并且使得双足机器人脚部的底脚平行地接触地面。
    • 5. 发明授权
    • Robot and method of controlling balance thereof
    • 机器人及其平衡方法
    • US08498742B2
    • 2013-07-30
    • US12588846
    • 2009-10-29
    • Ho Seong KwakWoong KwonKyung Shik Roh
    • Ho Seong KwakWoong KwonKyung Shik Roh
    • G06F19/00
    • B62D57/032
    • 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.
    • 基于有限状态机(FSM)的两足动作机器人,其中应用了限制循环来平衡机器人在二维空间上的左右左右,以及一种控制机器人平衡的方法。 为了平衡基于FSM的两足动物机器人在二维空间上的左右左右,设置了根据基于FSM的双足步行机器人的状态来平衡机器人的控制角度,并且使用正弦曲线来控制控制角度 功能是允许控制角和控制角速度之间的关系在极限循环内形成稳定的闭环,从而允许双足步行机器人在改变其支撑脚的同时平衡自身,从而安全地行走而不会掉落。
    • 7. 发明申请
    • Robot and method of controlling balance thereof
    • 机器人及其平衡方法
    • US20100161116A1
    • 2010-06-24
    • US12588847
    • 2009-10-29
    • Ho Seong KwakKyung Shik RohWoong Kwon
    • Ho Seong KwakKyung Shik RohWoong Kwon
    • G06F19/00
    • B62D57/032
    • 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.
    • 基于有限状态机(FSM)的双足机器人,其应用极限循环以在二维空间上左右平衡机器人,以及控制机器人平衡的方法。 为了平衡基于FSM的两足动物机器人在二维空间上的左右左右,设置了根据基于FSM的两足动物机器人的状态来平衡机器人的控制角度。 控制角度的范围被限制以减少双足机器人的最大左右移动距离,从而减少双足机器人的最大左右移动速度,从而减少两足动物机器人的力矩总和 从而允许Biped机器人的脚踝平衡要被控制的Biped机器人,并且使得双足机器人脚部的底脚平行地接触地面。
    • 8. 发明授权
    • Robot and method of controlling the same
    • 机器人及其控制方法
    • US08301303B2
    • 2012-10-30
    • US12591120
    • 2009-11-09
    • Ho Seong KwakWoong KwonKyung Shik Roh
    • Ho Seong KwakWoong KwonKyung Shik Roh
    • G05B19/18
    • B62D57/032
    • Disclosed is a method of defining control angles to use a limit cycle in order to balance a biped walking robot on a three-dimensional space. In order to balance an FSM-based biped walking robot right and left on a three-dimensional space, limit cycle control angles to balance the robot according to states of the FSM-based robot are set on the three-dimensional space, and the limit cycle control angles on the three-dimensional space 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.
    • 公开了一种定义控制角度以使用极限循环以便在三维空间上平衡两足动作机器人的方法。 为了在三维空间上平衡基于FSM的两足动物机器人左右两侧,根据基于FSM的机器人的状态将机器人的平衡控制角限制在三维空间上,极限 使用正弦函数来控制三维空间上的周期控制角,以允许控制角和控制角速度之间的关系在极限循环内形成稳定的闭环。