SYSTEM FOR CONTROLLING POSITION POSE OF ROBOT USING CONTROL OF CENTER OF MASS
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United States of America Patent
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Issued Date -
Dec 24, 2015
app pub date -
Jun 10, 2015
filing date -
Jun 20, 2014
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Abstract
A control system of a robot keeps an entire posture of a robot not fixed to the ground. The robot includes a body having a plurality of joints and motors mounted to a plurality of limbs and the joints, and the entire posture is maintained by controlling a center of mass (COM) of the robot. The limbs include a robot arm with an end-effector. When a target position of the end-effector (hereinafter, a “target end-effector position”) is input, a target position of the center of mass (hereinafter, a “target COM position”) is calculated using the target end-effector position. The motors mounted to the joints are operated so that the end-effector and the center of mass of the robot move according to the target end-effector position and the target COM position. The target COM position varies in proportion to the change of the target end-effector position.
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