Invention Grant
- Patent Title: Apparatus and method for balancing and damping control in whole body coordination framework for biped humanoid robot
- Patent Title (中): 双足类人机器人全身协调框架平衡和阻尼控制装置及方法
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Application No.: US12809004Application Date: 2007-12-21
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Publication No.: US08447429B2Publication Date: 2013-05-21
- Inventor: Young-Hwan Chang , Yong Hwan Oh , Doik Kim , Youngjin Choi , Bum-Jae You
- Applicant: Young-Hwan Chang , Yong Hwan Oh , Doik Kim , Youngjin Choi , Bum-Jae You
- Applicant Address: KR Seoul
- Assignee: Korea Institute of Science and Technology
- Current Assignee: Korea Institute of Science and Technology
- Current Assignee Address: KR Seoul
- Agency: Fenwick & West LLP
- Priority: KR10-2007-0132416 20071217
- International Application: PCT/KR2007/006750 WO 20071221
- International Announcement: WO2009/078499 WO 20090625
- Main IPC: G05B19/04
- IPC: G05B19/04 ; G05B19/18 ; G05B15/00 ; G05B19/00
Abstract:
Apparatus and a method for balancing and damping control in whole body coordination framework for a biped humanoid robot. The method comprises the steps of: (a) damping the structural vibration of the main body of the robot caused when the robot walks; (b) compensating for the trajectories of the zero moment position (ZMP) and the center of mass (COM) of the robot which changes in accordance with the damping of the structural vibration; and (c) compensating for the body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM.
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