Method and system for controlling gait of robot

A robot and gait technology, which is applied in the direction of robots, program-controlled manipulators, manipulators, etc., can solve the problems of large number of sensors, difficulty in accurately determining the wearer's expected gait robot, and increased production costs, so as to achieve comfortable wearing feeling and avoid Low reliability and lower production cost

Active Publication Date: 2014-07-02
HYUNDAI MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] However, when utilizing the conventional methods described above, it is difficult to accurately determine the wearer's intended gait and actively and variably control the robot
In addition, the number of sensors is relatively large, thus increasing the production cost

Method used

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  • Method and system for controlling gait of robot
  • Method and system for controlling gait of robot
  • Method and system for controlling gait of robot

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Embodiment Construction

[0027] Hereinafter, the method and system for controlling the gait of a robot according to preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0028] figure 1 is a diagram showing a surface contact sensor used in a method for controlling gait of a robot according to an exemplary embodiment of the present invention. figure 2 is a diagram showing the structure of a system for controlling gait of a robot according to an exemplary embodiment of the present invention. image 3 is a flowchart of an exemplary robot gait control method according to the present invention. Figure 4 is a graph showing trigonometric functions of the robot gait control method according to the present invention.

[0029] image 3 is a flowchart of an exemplary robot gait control method according to the present invention. The robot gait control method includes a determining step S100, determining whether the robot is in a walking sta...

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Abstract

A method includes determining whether a robot is walking and a direction in which the robot is walking; measuring an amount of time taken for a sole of a foot of the robot to step on the ground; calculating an imaginary reaction force applied to the sole using a trigonometric function having, as a period, the measured amount of time taken for the sole to step on the ground; and applying the calculated imaginary reaction force to a Jacobian transposed matrix and converting the imaginary reaction force into a drive torque for a lower extremity joint of the robot.

Description

technical field [0001] The present invention relates to a method and system for controlling the gait of a wearable robot based on the walking speed of the wearer and the expected gait of the wearer. Background technique [0002] The present invention relates to a gait control algorithm for reducing load on a wearable walking robot. When a wearer wearing a robot walks, if the robot does not correctly reflect the wearer's intended gait, the wearer will feel a load from the robot, and the load will appear unstable when the wearer walks . [0003] To overcome the above problems, the present invention provides a control algorithm that determines the speed at which the wearer is expected to walk, and provides an imaginary reaction force corresponding to the expected motion of the swinging foot, thereby reducing the load generated by the robot. [0004] Existing wearable robots mainly utilize force / torque sensors to determine the wearer's expected gait. However, this method requ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08B25J19/02
CPCB25J9/1607Y10S901/01B62D57/032B25J13/081B25J13/08B25J17/00B25J19/06
Inventor 李硕远梁佑诚
Owner HYUNDAI MOTOR CO LTD
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