发明名称 |
MOBILE ROBOT AND CONTROLLING METHOD OF THE SAME |
摘要 |
PURPOSE: A mobile robot and control method thereof are provided to improve the movement performance of the mobile robot by dispersing the contact force between the ground and robot wheel. CONSTITUTION: A mobile robot comprises a main body(110), a plurality of arms(120), an actuator, an angle sensor, and a controller. One end of the arm is mounted on the main body to rotate, and the other end of the arm is connected to a wheel(130). The actuators apply torque to each arm. The angle sensor senses the angle of the arms about the main body in the driving of the main body. The controller controls the torque of the actuator based on the angles which are detected by thee angle sensor in order to make the arms to actuate like a virtual spring.
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申请公布号 |
KR20110035334(A) |
申请公布日期 |
2011.04.06 |
申请号 |
KR20090092999 |
申请日期 |
2009.09.30 |
申请人 |
KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY |
发明人 |
KWAK, JAE HYUK;KANG, HYUN DEOK;KIM, CHANG HWAN;KANG, YEON SIK;LIM, HEON YOUNG;JEONG, SU YOUNG |
分类号 |
B25J13/08;B25J5/00;B25J9/16 |
主分类号 |
B25J13/08 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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