APPARATUS FOR MOVING THE CENTER OF GRAVITY OF ROBOT, SYSTEM AND METHOD USING THE APPARATUS

摘要

An apparatus for moving the center of gravity of a robot, and a system and a method using a same are provided to expand the moving range of the robot by allowing a caster to simply and easily get over an obstacle. An apparatus for moving the center of gravity of a robot includes a moving mass(440) and a mass moving device(400). The moving mass is installed inside a main body of the robot and has predetermined weight. The mass moving device moves the center of gravity of the robot by moving the moving mass in a specific direction. The mass moving device includes a moving motor(410), a timing pulley(420), and a timing belt(430). The moving motor rotates according to a control command. The timing pulley is connected to a rotary shaft of the moving motor and rotates to deliver a force. The timing belt changes a rotation force of the timing pulley to a linear movement for moving the moving mass. The mass moving device further includes a guide rail(450) helping to move the moving mass in a specific track.