Invention Grant
- Patent Title: System and method for balance control of humanoid
-
Application No.: US16165413Application Date: 2018-10-19
-
Publication No.: US10987805B2Publication Date: 2021-04-27
- Inventor: Jung Hoon Kim , Yonghwan Oh
- Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY
- 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: Rabin & Berdo, P.C.
- Priority: KR10-2018-0011230 20180130
- Main IPC: B25J9/00
- IPC: B25J9/00 ; B25J9/16 ; B62D57/032

Abstract:
A system for balance control of a humanoid includes a control input generation unit which determines Zero Momentum Position (ZMP) of the humanoid with respect to ground, and a control output generation unit which determines Center of Mass (CoM) position and velocity of the humanoid, wherein the control input generation unit and the control output generation unit determine the ZMP and the CoM position and velocity, respectively, by applying a discrete-time dynamics equation sampled by applying a non-pathological sampling frequency.
Public/Granted literature
- US20190232490A1 SYSTEM AND METHOD FOR BALANCE CONTROL OF HUMANOID Public/Granted day:2019-08-01
Information query