公开(公告)号：US10987805B2

公开(公告)日：2021-04-27

申请号：US16165413

申请日：2018-10-19

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jung Hoon Kim ,  Yonghwan Oh

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.

公开(公告)号：US10946516B2

公开(公告)日：2021-03-16

申请号：US16168048

申请日：2018-10-23

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jung Hoon Kim ,  Jaeyoung Park

IPC: B25J9/16

Abstract: Provided is a controller of a robot manipulator, a performance analysis method thereof and a parameter determination method thereof. The controller computes an error value of an output value of a control target for a target value through a computational equation and provides a control input value of the control target, and includes an outer loop controller which constitutes closed loop control of the control target, and an inner loop controller which performs feedback linearization to remove nonlinearity of the control target, wherein the computational equation is a linear differential equation designed considering exogenous disturbance acting in the controller and a computational error.