Patent ID: 8634959
Filing Date: 2014-01-21
Classification: G05D

Abstract:
1. An apparatus, including one or more processing devices, for detecting a slip of a robot, the apparatus comprising: a pattern-movement command unit to generate, using the one or more processing devices, a pattern-movement command controlling the robot to perform consecutive motions including at least two of a uniform motion, a decelerating motion, and an accelerating motion; and a slip detection unit to detect a slip of the robot operating according to the pattern-movement command by comparing a first acceleration measured by an acceleration sensor of the robot with a second acceleration measured by an encoder of the robot, the encoder measuring rotation of driving wheels of the robot, wherein, based upon a determination that a difference between the first acceleration and the second acceleration is equal to or greater than a first threshold value, the slip detection unit determines that a slip of the robot, operating according to the pattern-movement command, has occurred, wherein the first threshold is greater than zero.