Patent ID: 9114532
Filing Date: 2015-08-25
Classification: B25J,G05B,G05D,Y10S

Abstract:
1. A method for controlling a mobile robot having a body, movement mechanisms for walking operation and work arm mechanisms for working operation both connected to the body, a plurality of actuators for driving the movement mechanisms and the work arm mechanisms, and a controller for controlling an action of the movement mechanisms and the work arm mechanisms through the actuators, comprising the steps of: detecting a person located in a vicinity of the robot; determining whether a position of the detected person is within a first range defined based on a length of each work arm mechanism of the work arm mechanisms of the robot when the work arm mechanism is fully extended, or a second range defined based on a gravity direction length of the robot when standing erect; and regulating the actions of the movement mechanisms and the work arm mechanisms when the position of the detected person is determined to be within the first range or the second range.