Patent ID: 8798793
Filing Date: 2014-08-05
Classification: B25J,G05B

Abstract:
1. An apparatus stabilizing a humanoid robot, the apparatus comprising: a sensor to measure external force acting on the robot while the robot lifts and holds an object; and a robot controller to compensate for linear momentum or for both the linear momentum and rotational momentum in a stepwise manner based on the measured external force, and to control an operation to lift and hold the object having a weight unknown to the robot by a whole-body motion of the robot generated using the compensated momentums, wherein whether the robot controller compensates for the linear momentum or for both the linear momentum and the rotational momentum depends on a degree of stability of the robot; wherein the robot controller further comprises a Zero Momentum Point (ZMP) calculation unit to calculate the ZMP, and wherein the robot controller compensates for either the linear momentum or for both the linear momentum and the rotational momentum, based on whether the calculated ZMP is within one of a plurality of predefined zones.