Industrial Robot

Work robot that maintains horizontal balance by independently controlling drive units via multi-joint adjustment units

This technology is a posture stabilization mechanism that maintains the horizontal balance of the body by using the multi-joint structure of adjustment units connecting the body to multiple drive units, independently controlling the position and speed of each drive unit based on the body's tilt.

Conventional methods for posture stabilization in construction machinery are often limited to specific equipment or constrained by structures that require data from the working arm, resulting in low responsiveness and intuitiveness during automatic control.

This technology places adjustment units between the body and each drive unit to control vertical, longitudinal, and lateral positioning. When tilting occurs, it uses Closed-Loop Inverse Kinematics (CLIK) to independently control the position and speed of the drive units, correcting the body's horizontal level. It can be applied to construction and agricultural robots as well as off-road mobile platforms, enhancing operational stability by automatically maintaining a level body even on slopes.

‍

‍

Key Features:

• Multiple drive units provided for ground travel, each featuring a drive member rotatably connected to a support member
• Multiple adjustment units connecting the body to the drive units to regulate the relative position of the drive units with respect to the body
• A controller that manages the multiple drive units and adjustment units to maintain and restore the horizontal balance of the body
• Configuration that independently controls the speed differential of drive units on the tilted side and the relative distance between units

‍

This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of off-road driving systems capable of independent drive and posture control.