This technology is a momentum control mechanism for hopping-based legged mobile robots that actively controls body rotation during zigzag landings by calculating lateral linear velocity based on the error between the commanded and measured rotation angles and transmitting it to the hip joint controller.
When a legged mobile robot moves in a zigzag pattern during hopping, the ground reaction force causes unnecessary body rotation, which compromises driving stability and leads to slippage.
This technology calculates the error between the input commanded rotation angle and the actual body rotation angle, determines the lateral linear velocity required to offset rotational momentum, and applies it to the robot's hip joint posture controller to perform active directional control and rotation suppression. Applicable to logistics, service robots, and autonomous platforms, it prevents unnecessary body rotation and maintains a smooth ride, thereby improving the stability and control of legged mobile robots during hopping motions.
This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of upper-limb rehabilitation robot technology using EXG for cognitive/motor rehabilitation of patients with upper-limb paralysis.
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