Ball-balancing robot
US10168715B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 28, 2017 |
| Grant date | Jan 1, 2019 |
| Priority date | — |
| Expiry date | Aug 28, 2037 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH02K7/003
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A ball-balancing robot is capable of accurately controlling its posture when a robot main body is rotated about the vertical axis in a yaw direction in a state in which the robot main body is positioned on a spherical object in a posture in which a gravity center of the robot main body matches a vertical axis passing a center of the spherical object, and in a state in which a base axis of the roll-direction angular velocity sensor is inclined with respect to the horizon in a pitch direction (at an inclination angle θp), the robot main body is able to rotate while maintaining a predetermined posture by making correction to cancel a detection error in the angular velocity in the roll direction generated based on the inclination of the base axis of the roll-direction angular velocity sensor.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.