Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller
US10232508B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Apr 17, 2015 |
| Grant date | Mar 19, 2019 |
| Priority date | — |
| Expiry date | Apr 17, 2035 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0891
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A humanoid robot with a body joined to an omnidirectional mobile ground base, equipped with: a body position sensor, a base position sensor and an angular velocity sensor to provide measures, actuators comprising at least 3 wheels located in the omnidirectional mobile base, extractors for converting sensored measures into useful data, a supervisor to calculate position, velocity and acceleration commands from the useful data, means for converting commands into instructions for the actuators, wherein the supervisor comprises: a no-tilt state controller, a tilt state controller and a landing state controller, each controller comprising means for calculating, position, velocity and acceleration commands based on a double point-mass robot model with tilt motion and on a linear model predictive control law, expressed as a quadratic optimization formulation with a weighted sum of objectives, and a set of predefined linear constraints.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.