Robot, device and a method for central pattern generator(CPG) based control of a movement of the robot

US9296102B2 · kind B2 · utility

Assignee

• Technion Research & Development Foundation Limited · IL

Inventors

• Jonathan Spitz · Leonberg, DE
• Miriam Zacksenhouse · Haifa, IL

Key dates

• Filing date: Jan 6, 2013
• Grant date: Mar 29, 2016
• Expiry date: Oct 1, 2033

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/01
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A robot, a method and a device for controlling a movement of a robot are provided. The method can include controlling multiple steps of the robot. Thus, the method can include multiple iterations of: (i) calculating or receiving a first slope attribute indicative of a slope of a first area of a terrain on which a first leg of the robot steps; (ii) feeding the first slope attribute to a central pattern generator (CPG); and (iii) generating, by the CPG and in response to the slope attribute, at least one control pulse for controlling a torque characteristic of a torque applied by at least one leg of the robot.