Zaier
Riadh Zaier, Al Khod OM
Patent application number | Description | Published |
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20100070076 | ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND COMPUTER READABLE RECORDING MEDIUM HAVING RECORDED THEREON A ROBOT CONTROL PROGRAM - A robot control apparatus includes walking operation control unit which controls the robot to carry out a predetermined walking operation; an obstacle detection unit which detects an obstacle existing in a place where a leg of the robot lands; a determination unit which determines whether or not a place on a sole of the robot's leg on which a reaction force from the obstacle works is in a stable area; and a reflex control unit which causes an ankle of the robot's leg in contact with the obstacle, when the reaction force working on the sole of the robot's leg is not in the stable area, to carry out a pitching or rolling operation, expanding the stable area, extends the leg, and controls the leg in such a way that a ZMP converges on a point of equilibrium of a support leg. | 03-18-2010 |
20100286822 | Apparatus and method for robot control - A robot control method for controlling robot walking includes: generating control information, based on a plurality of postures corresponding to different points of time and at least including a reference posture when a robot is independently standing without falling down, and controlling the robot so that the robot performs a predetermined walking motion; and determining whether a value of a gyro index is larger than a predetermined threshold value, during the controlling of the robot, and, when the value of the gyro index is larger than the predetermined threshold value, performs a reflex control processing. | 11-11-2010 |
Riadh Zaier, Muscat OM
Patent application number | Description | Published |
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20100222927 | Apparatus and method for robot control - A robot control apparatus for controlling walking of a robot includes a control information generating unit that generates control information based on a posture of a robot at a plurality of different points of time including at least a reference posture when the robot is independently standing without falling down, a feedback control unit that, with respect to the robot controlled according to the control information generated by the control information generating unit, performs a gyro feedback control based on a rotation angle measured at two points of time when rolling to left and right becomes maximum by a gyro sensor installed in the robot, and a rolling amplitude correcting unit that, while the robot is in motion, corrects a rolling amplitude that is used by the control information generating unit in generating the control information so that the gyro feedback control performed by the feedback control unit is reduced. | 09-02-2010 |
Riadh Zaier, Dar Chaabane TN
Patent application number | Description | Published |
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20090306824 | ROBOT CONTROL APPARATUS - A robot control method controls walking of a robot. The method generates control information based on postures at a plurality of differing points. The differing points include a reference posture in which the robot is standing independently without falling over. The method controls the robot to carry out a walking operation and detect an obstacle in a place in which a robot leg lands. The method also instructs the robot to carry out rolling onto a supporting leg and returning a swing leg to a position before swinging, to invert a compliance control gain and to bend the supporting leg by an amount while extending the swing leg by the amount. | 12-10-2009 |