CPC B62D 57/032 (2013.01) [B25J 9/162 (2013.01); B25J 9/1633 (2013.01); B25J 9/1694 (2013.01); B62D 57/02 (2013.01); B62D 57/024 (2013.01); G05B 2219/40298 (2013.01); G05D 2201/0217 (2013.01); Y10S 901/01 (2013.01)] | 28 Claims |
1. A robot system comprising: a body comprising:
an upper body section comprising a movable end-effector;
a lower body section comprising a leg configured to contact a surface; and
an intermediate body section coupling the upper body section and the lower body section; and
a control system implemented with a processor, the control system comprising:
an upper body control system configured to operate the movable end-effector, the movable end-effector experiencing a first force based on operation of the movable end-effector, and the intermediate body section experiencing at least one of a second force or a first moment based on the first force; and
a lower body control system configured to:
receive, from the upper body control system, information associated with the at least one of the second force or the first moment;
operate the leg based on the operation of the movable end-effector, the leg experiencing a third force from the surface based on operation of the leg, and the intermediate body section experiencing at least one of a fourth force or a second moment based on the third force; and
balance at least one of the fourth force to the second force or the second moment to the first moment to balance the body.
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