US 12,287,646 B2
Apparatus for controlling robot and method thereof
Sun Myoung Jo, Ansan (KR); Jin Choi, Seoul (KR); and Hoon Chung, Hwaseong (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and MOBINN Inc., Suwon (KR)
Filed on Nov. 7, 2022, as Appl. No. 18/053,281.
Claims priority of application No. 10-2022-0073077 (KR), filed on Jun. 15, 2022.
Prior Publication US 2023/0409051 A1, Dec. 21, 2023
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0891 (2013.01) 20 Claims
OG exemplary drawing
 
1. A robot control apparatus comprising:
at least one first sensor provided on a front of a head part of a robot including a wheel part and the head part connected to an upper portion of the wheel part, the first sensor being configured to sense a first distance from a ground;
at least one second sensor provided on a rear of the head part and configured to sense a second distance from the ground; and
a controller configured to:
determine a driving environment of the robot based on at least one of the first distance or the second distance;
adjust a control gain related to a balance control of the robot based on the determined driving environment;
determine that the robot has finished driving in the driving environment; and
in response to determining that the robot has finished driving in the driving environment, maintain the control gain related to the balance control of the robot until a preset time has elapsed.