US 12,422,855 B2
Wheeled robot and control method thereof
Hoon Chung, Hwaseong-si (KR); Jin Choi, Seoul (KR); and Sun Myoung Jo, Ansan-si (KR)
Assigned to Hyundai Motor Company, and, Seoul (KR); Kia Corporation, and, Seoul (KR); and MOBINN Inc., Daegu (KR)
Filed by Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and MOBINN Inc., Daegu (KR)
Filed on May 20, 2023, as Appl. No. 18/320,966.
Claims priority of application No. 1020220133068 (KR), filed on Oct. 17, 2022.
Prior Publication US 2024/0126272 A1, Apr. 18, 2024
Int. Cl. G05D 1/08 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/0891 (2013.01) [G05D 1/027 (2013.01); G05D 1/0272 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robot, comprising:
a body;
a pair of wheels rotatably provided at a lower part of the body;
a cargo box provided at an upper part of the body;
an inertial measurement sensor configured to measure a tilt angle of the body;
a pair of wheel encoders configured to measure a rotational angle of each of the pair of wheels;
a cargo box encoder configured to measure a tilt angle of the cargo box;
a pair of wheel motors configured to transmit a torque to each of the pair of wheels;
a cargo box motor configured to transmit a torque to the cargo box; and
a controller configured to:
control the pair of wheel motors and the cargo box motor to allow the robot to make a double axis inverted pendulum motion on an axis of each of the pair of wheels and the cargo box, based on an output from each of the inertial measurement sensor, the pair of wheel encoders, and the cargo box encoder,
determine, based on the robot being balanced by the double axis inverted pendulum motion, a slope of a current position of the robot based on the torque applied to the cargo box, the torque applied to the pair of wheels, and the tilt angle of the body, and
determine a ratio between the tilt angle of the body and the tilt angle of the cargo box based on the slope to thereby move the robot while maintaining balance.