MOBILE ROBOT AND CONTROL METHOD THEREOF CAPABLE OF APPLYING FOR VARIOUS TOPOGRAPHY BY CONTROLLING THE TORQUE OF AN ACTUATOR BASED ON THE ANGLE OF AN ARM

摘要

PURPOSE: A mobile robot and control method thereof are provided to improve the movement performance of the mobile robot by dispersing the contact force between the ground and robot wheel.;CONSTITUTION: A mobile robot comprises a main body(110), a plurality of arms(120), an actuator, an angle sensor, and a controller. One end of the arm is mounted on the main body to rotate, and the other end of the arm is connected to a wheel(130). The actuators apply torque to each arm. The angle sensor senses the angle of the arms about the main body in the driving of the main body. The controller controls the torque of the actuator based on the angles which are detected by thee angle sensor in order to make the arms to actuate like a virtual spring.;COPYRIGHT KIPO 2011