OMNIDIRECTIONAL WHEELED HUMANOID ROBOT BASED ON LINEAR PREDICTIVE POSITION AND VELOCITY CONTROLLER Russian patent published in 2019 - IPC B25J9/16 B25J5/00 

FIELD: manipulators.

SUBSTANCE: invention relates to the field of robot programming systems. Humanoid robot comprises a body joined to an omnidirectional mobile ground base and equipped with a body position sensor and a base position sensor to provide measures, actuators comprising joints motors and at least three wheels located in the omnidirectional mobile base, with at least one omnidirectional wheel, extractors for converting the measures into observed data, a controller to calculate position, velocity and acceleration commands from the observed data using a robot model and pre-ordered position and velocity references, means for converting the commands into instructions for the actuators. Robot model is a double point-mass model, wherein the first point-mass (b) is the centre of mass (CoM) of the mobile base, and the second point-mass (c) is the CoM of the upper body, wherein the first point-mass (b) and the second point-mass (c) have a fixed height.

EFFECT: invention provides a humanoid robot with a body joined to an omnidirectionnal mobile ground base.

6 cl, 8 dwg