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

FIELD: control; regulation.

SUBSTANCE: invention relates to the field of robot programming systems. In the method, the humanoid robot contains a body joined to an omnidirectional mobile ground base, a body position sensor, a base position sensor and an angular velocity sensor to provide measurements, actuators containing articulating motors and at least three wheels located in an omnidirectional mobile base, a means for extracting the body position, the base position and the angular velocity from the sensed measurements, a controller for calculating the position commands, speed and acceleration of the extracted data, a tool for converting commands into instructions for actuators. Said controller contains a no-tilt state controller, a tilt state controller and a landing state controller, an angular velocity estimator upon impact and impact time upon landing, and a means for selecting a controller according to the estimated angular velocity upon impact and the extracted angular velocity.

EFFECT: invention is aimed at ensuring the ability of the robot to autonomously determine the sequences of its operation, adapted to the context in which it is located, without the intervention of the programmer.

10 cl, 6 dwg