1. A method of controlling a robot, comprising:
measuring an angle of an ankle of a first leg of the robot, which supports the robot when the robot walks;
obtaining an angular velocity of a hip of a second leg of the robot which swings, comprising calculating an angular velocity of the ankle of the first leg from the angle of the ankle of the first leg; and
generating desired trajectories of the ankle and the hip based on the angular velocity of the ankle of the first leg and the angular velocity of the hip of the second leg.
2. The method according to claim 1, wherein the robot is a finite state machine (FSM)-based biped walking robot.
3. The method according to claim 2, wherein the measuring the angle of the ankle of the first leg comprises measuring a variation of an angle of an ankle pitch joint part of the first leg according to states of the FSM.
4. The method according to claim 3, wherein the calculating of the angular velocity of the ankle of the first leg comprises calculating an angular velocity of the ankle pitch joint part of the first leg.
5. The method according to claim 4, wherein the obtaining of the angular velocity of the hip of the second leg comprises obtaining an angular velocity of a hip pitch joint part of the second leg.
6. The method according to claim 5, wherein the obtaining the angular velocity of the hip pitch joint part of the second leg comprises using,
angular velocity of hip pitch joint part of second leg=K\xd7angular velocity of ankle pitch joint part of first leg,
wherein K is a constant set according to walking patterns of the robot.
7. The method according to claim 6, further comprising obtaining an included angle between the first and second legs,
wherein the generating of the desired trajectory of the ankle comprises rotating the ankle pitch joint part of the first leg by the included angle.
8. The method according to claim 7, wherein the generating of the desired trajectory of the hip comprises rotating the hip pitch joint part of the second leg by K times the included angle.
9. The method according to claim 7, wherein the generating of the desired trajectory of the hip comprises setting the rotating speed of the hip of the second leg to K times the rotating speed of the ankle of the first leg such that the center of gravity of the robot can be located at the center of the included angle.
10. The method according to claim 7, wherein the included angle between the first and second legs is the maximum value of the desired trajectory of the ankle to maintain the center of gravity of the robot.
11. The method according to claim 7, further comprising generating a desired trajectory of a knee of the second leg from the desired trajectory of the ankle.
12. A robot comprising:
a measuring unit to measure an angle of an ankle of a first leg, the first leg comprising an ankle, the first leg supporting the robot when the robot walks;
a second leg comprising a hip, the second leg swinging; and
a control unit to obtain an angular velocity of the hip of the second leg, by calculating an angular velocity of the ankle of the first leg from the angle the ankle of the first leg, and to generate desired trajectories of the ankle and the hip based on the angular velocity of the ankle of the first leg and the angular velocity of the hip of the second leg.
13. The robot according to claim 12, wherein the robot is a finite state machine (FSM)-based biped walking robot.
14. The robot according to claim 13, further comprising an input unit to input walking instructions, such as a walking speed and a step width of the robot,
wherein the control unit rotates the first leg on a support point based on the angle of the ankle of the first leg measured by the measuring unit in real time according to the walking instructions of the robot.
15. The robot according to claim 14, further comprising a hip pitch joint part, wherein the control unit rotates the second leg on the hip pitch joint part based on the angular velocity of the hip of the second leg calculated from the angular velocity of the ankle of the first leg.
16. The robot according to claim 15, wherein the control unit sets the rotating speed of the hip of the second leg to a designated multiple of the rotating speed of the ankle of the first leg to maintain the center of gravity of the robot.
17. The robot according to claim 12, further comprising a knee, wherein the control unit generates a desired trajectory of the knee of the second leg based on the desired trajectory of the ankle.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A gas supply system for distributing highly pressurized gas form from a gas reservoir at a desired pressure, said system comprising:
a body having a gas inlet in communication with the gas reservoir and a gas outlet;
a gas regulating assembly defined in said body between said gas inlet and said gas outlet, said gas regulating assembly having a first end proximate said gas inlet and a second end proximate said gas outlet, said first and second ends defining an axis, a piston positioned intermediate said first end and said second end, said piston sliding along a second axis parallel to or coaxial with said first axis; and
a balancing chamber defined in said body proximate said second end of said gas regulating assembly, said balancing chamber being in communication with the gas reservoir and engaged by said piston.
2. The regulated gas supply system as defined in claim 1 wherein said regulator assembly comprises:
a piston chamber defined in said body, said piston chamber having an uppermost surface;
a seat opposing said uppermost surface; and
a chamber wall between said uppermost surface and said seat;
said piston slidably positioned in said piston chamber, said piston having a piston flange engaging said chamber wall; and
a spring between said piston flange and said seat, where said spring urges said piston flange away from said seat.
3. The regulated gas supply system as defined in claim 2 wherein said piston further comprises:
a piston body abutting said piston chamber; and
a piston extension connected to said piston body, said piston extension abutting said balancing chamber.
4. The regulated gas supply system of claim 2 further comprising a vent aperture through said body, said vent aperture proximate said spring.
5. A discrete gas regulator for distributing highly pressurized gas at a desired pressure, said regulator comprising:
a cartridge defining a high-pressure gas reservoir and a gas outlet for dispersing gas at a desired pressure;
a gas regulating assembly positioned within said cartridge between said gas reservoir and said gas outlet, said gas regulating assembly controlling the pressure of the gas dispersed through said gas outlet from said gas reservoir;
a piston chamber defined in said cartridge having an uppermost surface, a seat opposing said uppermost surface, and a chamber wall between said uppermost surface and said seat;
a piston slidably positioned in said piston chamber; and
a spring between said piston and said seat, where said spring urges said piston away from said seat.
6. A gas regulator for distributing highly pressurized gas from a gas reservoir at a desired pressure, said gas regulator comprising:
a housing having a gas input and a gas output;
a piston chamber positioned between said gas input and sad gas output in said housing, said piston chamber having a first surface proximate said gas input and a second surface proximate said gas output;
a secondary chamber proximate said second surface of said piston chamber, said secondary chamber in communication with the gas reservoir;
a piston positioned in said piston chamber, said piston having a channel therethrough, and
a spring positioned between said piston and said first surface of said piston chamber.
7. The regulated gas supply system of claim 6 further comprising a vent aperture through said body, said vent aperture proximate said spring.
8. The regulated gas supply system as described in claim 6 wherein said piston chamber comprises:
a seat opposing said second surface; and
a chamber wall between said second surface with said seat.
9. The regulated gas supply system as described in claim 8 wherein said piston comprises:
a piston body;
a piston flange abutting said piston body, said piston flange engaging said chamber wall; and
a piston augmentation extending from said piston body into the secondary chamber.
10. The gas regulating assembly of claim 9, wherein said spring is positioned between said piston flange and said seat to urge said piston flange away from said seat.
11. A gas regulator for receiving a highly pressurized gas from a gas source and distributing the gas at a desired pressure, said regulator comprising:
a housing having an gas inlet and a gas outlet;
a piston chamber defined in said housing between said gas inlet and said gas outlet;
a secondary chamber defined in said housing proximate said piston chamber, said secondary chamber connected with the gas source;
a piston slidably positioned in said piston chamber to engage said secondary chamber; and
biasing means for urging said piston flange away from said seat to regulate the pressure of the gas distributed through said gas outlet.
12. The gas regulator as described in claim 11, wherein said piston chamber comprises:
an uppermost surface,
a seat opposing said uppermost surface, and
a chamber wall connecting said uppermost surface with said seat.
13. The gas regulator as described in claim 12, said piston comprising:
a piston body;
a flange abutting said piston body and engaging said chamber wall; and
a piston extension extending from said piston body to engage said secondary chamber.
14. The regulator as described in claim 11, wherein said biasing means comprises a spring.