JP2015098066A

JP2015098066A - Movement control system for bipedal running robot

Info

Publication number: JP2015098066A
Application number: JP2013238123A
Authority: JP
Inventors: 高西　淳夫; Atsuo Takanishi; 淳夫高西; 川上　泰雄; Yasuo Kawakami; 泰雄川上; 健二橋本; Kenji Hashimoto; 正律阪口; Masanori Sakaguchi; 大谷　拓也; Takuya Otani; 拓也大谷; 晃弘飯塚; Akihiro Iizuka; 昌亨八原; Masayuki Yatsuhara; 和寛瓜生; Kazuhiro Uryu; 俊介宮前
Original assignee: Waseda University
Current assignee: Waseda University
Priority date: 2013-11-18
Filing date: 2013-11-18
Publication date: 2015-05-28
Anticipated expiration: 2033-11-18
Also published as: JP6311153B2

Abstract

PROBLEM TO BE SOLVED: To enable running movement faster than by an existing bipedal running robot and movement simulating a human jump movement.SOLUTION: A movement control system 10 comprises a pair of right and left legs 12, 12, a pelvis part 14 rotatably supports each leg 12 and self-rotatably provided, an actuator 15 that operatively drives each leg 12 and the pelvis part 14 when moving the robot, and a controller 16 that controls the drive of the actuator 15. The pelvis part 14 is capable of pelvis oscillation for rotation in a roll direction on its center as the center of rotation. The controller 16 comprises a pelvis oscillation control part 42 that makes the drive control of the actuator 15 on the basis of a previously stored relational expression of pelvis oscillation during a running process of the robot so that a pelvis oscillation angle that is a rotation angle of the roll direction of the pelvis part 14 may change with time.

Description

本発明は、２足走行ロボットの移動制御システムに係り、更に詳しくは、人間の走行運動や跳躍運動を模擬した自律移動を可能にするための２足走行ロボットの移動制御システムに関する。 The present invention relates to a movement control system for a biped traveling robot, and more particularly to a movement control system for a biped traveling robot for enabling autonomous movement simulating human traveling motion and jumping motion.

従来、２足の脚式ロボットの走行制御に適用されるモデルとして、１つの質点と１つの減衰のないばねによるＳＬＩＰ（ＳｐｒｉｎｇＬｏａｄｅｄＩｎｖｅｒｔｅｄＰｅｎｄｕｌｕｍ）モデルが知られている（非特許文献１参照）。また、このＳＬＩＰモデルを用いた走行制御として、走行過程で左右両側の脚部が共に地面から離れる跳躍期に、脚部の支点に相当する股関節部分を稼働させ、着地位置を変更することで走行速度を制御する手法も知られている（非特許文献２参照）。更に、特許文献１には、ＺＭＰ（ＺｅｒｏＭｏｍｅｎｔＰｏｉｎｔ）を利用し、脚部の姿勢を決定する上で腰部の運動パターンを生成する歩行制御方法が開示されている。 Conventionally, a SLIP (Spring Loaded Inverted Pendulum) model using one mass point and one undamped spring has been known as a model applied to traveling control of a biped legged robot (see Non-Patent Document 1). In addition, as travel control using this SLIP model, the hip joint corresponding to the fulcrum of the leg is operated and the landing position is changed during the jumping period when both the left and right legs are separated from the ground during the travel process. A method for controlling the speed is also known (see Non-Patent Document 2). Further, Patent Document 1 discloses a walking control method that uses a ZMP (Zero Moment Point) to generate a motion pattern of the waist when determining the posture of the leg.

特開２００３−１１７８５８号公報JP 2003-117858 A

Ｒ．Ｂｌｉｃｋｈａｎ著，「ＴｈｅＳｐｒｉｎｇ−ｍａｓｓＭｏｄｅｌｆｏｒＲｕｎｎｉｎｇａｎｄＨｏｐｐｉｎｇ」Ｊ.Ｂｉｏｍｅｃｈ．，Ｖｏｌ．２２，Ｎｏ１１，１９８９年，ｐｐ．１２１７−１２２７R. Brickhan, “The Spring-mass Model for Running and Hopping” J. Biomech. , Vol. 22, No11, 1989, pp. 1217-1227 Ｍ．Ｈ．Ｒａｉｂｅｒｔ著，「Ｌｅｇｇｅｄｒｏｂｏｔｓｔｈａｔｂａｌａｎｃｅ」，Ｍａｓｓ．：ＭＩＴＰｒｅｓｓ，１９８６年M.M. H. By Raibert, “Legged robots that balance”, Mass. : MIT Press, 1986

前記非特許文献１のＳＬＩＰモデルにあっては、走行時の人間の重心運動と脚部のみを考慮した床反力との関係に基づいてシンプルに構成されたものであり、高速走行させる場合には、アクチュエータにより、地面を蹴り出す大きな力を脚部伸長方向に付与しなければならず、既存のアクチュエータでは限界がある。また、前記非特許文献２の走行制御手法にあっては、前記非特許文献１と同様にＳＬＩＰモデルを用いて、跳躍中に次の着地位置を変更することによってロボットを加速させているが、左右何れか一方の脚部が地面に接触している立脚期に、股関節を能動的に回転させることによる地面の蹴り出しを利用していないという問題がある。すなわち、前記ＳＬＩＰモデルが立脚期において、重心に回転モーメントを発生させないために、股関節を受動的に動くようにし、地面から脚に発生する床反力が重心を貫くように、ロボットの重心と股関節部分とが前後高さ方向において同じ位置に設定されている。しかし、ロボットをより加速するために、股関節部分を伸展させて脚部を拡げ、脚部で地面を強く蹴ろうとする程、その股関節を回転させるトルクが重心を回転させるモーメントになってしまうため、ロボットの上体が回転しロボットが転倒し易くなってしまう。更に、前記特許文献１の歩行制御方法にあっては、ロボットの腰部をヨー方向に回転させるものの、当該回転はヨー方向のみで、腰部の高さを一定にすることが前提であるため、人間の高速走行状態に相当するまで加速するには限界がある。 The SLIP model of Non-Patent Document 1 is simply configured based on the relationship between the human center-of-gravity movement during travel and the floor reaction force considering only the legs, and is used when traveling at high speed. The actuator must apply a large force for kicking the ground in the direction of leg extension, and there is a limit to existing actuators. Further, in the traveling control method of Non-Patent Document 2, the robot is accelerated by changing the next landing position while jumping using the SLIP model as in Non-Patent Document 1. There is a problem that the kicking of the ground by actively rotating the hip joint is not used in the stance phase in which either the left or right leg is in contact with the ground. That is, in order that the SLIP model does not generate a rotational moment in the center of gravity in the stance phase, the hip joint is moved passively, and the floor reaction force generated from the ground to the leg penetrates the center of gravity. The part is set at the same position in the front-rear height direction. However, in order to accelerate the robot more, the hip joint part is extended and the leg part is expanded, and the more the leg part tries to kick the ground strongly, the torque that rotates the hip joint becomes a moment that rotates the center of gravity. The upper body of the robot will rotate and the robot will fall easily. Furthermore, in the walking control method disclosed in Patent Document 1, although the waist of the robot is rotated in the yaw direction, the rotation is only in the yaw direction, and the height of the waist is assumed to be constant. There is a limit to accelerating until it corresponds to a high-speed driving state.

本発明は、以上のような課題に着目して案出されたものであり、その目的は、既存の２足走行ロボットよりも高速となる走行運動や、人間の跳躍運動を模擬した運動を可能にするための２足走行ロボットの移動制御システムを提供することにある。 The present invention has been devised by paying attention to the above-mentioned problems, and its purpose is to enable a running motion that is faster than an existing biped robot and a motion that simulates a human jumping motion. An object of the present invention is to provide a movement control system for a biped robot.

前記目的を達成するため、本発明は、主として、左右両側の脚部を動作させながら２足走行ロボットの移動を制御するシステムにおいて、前記各脚部を回転可能に支持するとともに、自ら回転可能に設けられた骨盤部と、前記２足走行ロボットを移動させる際に、前記各脚部及び前記骨盤部を動作可能に駆動するアクチュエータと、当該アクチュエータの駆動を制御する制御装置とを備え、前記骨盤部は、その中央を回転中心としてロール方向に回転する骨盤動揺を可能に設けられ、前記アクチュエータは、前記骨盤部に対して前記各脚部を動作させる脚用アクチュエータと、前記骨盤部を動作させる骨盤用アクチュエータとからなり、前記制御装置は、前記２足走行ロボットの移動過程において、予め記憶された前記骨盤動揺の関係式に基づいて、前記骨盤部のロール方向の回転角度である骨盤動揺角度が経時的に変化するように、前記骨盤用アクチュエータの駆動制御を行う骨盤動揺制御部を備える、という構成を採っている。 In order to achieve the above-mentioned object, the present invention mainly supports each leg part rotatably in a system that controls the movement of a biped robot while operating the left and right leg parts. A pelvis portion provided; an actuator that operably drives the leg portions and the pelvis portion when the biped robot is moved; and a control device that controls the driving of the actuator. The portion is provided so as to be able to swing the pelvis rotating in the roll direction with the center as the rotation center, and the actuator operates the leg actuator for operating the legs with respect to the pelvis, and the pelvis The control device comprises a pelvic shaking relational expression stored in advance during the movement of the biped robot. There, as the pelvis inclination angle which is the rotation angle in the roll direction of the pelvis changes with time, and a pelvic sway controller for controlling the drive of the pelvic actuator adopts a configuration that.

なお、本明細書及び本特許請求の範囲で用いられる語句のうち、次の語句については、特に明記しない限り、以下に説明する意味として用いられ、以降、詳細な説明を省略する。 Of the terms used in the present specification and claims, the following terms are used as described below unless otherwise specified, and will not be described in detail below.

位置若しくは方向を示す「前」、「後」、「左」、「右」、「上」、「下」は、２足走行ロボットを正面から見た状態における「前」、「後」、「左」、「右」、「上」、「下」を意味する。 “Front”, “Rear”, “Left”, “Right”, “Up”, “Down” indicating the position or direction are “front”, “rear”, “rear” when the biped robot is viewed from the front. It means “left”, “right”, “upper”, “lower”.

また、「ロール方向」とは、図１に示されるように、前後方向に延びるｘ軸（ロール軸）回りの回転方向を意味し、「ピッチ方向」とは、左右方向に延びるｙ軸（ピッチ軸）回りの回転方向を意味し、「ヨー方向」とは、上下方向に延びるｚ軸（ヨー軸）回りの回転方向を意味する。 Further, as shown in FIG. 1, the “roll direction” means a rotation direction around the x axis (roll axis) extending in the front-rear direction, and the “pitch direction” means the y axis (pitch extending in the left-right direction). "Yaw direction" means the rotation direction around the z-axis (yaw axis) extending in the vertical direction.

更に、「走行」とは、人間における歩行の状態をも含む概念として用いられる。 Furthermore, “running” is used as a concept including a state of walking in humans.

本発明によれば、２足走行ロボットの移動過程において、脚部のみならず、骨盤部のロール方向の回転である骨盤動揺を行わせるため、脚部が地面を蹴る力を向上させ、従来よりも加速した走行運動が可能になる。また、跳躍運動にも適用でき、従来よりも高い跳躍をロボットにさせることが可能になる。すなわち、従来よりも高速となる走行運動のみならず、より瞬発力のある運動をも２足走行ロボットにさせることが可能になる。また、骨盤回旋をも行うことで、加速のために大きな股関節伸展トルクを発生させても、ロボットを安定的に保持でき、ロボットを不安定にならずに加速させることが可能になる。 According to the present invention, in the movement process of the biped robot, not only the legs but also the pelvis is rotated in the roll direction of the pelvis, so that the leg can improve the force of kicking the ground. Even accelerated running movement becomes possible. Also, it can be applied to jumping movement, and it is possible to make the robot jump higher than before. That is, it is possible to make the bipedal robot not only perform a traveling motion at a higher speed than the conventional one, but also a more instantaneous motion. Also, by performing pelvic rotation, the robot can be stably held even when a large hip extension torque is generated for acceleration, and the robot can be accelerated without becoming unstable.

本実施形態に係る２足走行ロボットの移動制御システムを概念的に表した構成図。1 is a configuration diagram conceptually showing a movement control system for a biped robot according to the present embodiment. アクチュエータ及び制御装置の構成を示すブロック図。The block diagram which shows the structure of an actuator and a control apparatus.

以下、本発明の実施形態について図面を参照しながら説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.

図１には、本実施形態における２足走行ロボットの移動制御システムを概念的に表した構成図が示されている。この図において、前記移動制御システム１０は、２足走行可能な脚式ロボットの一部として構成されており、当該ロボットの走行運動を可能にするためのシステムである。この移動制御システム１０は、ロボットの脚として機能する左右一対の脚部１２，１２と、当該脚部１２，１２を動作可能に支持する骨盤部１４と、ロボットの走行時に脚部１２，１２及び骨盤部１４を動作させるアクチュエータ１５と、アクチュエータ１５の駆動を制御することで、前記ロボットの走行制御を行う制御装置１６とを備えている。 FIG. 1 is a configuration diagram conceptually showing a movement control system for a biped robot in the present embodiment. In this figure, the movement control system 10 is configured as a part of a legged robot capable of traveling on two legs, and is a system for enabling the robot to travel. The movement control system 10 includes a pair of left and right legs 12 and 12 that function as robot legs, a pelvic part 14 that supports the legs 12 and 12 operably, and legs 12 and 12 when the robot is running. An actuator 15 for operating the pelvis part 14 and a control device 16 for controlling the driving of the robot by controlling the driving of the actuator 15 are provided.

前記脚部１２は、左右両側で相互に同一の構成に設けられており、上下方向に延びる脚本体１８と、脚本体１８の途中に設けられた弾性体としてのばね部材２０と、脚本体１８の自由端側（下端側）に設けられた足先部２１とを左右それぞれに備えている。 The leg portion 12 is provided in the same configuration on both the left and right sides, a leg main body 18 extending in the vertical direction, a spring member 20 as an elastic body provided in the middle of the leg main body 18, and the leg main body 18. The foot tip portion 21 provided on the free end side (lower end side) is provided on each of the left and right sides.

前記各脚本体１８は、その延出方向に伸縮自在となる構造を有し、基端側（上端側）が、骨盤部１４の左右両端側を支点として回転可能となるように、骨盤部１４に支持されている。すなわち、各脚本体１８は、骨盤部１４に対してロール方向、ピッチ方向及びヨー方向の３方向それぞれに回転運動が可能となるように支持されている。 Each leg main body 18 has a structure that can be expanded and contracted in the extending direction, and the pelvic part 14 is configured such that the base end side (upper end side) can rotate with the left and right end sides of the pelvis part 14 as fulcrums. It is supported by. That is, each leg body 18 is supported so as to be able to rotate in the three directions of the roll direction, the pitch direction, and the yaw direction with respect to the pelvis part 14.

各脚部１２は、アクチュエータ１５の駆動によって、脚本体１８の延出方向に伸縮可能になっているとともに、前記３方向に独立して回転可能になっている。なお、以下において、骨盤部１４と各脚本体１８，１８との接続部分を股関節部分２３，２３と称する。 Each leg 12 can be expanded and contracted in the extending direction of the leg main body 18 by driving of the actuator 15 and can be independently rotated in the three directions. In the following, the connecting portion between the pelvis portion 14 and each leg main body 18, 18 is referred to as a hip joint portion 23, 23.

前記ばね部材２０は、脚本体１８の延出方向に伸縮可能に配置され、左右の脚部１２，１２において同一の弾性を有している。なお、同様の作用を奏する限りにおいて、ばね部材２０を他の弾性体や弾性機構に代替することも可能である。 The spring member 20 is disposed so as to be extendable and contractable in the extending direction of the leg main body 18, and has the same elasticity in the left and right leg portions 12 and 12. In addition, as long as there exists the same effect | action, it is also possible to substitute the spring member 20 for another elastic body and an elastic mechanism.

前記骨盤部１４は、その中央（前後及び左右方向の中央）を回転中心としてロール方向に回転する骨盤動揺と、前記中央を回転中心としてヨー方向に回転する骨盤回旋とを可能に設けられており、アクチュエータ１５の駆動によって、骨盤動揺と骨盤回旋とを独立して行えるようになっている。 The pelvis part 14 is provided so as to be able to rotate the pelvis in the roll direction around the center (front and back and the center in the left-right direction) and to rotate the pelvis in the yaw direction around the center. By driving the actuator 15, pelvic oscillation and pelvic rotation can be performed independently.

前記アクチュエータ１５は、複数のモータ等により構成されており、骨盤部１４に対して脚部１２，１２を動作させる脚用アクチュエータ２５と、骨盤部１４を動作させる骨盤用アクチュエータ２６からなる。 The actuator 15 includes a plurality of motors and the like, and includes a leg actuator 25 that operates the legs 12 and 12 with respect to the pelvis part 14 and a pelvis actuator 26 that operates the pelvis part 14.

前記脚用アクチュエータ２５は、左右両側の脚本体１８，１８を伸縮させるための脚伸縮用駆動手段２８，２８と、左右両側の脚部１２，１２を骨盤部１４に対してロール方向（左右方向）に動揺させるための脚ロール方向駆動手段２９，２９と、同ピッチ方向（前後方向）に動揺させるための脚ピッチ方向駆動手段３０，３０と、同ヨー方向に動揺、すなわち、地面に沿って脚部１２，１２を回旋させるための脚ヨー方向駆動手段３１，３１とを備えている。 The leg actuator 25 is composed of leg expansion / contraction drive means 28 and 28 for expanding and contracting the left and right leg bodies 18 and 18, and the left and right leg parts 12 and 12 with respect to the pelvis part 14 in the roll direction (left and right direction). And leg roll direction driving means 29, 29 for swinging in the same pitch direction (front-rear direction), and swinging in the same yaw direction, that is, along the ground. Leg yaw direction driving means 31 and 31 for rotating the leg portions 12 and 12 are provided.

前記骨盤用アクチュエータ２６は、骨盤部１４をロール方向に回転して前記骨盤動揺させるための骨盤動揺用駆動手段３２と、骨盤部１４をヨー方向に回転して前記骨盤回旋させるための骨盤回旋用駆動手段３３とを備えている。 The pelvic actuator 26 is for pelvic rotation for rotating the pelvis part 14 in the roll direction to rotate the pelvis, and for rotating the pelvis by rotating the pelvis part 14 in the yaw direction. Drive means 33.

なお、本実施形態では、以上の各駆動手段２８〜３３に関し、各動作毎に単一のモータで構成しているが、特別な機構等を採用する等、本実施形態と同様の動作を可能にする限りにおいて、本発明を構成するアクチュエータの数は限定されるものではない。 In the present embodiment, each of the driving means 28 to 33 is configured by a single motor for each operation. However, the same operation as in the present embodiment is possible, such as employing a special mechanism. As long as the number of actuators is not limited, the number of actuators constituting the present invention is not limited.

前記制御装置１６は、ＣＰＵ等の演算処理装置及びメモリやハードディスク等の記憶装置等からなるコンピュータによって構成され、当該コンピュータを以下の各手段として機能させるためのプログラムがインストールされている。 The control device 16 is configured by a computer including an arithmetic processing device such as a CPU and a storage device such as a memory and a hard disk, and a program for causing the computer to function as the following units is installed.

この制御装置１６は、図２に示されるように、左右それぞれの脚部１２，１２の足先部２１，２１が地面に接触しているか否かを一定時間毎に判定する立脚遊脚判定手段３５と、立脚遊脚判定手段３５の判定結果に応じて、脚用アクチュエータ２５と骨盤用アクチュエータ２６の駆動を制御することで、脚部１２，１２及び骨盤部１４の動作制御をするアクチュエータ駆動制御手段３６とを備えている。 As shown in FIG. 2, the control device 16 is a standing leg free leg determining unit that determines whether or not the foot portions 21 and 21 of the left and right legs 12 and 12 are in contact with the ground at regular intervals. 35 and actuator drive control for controlling the operation of the leg portions 12 and 12 and the pelvis portion 14 by controlling the driving of the leg actuator 25 and the pelvic actuator 26 according to the determination result of the standing leg swing leg determining means 35. Means 36.

前記立脚遊脚判定手段３５では、左右両側の足先部２１，２１に付設された感圧センサ（図示省略）の値から、これら足先部２１，２１が地面に接触しているか否かが一定時間毎に判定される。そして、当該判定に基づき、前記感圧センサの各計測時点において、左右何れか一方の足先部２１が地面に接触した状態である立脚期と、左右両方の足先部２１，２１が地面から離れた状態である跳躍期との何れかであるかが特定される。更に、立脚期である場合には、左右の脚部１２，１２のうち、どちらが、足先部２１が接地している立脚側で、どちらが、足先部２１から離れている遊脚側かも特定される。また、図示しないタイマーで、各立脚期の経過時間である立脚時間と、同一側の脚部１２について、立脚期に入ってから次の立脚期に入るまでの走行周期と、左右何れか一方の脚部１２が接地してからの経過時間等とが計時され、制御装置１６内に記憶される。なお、前述した立脚期と跳躍期の判定手法は、本発明の本質的要素ではなく、他の手法によって行っても良い。 In the stance leg free leg determination means 35, it is determined whether or not these toe portions 21 and 21 are in contact with the ground from the values of pressure-sensitive sensors (not shown) attached to the left and right toe portions 21 and 21. It is determined at regular intervals. Then, based on the determination, at each measurement time of the pressure sensor, the stance phase in which either the left or right foot tip portion 21 is in contact with the ground, and both the left and right foot tip portions 21, 21 from the ground. It is specified whether the jump period is in a separated state. Furthermore, when it is a stance phase, which of the left and right leg portions 12 and 12 is the stance side where the foot tip portion 21 is grounded and which is the free leg side away from the foot portion 21 is specified. Is done. Further, with a timer (not shown), the stance time which is the elapsed time of each stance phase, the running period from the start of the stance phase to the next stance phase, and either the left or right side of the leg 12 on the same side The elapsed time after the leg 12 is grounded is counted and stored in the control device 16. Note that the determination method of the stance period and the jump period described above is not an essential element of the present invention, and may be performed by other techniques.

前記アクチュエータ駆動制御手段３６は、脚伸縮用駆動手段２８の駆動を制御する脚伸縮制御部３８と、脚ロール方向駆動手段２９の駆動を制御する脚左右動作制御部３９と、脚ピッチ方向駆動手段３０の駆動を制御する脚前後動作制御部４０と、脚ヨー方向駆動手段３１の駆動を制御する脚回旋動作制御部４１と、骨盤動揺用駆動手段３２の駆動を制御する骨盤動揺制御部４２と、骨盤回旋用駆動手段３３の駆動を制御する骨盤回旋制御部４３とを備えている。 The actuator drive control means 36 includes a leg extension / contraction control section 38 that controls the drive of the leg extension / contraction drive means 28, a leg left / right motion control section 39 that controls the drive of the leg roll direction drive means 29, and a leg pitch direction drive means. A leg longitudinal motion control unit 40 that controls the driving of the leg 30, a leg rotation operation control unit 41 that controls the driving of the leg yaw direction driving means 31, and a pelvic oscillation control unit 42 that controls the driving of the pelvic oscillation driving means 32; And a pelvic rotation control unit 43 that controls the driving of the pelvic rotation driving means 33.

次に、本実施形態における移動制御システム１０の走行制御の内容について具体的に説明する。 Next, the content of the traveling control of the movement control system 10 in the present embodiment will be specifically described.

前記移動制御システム１０を備えた２足走行ロボットは、制御装置１６によるアクチュエータ１５の駆動制御によって、次のように動作する。すなわち、左右何れか一方の脚部１２の立脚期において、当該脚部１２は、足先部２１が接地している立脚側となっており、他方の脚部１２は、足先部２１が地面から離れた遊脚側となっている。この状態から、走行を推進するために、立脚側の足先部２１が接地した後、その足先部２１で地面が蹴り出される。すると、左右両側の足先部２１，２１が地面から一瞬離れる跳躍期に移行する。その後、先の立脚期で遊脚側となっていた脚部１２の立脚期に入り、当該脚部１２について、先程の立脚期と同様の動作がなされ、再び、前記跳躍期に移行し、上記の動作が左右交互に繰り返し行われる。 The biped robot including the movement control system 10 operates as follows by the drive control of the actuator 15 by the control device 16. That is, in the stance phase of either the left or right leg portion 12, the leg portion 12 is on the stance side where the foot tip portion 21 is grounded, and the other leg portion 12 has the foot tip portion 21 on the ground. It is the free leg side away from. From this state, in order to promote traveling, the foot side 21 on the stance side contacts the ground, and then the ground is kicked by the foot side 21. Then, it shifts to the jumping period in which the toe portions 21 and 21 on both the left and right sides are momentarily separated from the ground. Thereafter, the leg 12 entered the stance phase which was on the free leg side in the previous stance phase, and the leg 12 is operated in the same manner as in the previous stance phase, and again enters the jump phase, This operation is repeated alternately on the left and right.

そこで、先ず、２足走行ロボットが前記立脚期に入った場合には、次の制御がなされる。 Therefore, first, when the biped robot enters the stance phase, the following control is performed.

前記骨盤動揺制御部４２では、予め記憶された関係式による骨盤部１４の動揺角度（骨盤動揺角度）が経時的に得られるように、骨盤動揺用駆動手段３２の駆動が制御され、前記骨盤動揺が行われる。ここでの骨盤動揺の関係式は、次式（１）に示されるように、前記立脚時間と前記骨盤動揺角度との関係を表す正弦関数となっている。 The pelvic oscillation control unit 42 controls the driving of the pelvic oscillation driving means 32 so that the oscillation angle (pelvic oscillation angle) of the pelvis portion 14 according to a relational expression stored in advance is obtained over time. Is done. Here, the relational expression of pelvic oscillation is a sine function representing the relationship between the stance time and the pelvic oscillation angle, as shown in the following equation (1).

上式において、θ_１（ｔ_１）は、目標とする骨盤部１４のロール方向の回転角度すなわち骨盤動揺角度である。また、ｔ_１は、前記立脚時間であり、左右何れか一方の脚部１２が接地してからの時間になる。更に、ωは、系の固有振動数であり、ｋは、ばね部材２０について予め設定されたばね定数、ｍは、予め特定されたロボット全体の重量である。また、Ａ_１は、骨盤部１４のロール方向の最大振幅であり、φは、骨盤動揺の周期の初期状態を変更するための定数である。換言すると、Ａ_１とφは、脚部１２の蹴り出しの力、すなわち、ロボットの跳躍高さの調整を行うために予め任意に設定された定数であるが、ロボット操作者等の要求に応じて、任意の値に都度変更可能にしても良い。 In the above equation, θ ₁ (t ₁ ) is a target rotation angle of the pelvic part 14 in the roll direction, that is, a pelvic oscillation angle. Further, t ₁ is the said standing time, one of the left and right leg portions 12 is time from the ground. Further, ω is the natural frequency of the system, k is a spring constant set in advance for the spring member 20, and m is the weight of the entire robot specified in advance. A ₁ is the maximum amplitude of the pelvic part 14 in the roll direction, and φ is a constant for changing the initial state of the pelvic oscillation period. In other words, the A ₁ and phi, the power of kicking leg 12, i.e., is a pre arbitrarily set constants in order to adjust the jump height of the robot, in response to a request such as a robot operator Thus, it may be changed to an arbitrary value each time.

前記脚左右動作制御部３９では、左右両側の脚部１２，１２が、骨盤動揺角度θ_１（ｔ_１）に対し、同一の角度変位で骨盤動揺と逆向きのロール方向に回転するように、脚ロール方向駆動手段２９の駆動を制御し、骨盤動揺が与える脚部１２，１２の影響をキャンセルするようになっている。すなわち、骨盤動揺がされても、左右両側の足先部２１，２１が正しい姿勢で地面に向くように、脚ロール方向駆動手段２９の駆動が制御される。 In the leg left / right motion control unit 39, the left and right leg portions 12 and 12 are rotated in the roll direction opposite to the pelvic oscillation with the same angular displacement with respect to the pelvic oscillation angle θ ₁ (t ₁ ). The driving of the leg roll direction driving means 29 is controlled to cancel the influence of the legs 12, 12 caused by pelvic shaking. That is, even if the pelvis is shaken, the driving of the leg roll direction driving means 29 is controlled so that the left and right toe portions 21 and 21 face the ground in a correct posture.

前記脚伸縮制御部３８では、骨盤動揺角度の大きさに拘らず、前記立脚遊脚判定手段３５で判定された遊脚側となる脚部１２の脚本体１８のみ、所定の初期状態から予め設定された変位量で短縮するように、当該遊脚側の脚本体１８を動作させる脚伸縮用駆動手段２８の駆動が制御される。一方、立脚側と判定された脚部１２の脚本体１８は、前記初期状態から変位（伸縮）しないように維持される。 In the leg extension / contraction control unit 38, only the leg main body 18 of the leg 12 on the free leg side determined by the standing leg swing leg determination means 35 is set in advance from a predetermined initial state regardless of the size of the pelvic swing angle. The driving of the leg expansion / contraction drive means 28 for operating the leg main body 18 on the free leg side is controlled so as to shorten the displacement amount. On the other hand, the leg body 18 of the leg portion 12 determined to be the standing leg side is maintained so as not to be displaced (expanded / contracted) from the initial state.

前記骨盤回旋制御部４３では、予め記憶された関係式による骨盤部１４の回旋角度（骨盤回旋角度）が経時的に得られるように、骨盤回旋用駆動手段３３の駆動が制御される。ここでの骨盤回旋の関係式は、次式（２）に示されるように、左右何れか一方の脚部１２が接地してからの経過時間と前記骨盤回旋角度との関係を表す正弦関数となっている。 The pelvic rotation control unit 43 controls the driving of the pelvic rotation driving means 33 so that the rotation angle (pelvic rotation angle) of the pelvis part 14 according to a relational expression stored in advance can be obtained over time. The relational expression of the pelvic rotation here is a sine function representing the relation between the elapsed time from the contact of the left or right leg 12 and the pelvic rotation angle, as shown in the following expression (2). It has become.

上式において、θ_２（ｔ_２）は、目標とする骨盤部１４のヨー方向の回転角度（骨盤回旋角度）であり、ｔ_２は、立脚側の脚部１２が着地してからの時間である。Ｔ_１は、同一の脚部１２における前回の立脚期から次回の立脚期までの時間となる走行周期である。この走行周期Ｔ_１は、予め任意に設定、若しくは、都度指定した値を用いても良いし、前回から今回までの走行周期を計測して、その計測値を用いても良い。更に、Ａ_２は、骨盤回旋の最大振幅であり、ψは、骨盤回旋の周期の初期状態を変更するための変数である。換言すると、Ａ_２とψは、走行速度の調整を行うために予め任意に設定された定数であるが、ロボット操作者等の要求に応じて、任意の値に都度変更可能にしても良い。 In the above equation, θ ₂ (t ₂ ) is the target rotation angle of the pelvic part 14 in the yaw direction (pelvic rotation angle), and t ₂ is the time after the leg 12 on the standing leg side lands. is there. T ₁ is a running cycle that is the time from the previous stance phase to the next stance phase in the same leg 12. The driving period T ₁ is arbitrarily set in advance, or may be used the value each time the specified measures the travel cycle to the current from the last time, may be used the measured value. Moreover, A ₂ is the maximum amplitude of the pelvis rotation, [psi is a variable for changing the initial state of the period of pelvis rotation. In other words, the A ₂ [psi, but in advance arbitrarily set constants in order to adjust the travel speed, in response to a request such as a robot operator may allow each time changed to any value.

前記脚回旋動作制御部４１では、左右両側の脚部１２，１２が、骨盤回旋角度θ_２（ｔ_２）に対し、同一の角度変位で骨盤回旋と逆向きのヨー方向に回転するように、脚ヨー方向駆動手段３１の駆動を制御し、骨盤回旋が与える脚部１２，１２の影響をキャンセルするようになっている。すなわち、骨盤回旋がされても、左右両側の足先部２１，２１が正しい姿勢で地面に向くように、脚ヨー方向駆動手段３１の駆動が制御される。 In the leg rotation operation control unit 41, the left and right leg portions 12 and 12 are rotated in the yaw direction opposite to the pelvic rotation with the same angular displacement with respect to the pelvic rotation angle θ ₂ (t ₂ ). The driving of the leg yaw direction driving means 31 is controlled to cancel the influence of the legs 12, 12 caused by pelvic rotation. That is, even when the pelvis is rotated, the driving of the leg yaw direction driving means 31 is controlled so that the left and right toe portions 21, 21 face the ground in a correct posture.

前記脚前後動作制御部４０では、骨盤回旋によって生じた前記ロボットのピッチ方向の回転モーメントによる重心の前傾を補償するように、立脚側となる脚部１２の動作制御を行うようになっている。換言すると、ここでは、立脚側の脚部１２の床反力の方向をロボットの重心近傍に近づけ、骨盤回旋によって不安定になる走行運動を安定化させるために、脚部１２のピッチ方向の回転トルクが制御される。すなわち、立脚側の脚部１２をピッチ方向に動揺させる脚ピッチ方向駆動手段３０の駆動について、脚部１２によって前記股関節部分２３を伸展させる際のトルクである股関節伸展トルクが、予め記憶された以下の関係式（３）で得られる値になるように制御される。 The leg longitudinal motion control unit 40 controls the operation of the leg 12 on the stance side so as to compensate for the forward tilt of the center of gravity caused by the rotational moment in the pitch direction of the robot caused by pelvic rotation. . In other words, here, in order to bring the direction of the floor reaction force of the leg 12 on the stance side closer to the vicinity of the center of gravity of the robot and stabilize the running motion that becomes unstable due to pelvic rotation, the rotation of the leg 12 in the pitch direction is performed. Torque is controlled. That is, for the driving of the leg pitch direction driving means 30 for swinging the leg portion 12 on the standing leg side in the pitch direction, the hip joint extension torque, which is the torque when the hip portion 23 is extended by the leg portion 12, is stored in advance. It is controlled so as to be a value obtained by the relational expression (3).

上式において、Ｔは、股関節伸展トルクであり、Ｆ_ｓは、立脚側の脚部１２の接地面に対する反力（床反力）のうち、脚部１２の延出方向の成分の反力であり、ｌ_ｌは、立脚側のばね部材２０の変形を考慮した脚部１２の全体長さすなわち脚長である。ここで、ばね部材２０の長さは、図示しないワイヤエンコーダ等のセンサによって逐次計測されており、当該センサの計測値によって、反力Ｆ_ｓや脚長ｌ_ｌが演算によって求められるが、これに限定されるものではなく、力センサ等を用いて反力Ｆ_ｓを直接測定したり、他のセンサで脚長ｌ_ｌを直接求めることも可能である。
また、θ_２（ｔ_２）は、上式（２）で求めた骨盤回旋角度であり、θ_３は、股関節部分２３から鉛直に延びる基準線に対して立脚側の脚部１２がなす角度であり、図示しないエンコーダ等のセンサで測定される。
る。
更に、ｌ_ｐは、水平面におけるロボットの重心Ｇ（図１参照）から各股関節部分２３，２３までの長さとなる骨盤幅であり、予め設定された既値である。ｌ_ｓは、股関節部分２３と重心Ｇとの間の上下方向の距離すなわち高さである。なお、骨盤幅ｌ_ｐ、高さｌ_ｓは、左右の股関節部分２５，２５の何れに対しても同一となっている。ｒは、矢状面（側面）における各股関節部分２５から重心Ｇまでの距離を表している。 In the above equation, T is the hip joint extension torque, and F _s is the reaction force of the component in the extending direction of the leg portion 12 among the reaction force (floor reaction force) against the ground contact surface of the leg portion 12 on the standing leg side. Yes, l ₁ is the total length of the leg portion 12 in consideration of the deformation of the spring member 20 on the standing leg side, that is, the leg length. Here, the length of the spring member 20 is sequentially measured by a sensor such as a wire encoder (not shown), and the reaction force F _s and the leg length l ₁ are obtained by calculation based on the measured value of the sensor. However, the reaction force F _s can be directly measured using a force sensor or the like, or the leg length l ₁ can be directly obtained using another sensor.
Θ ₂ (t ₂ ) is a pelvic rotation angle obtained by the above equation (2), and θ ₃ is an angle formed by the leg portion 12 on the stance side with respect to a reference line extending vertically from the hip joint portion 23. Yes, measured by a sensor such as an encoder (not shown).
The
Further, l _p is a pelvic width that is the length from the center of gravity G (see FIG. 1) of the robot in the horizontal plane to the respective hip joint portions 23 and 23, and is a preset value. l _s is a vertical distance between the hip joint portion 23 and the center of gravity G, that is, a height. Note that the pelvic width l _p and the height l _s are the same for both the left and right hip joint portions 25 and 25. r represents the distance from each hip joint portion 25 to the center of gravity G in the sagittal plane (side surface).

以上の脚前後動作制御部４０でのトルク制御により、骨盤部１４の回旋運動を伴っても、走行運動時の重心を安定化させることができる。すなわち、骨盤回旋は、脚部１２の接地後の当該立脚側の股関節部分２３をロボットの重心に対して後方に位置させてしまい、床反力のベクトルが前記重心から離れ、重心を前傾させるように発生するモーメントが大きくなるために、走行が不安定になる。ところが、本実施形態では、当該モーメントの影響を補償するために股関節伸展トルクＴを付与することで、床反力のベクトルが前記重心に向かうことになり、走行速度を増すために骨盤回旋を行っても、安定した走行運動が可能になる。 By the torque control in the above-described leg longitudinal motion control unit 40, the center of gravity during the running motion can be stabilized even with the rotational motion of the pelvis portion 14. That is, in the pelvic rotation, the hip joint portion 23 on the standing leg side after the contact of the leg portion 12 is positioned rearward with respect to the center of gravity of the robot, and the floor reaction force vector moves away from the center of gravity and tilts the center of gravity forward. As a result, the generated moment becomes large and the running becomes unstable. However, in this embodiment, by applying the hip joint extension torque T to compensate for the influence of the moment, the floor reaction force vector is directed toward the center of gravity, and the pelvic rotation is performed to increase the running speed. However, stable running motion is possible.

次に、２足走行ロボットが前記跳躍期に入った場合には、次の制御がなされる。 Next, when the biped robot enters the jump period, the following control is performed.

前記骨盤動揺制御部４２では、骨盤動揺をさせずに、骨盤部１４がほぼ水平状態になる所定の初期状態に維持される。 The pelvic oscillation control unit 42 is maintained in a predetermined initial state in which the pelvis portion 14 becomes substantially horizontal without causing pelvic oscillation.

そして、この跳躍期では、骨盤動揺しないため、前記脚左右動作制御部３９では、骨盤部１４に対して左右両側の脚部１２，１２をロール方向に動かさずに、当該脚部１２，１２が左右方向に傾いていない所定の初期状態に維持される。 In this jumping period, since the pelvis does not shake, the leg left and right motion control unit 39 does not move the left and right leg parts 12 and 12 in the roll direction with respect to the pelvis part 14, and the leg parts 12 and 12 are moved. A predetermined initial state that is not inclined in the left-right direction is maintained.

前記脚伸縮制御部３８では、跳躍期を２分した前半時間と後半時間で、次のように、脚伸縮用駆動手段２８の駆動が制御される。 In the leg expansion / contraction control unit 38, the driving of the leg expansion / contraction drive means 28 is controlled as follows in the first half time and the second half time in which the jump period is divided into two.

跳躍期の前半時間では、前の立脚期と同一の制御がなされる。すなわち、直前の立脚期で立脚側となっていた脚部１２については、脚本体１８を前記初期状態から伸縮させない一方で、直前の立脚期で遊脚側となっていた脚部１２については、脚本体１８が前記初期状態から予め設定された変位量で短縮するように、脚伸縮用駆動手段２８の駆動が制御される。 In the first half of the jump period, the same control as in the previous stance period is performed. That is, for the leg 12 that was on the stance side in the previous stance phase, while the leg body 18 was not expanded or contracted from the initial state, the leg 12 that was on the free leg side in the immediately previous stance phase, The driving of the leg expansion / contraction driving means 28 is controlled so that the leg main body 18 is shortened by a preset amount of displacement from the initial state.

一方、跳躍期の後半時間では、前半時間と反対の制御がなされ、直前の立脚期で遊脚側となっていた脚部１２が、次の立脚期では立脚側となるため、その準備が行われる。すなわち、直前の立脚期で立脚側となっていた脚部１２については、脚本体１８が前記変位量で短縮するように脚伸縮用駆動手段２８の駆動が制御される一方、直前の立脚期で遊脚側となっていた脚部１２については、脚本体１８を前記初期状態に戻すように、脚伸縮用駆動手段２８の駆動が制御される。 On the other hand, in the second half of the jumping period, the control opposite to that of the first half hour is performed, and the leg 12 that was on the free leg side in the immediately preceding stance period becomes the stance side in the next stance period, so preparation is performed. Is called. That is, for the leg portion 12 that has been on the stance side in the immediately preceding stance period, the driving of the leg expansion / contraction drive means 28 is controlled so that the leg body 18 is shortened by the displacement amount, while in the immediately preceding stance period. With respect to the leg portion 12 on the free leg side, the drive of the leg extension / contraction drive means 28 is controlled so that the leg body 18 is returned to the initial state.

前記骨盤回旋制御部４２では、骨盤部１４が上式（２）の骨盤回旋角度θ_２（ｔ_２）になるように、前の立脚期から継続して骨盤回旋用駆動手段３３の駆動が制御される。 In the pelvic rotation control unit 42, the driving of the pelvic rotation driving means 33 is controlled continuously from the previous stance phase so that the pelvic portion 14 becomes the pelvic rotation angle θ ₂ (t ₂ ) of the above equation (2). Is done.

前記脚回旋動作制御部４１では、前の立脚期と同一の制御がなされ、左右両側の脚部１２，１２が骨盤回旋角度と同一の角度変位で逆向きに回旋するように、脚ヨー方向駆動手段３１の駆動が制御される。 In the leg rotation operation control unit 41, the same control as in the previous stance phase is performed, and the leg yaw direction drive is performed so that the left and right leg portions 12 and 12 rotate in the opposite direction with the same angular displacement as the pelvic rotation angle. The drive of the means 31 is controlled.

前記脚前後動作制御部４０では、次の立脚期で接地する脚部１２の到達位置を予測しながら、この到達位置に当該脚部１２が接地できるように、脚ピッチ方向駆動手段３０の駆動制御がなされる。すなわち、次の立脚期で接地する脚部１２の足先部２１が、予め記憶された以下の関係式（４）で定まる到達位置に到達するように、脚ピッチ方向駆動手段３０の駆動が制御され、次の立脚側の脚部１２を動揺させる。 The leg longitudinal motion control unit 40 predicts the reaching position of the leg 12 to be grounded in the next stance phase, and controls the driving of the leg pitch direction driving means 30 so that the leg 12 can touch the landing position. Is made. That is, the driving of the leg pitch direction driving means 30 is controlled so that the toe portion 21 of the leg 12 that contacts the ground in the next stance phase reaches the reaching position determined by the following relational expression (4) stored in advance. Then, the leg 12 on the next standing leg side is shaken.

ここで、ｘ_ｆは、現時点のロボットの重心Ｇから、次の立脚期における立脚側の脚部１２の足先部２１の到達位置までの前後方向の距離である。ｖは、現在のロボットの走行速度であり、図示しない加速度センサ等のセンサを使って測定された直前の値が用いられる。ｖ_ｒは、次の立脚期におけるロボットの目標走行速度であり、予め任意に設定される。Ｔ_２は、１回の立脚期に要する時間である。この時間Ｔ_２は、予め任意に設定、若しくは、都度指定した値を用いても良いし、前回の立脚期までの時間をセンサ等で計測して、その計測値、或いは、当該計測値を用いて演算した値を用いても良い。Ｋは、予め任意に設定されたゲインである。 Here, _xf is the distance in the front-rear direction from the current center of gravity G of the robot to the position where the foot tip 21 of the leg 12 on the stance side reaches the position in the next stance phase. v is the current traveling speed of the robot, and the value immediately before measured using a sensor such as an acceleration sensor (not shown) is used. v _r is a target running speed of the robot at the next stance phase, it is arbitrarily set in advance. T ₂ is the time required for one of the stance phase. The time T ₂ may be set arbitrarily in advance or a value designated each time, or the time until the previous stance phase is measured by a sensor or the like, and the measured value or the measured value is used. The value calculated in the above may be used. K is a gain arbitrarily set in advance.

以上の立脚期と跳躍期におけるアクチュエータ１５の制御が交互に繰り返し行われ、ロボットの走行動作がなされる。すなわち、ロボットの走行動作に際しては、一方の脚部１２が立脚側となる立脚期となる場合に、前述の立脚期での制御が行われ、その後、前述の跳躍期での制御がなされ、更に、他方の脚部１２が立脚側となる立脚期に入った際に、前述の立脚期での制御が行われ、再び、前述の跳躍期での制御がなされ、これら制御が繰り返し行われる。 The control of the actuator 15 in the stance period and the jump period is repeatedly performed alternately, and the running operation of the robot is performed. That is, during the running operation of the robot, when one leg 12 is in the stance phase on the stance side, the control in the stance phase is performed, and then the control in the jump phase is performed. When the other leg 12 enters the stance phase on the stance side, the control in the above-described stance phase is performed, the control in the above-described jumping phase is performed again, and these controls are repeatedly performed.

なお、前記脚部１２については、前述の構成に限定されず、脚本体１８を、前後方向に相対回転運動可能に接続された上側部位と下側部位により構成し、これら上側部位と下側部位には、それらの延出方向に伸縮可能なばね部材２０が少なくとも一方に配置され、前記相対回転運動を他のアクチュエータで行っても良い。この場合、上側部位と下側部位の相対回転運動を制御することで、前記実施形態の脚伸縮制御部２８での制御の結果と同様に、股関節部分２３から足先部２１までの直線距離が調節される。 In addition, about the said leg part 12, it is not limited to the above-mentioned structure, The leg main body 18 is comprised by the upper part and lower part connected so that relative rotation movement was possible in the front-back direction, These upper part and lower part Alternatively, at least one of the spring members 20 that can extend and contract in the extending direction may be disposed, and the relative rotational movement may be performed by another actuator. In this case, by controlling the relative rotational movement of the upper part and the lower part, the linear distance from the hip joint part 23 to the foot part 21 is similar to the result of the control in the leg expansion / contraction control part 28 of the embodiment. Adjusted.

また、前記実施形態では、２足走行ロボットの走行制御を行う場合を図示説明したが、本発明はこれに限らず、２足走行ロボットの跳躍運動の動作制御を行う場合に適用してもよい。この場合、前述した各種の定数を調整することで、前記ロボットを走行運動から跳躍運動に変えることができる。 In the above-described embodiment, the case where the traveling control of the biped robot is performed is described. However, the present invention is not limited to this and may be applied to the case where the jumping motion of the biped robot is controlled. . In this case, the robot can be changed from a running motion to a jumping motion by adjusting the various constants described above.

更に、骨盤回旋を行う機能及び制御と、当該骨盤回旋の影響をキャンセルする脚回旋動作を行う機能及び制御を省略することもできるが、これらを備えた前記実施形態の構成にすると、走行運動時の安定性をより確保することができ、より高速な走行運動やより高い跳躍運動が可能となる。 Further, the function and control for performing pelvic rotation and the function and control for performing leg rotation operation for canceling the influence of the pelvic rotation can be omitted. Stability can be ensured, and a faster running motion and higher jumping motion can be achieved.

その他、本発明における装置各部の構成は図示構成例に限定されるものではなく、実質的に同様の作用を奏する限りにおいて、種々の変更が可能である。 In addition, the configuration of each part of the apparatus in the present invention is not limited to the illustrated configuration example, and various modifications are possible as long as substantially the same operation is achieved.

１０移動制御システム
１２脚部
１４骨盤部
１５アクチュエータ
１６制御装置
２５脚用アクチュエータ
２６骨盤用アクチュエータ
３９脚左右動作制御部
４０脚前後動作制御部
４１脚回旋動作制御部
４２骨盤動揺制御部
４３骨盤回旋制御部 DESCRIPTION OF SYMBOLS 10 Movement control system 12 Leg part 14 Pelvic part 15 Actuator 16 Control apparatus 25 Leg actuator 26 Pelvic actuator 39 Leg left-right motion control part 40 Leg front-back motion control part 41 Leg rotation motion control part 42 Pelvic oscillation control part 43 Pelvic rotation control Part

Claims

In a system that controls the movement of a biped robot while operating the left and right legs,
A pelvis part rotatably supported by each leg part, and an actuator that operably drives each leg part and the pelvis part when moving the biped robot. And a control device for controlling the drive of the actuator,
The pelvis part is provided to enable pelvic oscillation that rotates in the roll direction around the center of the pelvis part,
The actuator comprises a leg actuator that operates the legs with respect to the pelvis part, and a pelvic actuator that operates the pelvis part,
In the movement process of the biped robot, the control device may change a pelvic rocking angle, which is a rotation angle in the roll direction of the pelvis part, with time based on a previously stored relational expression of the pelvic rocking. Further, a movement control system for a biped traveling robot, further comprising a pelvic oscillation control unit that performs drive control of the pelvic actuator.

2. The movement control system for a biped robot according to claim 1, wherein the control device performs drive control of the leg actuator in accordance with a rotation state of the pelvic part.

In the pelvic oscillation control unit, the pelvic oscillation angle is calculated based on the relational expression of the pelvic oscillation in the stance phase in which the tip side of one of the leg portions is in contact with the ground during the traveling process of the biped robot. Of the pelvic actuator so as to maintain the pelvic rocking angle in a predetermined initial state during the jumping period in which the distal ends of both the left and right legs are separated from the ground. The movement control system for a biped robot according to claim 1, wherein drive control is performed.

4. The movement control system for a biped robot according to claim 3, wherein the relational expression of the pelvic oscillation is a sine function representing a relationship between an elapsed time of the stance phase and the pelvic oscillation angle.

The control device includes a leg left-right motion control unit that controls the rotational motion of each leg in the roll direction with respect to the pelvis.
The leg left / right motion control unit controls the driving of the leg actuator so that each leg rotates in the opposite direction to the rotation direction of the pelvic oscillation with the same angular displacement as the pelvic oscillation angle. The movement control system for a biped robot according to claim 2.

The pelvis part is also provided with a pelvic rotation that rotates in the yaw direction around the center of the pelvis,
The control device performs drive control of the pelvic actuator based on a pre-stored relational expression of pelvic rotation so that a pelvic rotation angle that is a rotation angle in the yaw direction of the pelvis portion changes with time. The movement control system for a biped robot according to any one of claims 1 to 5, further comprising a pelvic rotation control unit.

In the pelvic rotation control unit, in the running process of the biped robot, the stance phase in which the distal end side of one of the leg portions is in contact with the ground, and the distal end sides of both the left and right leg portions are separated from the ground. 7. The movement control system for a biped robot according to claim 6, wherein drive control of the pelvic actuator is performed so that the pelvic rotation angle changes with time through a jumping period that is in a stagnation state.

The biped according to claim 6, wherein the relational expression of the pelvic rotation is a sine function representing a relationship between an elapsed time from the contact of either the left or right leg and the pelvic rotation angle. Traveling robot movement control system.

The control device includes a leg rotation operation control unit that controls a rotation operation of the legs in the yaw direction with respect to the pelvis part,
The leg rotation operation control unit controls driving of the leg actuator so that each leg rotates in the opposite direction to the rotation direction of the pelvic rotation with the same angular displacement as the pelvic rotation angle. The movement control system for a biped robot according to claim 6.

The control device includes a leg longitudinal motion control unit that controls the rotational motion of the legs in the pitch direction with respect to the pelvis.
In the leg back-and-forth motion control unit, the leg actuator is configured to enable the motion of each leg to compensate for the forward tilt of the center of gravity caused by the rotational moment in the pitch direction of the biped robot caused by the pelvic rotation. The movement control system for a biped robot according to claim 6, wherein the movement control is controlled.

The control device includes a leg longitudinal motion control unit that controls the rotational motion of the legs in the pitch direction with respect to the pelvis.
In the leg back-and-forth movement control unit, during the stance phase in which the tip side of one of the leg portions is in contact with the ground during the traveling process of the biped robot, 7. The biped according to claim 6, wherein the driving of the leg actuator is controlled so as to enable the operation of each leg to bring the direction of the floor reaction force close to the center of gravity of the biped robot. Traveling robot movement control system.

In the leg back-and-forth motion control unit, the arrival position of the left or right leg that contacts the ground during the next stance phase is predicted in the jumping period in which the distal ends of the left and right leg parts are separated from the ground. The movement control system for a biped robot according to claim 11, wherein a rotation operation of the legs in the pitch direction is controlled so that the legs can come into contact with the reaching position.