JP3614824B2 - Motion editing apparatus and motion editing method for legged mobile robot - Google Patents

Description

【０１０４】
同図に示す多質点モデルでは、ｉはｉ番目に与えられた質点を表す添え字であり、ｍ_ｉはｉ番目の質点の質量、ｒ_ｉ ’はｉ番目の質点の位置ベクトル（但し運動座標系）を表すものとする。本実施形態に係る脚式移動ロボット１００の機体重心は腰部付近に存在する。すなわち、腰部は、質量操作量が最大となる質点であり、図１３では、その質量はｍ_ｈ、その位置ベクトル（但し運動座標系）はｒ’_ｈ（ｒ’_ｈｘ，ｒ’_ｈｙ，ｒ’_ｈｚ）とする。また、機体のＺＭＰの位置ベクトル（但し運動座標系）をｒ’_ｚｍｐ（ｒ’_ｚｍｐｘ，ｒ’_ｚｍｐｙ，ｒ’_ｚｍｐｚ）とする。
【０１０５】
世界座標系Ｏ−ＸＹＺは絶対座標系であり、不変である。本実施形態に係る脚式移動ロボット１００は、腰部と両脚の足部にそれぞれ加速度センサ９３、９４、９６が配置されているので、実機上ではこれらセンサ出力により腰部並びに立脚それぞれと世界座標系の相対位置ベクトルｒ_ｑが検出される。これに対し、運動座標系すなわち機体のローカル座標系はＯ−Ｘ’Ｙ’Ｚ’は、ロボットともに動く。
【０１０６】
多質点モデルは、言わば、ワイヤフレーム・モデルの形態でロボットを表現したものである。図１３を見ても判るように、多質点近似モデルは、両肩、両肘、両手首、体幹、腰部、及び、両足首の各々を質点として設定される。図示の非厳密の多質点近似モデルにおいては、モーメント式は線形方程式の形式で記述され、該モーメント式はピッチ軸及びロール軸に関して干渉しない。多質点近似モデルは、概ね以下の処理手順により生成することができる。
【０１０７】
（１）ロボット１００全体の質量分布を求める。
（２）質点を設定する。質点の設定方法は、設計者のマニュアル入力であっても、所定の規則に従った自動生成のいずれでも構わない。
（３）各領域ｉ毎に、重心を求め、その重心位置と質量ｍ_ｉを該当する質点に付与する。
（４）各質点ｍ_ｉを、質点位置ｒ_ｉを中心とし、その質量に比例した半径に持つ球体として表示する。
（５）現実に連結関係のある質点すなわち球体同士を連結する。
【０１０８】
なお、図１３に示す多質点モデルの腰部情報における各回転角（θ_ｈｘ，θ_ｈｙ，θ_ｈｚ）は、脚式移動ロボット１００における腰部の姿勢すなわちロール、ピッチ、ヨー軸の回転を規定するものである（図１４には、多質点モデルの腰部周辺の拡大図を示しているので、確認されたい）。
【０１０９】
機体のＺＭＰ方程式は、制御目標点において印加される各モーメントの釣合い関係を記述したものである。図１４に示したように、機体を多数の質点ｍ_ｉで表わし、これらを制御目標点とした場合、すべての制御目標点ｍ_ｉにおいて印加されるモーメントの総和を求める式がＺＭＰ釣合い方程式である。
【０１１０】
世界座標系（Ｏ−ＸＹＺ）で記述された機体のＺＭＰ釣合い方程式、並びに機体のローカル座標系（Ｏ−Ｘ’Ｙ’Ｚ’）はそれぞれ以下の通りとなる。
【０１１１】
【数２】

【０１１２】
上式は、各質点ｍ_ｉにおいて印加された加速度成分により生成されるＺＭＰ回り（半径ｒ_ｉ−ｒ_ｚｍｐ）のモーメントの総和と、各質点ｍ_ｉに印加された外力モーメントＭ_ｉの総和と、外力Ｆｋにより生成されるＺＭＰ回り（ｋ番目の外力Ｆ_ｋの作用点をｓ_ｋとする）のモーメントの総和が釣り合うということを記述している。
【０１１３】
このＺＭＰ釣合い方程式は、総モーメント補償量すなわちモーメント・エラー成分Ｔを含んでいる。このモーメント・エラーをゼロ又は所定の許容範囲内に抑えることによって、機体の姿勢安定性が維持される。言い換えれば、モーメント・エラーをゼロ又は許容値以下となるように機体運動（足部運動や上半身の各部位の軌道）を修正することが、ＺＭＰを安定度判別規範とした姿勢安定制御の本質である。
【０１１４】
本実施形態では、腰部と左右の足部にそれぞれ加速度センサ９６，９３及び９４が配設されているので（図４を参照のこと）、実機動作においてはこれらの制御目標点における加速度計測結果を用いて直接的に且つ高精度に上記のＺＭＰ釣合い方程式を導出することができる。この結果、高速でより厳密な姿勢安定制御を実現することができる。
【０１１５】
Ｃ−３−２．全身協調型の姿勢安定制御
図１５には、モーション編集部１００２により生成された機体のモーションを安定化処理するための手順をフローチャートの形式で示している。但し、以下の説明では、図１３及び図１４に示すような線形・非干渉多質点近似モデルを用いて脚式移動ロボット１００の各関節位置や動作を記述するものとする。
【０１１６】
まず、足部運動の設定を行う（ステップＳ１）。足部運動は、２以上の機体のポーズを時系列的に連結されてなるモーション・データである。
【０１１７】
モーション・データは、モーション編集部１００２により生成されたデータであり、足部の各関節角の変位を表わした関節空間情報と、関節位置を表わしたデカルト空間情報で構成される。
【０１１８】
次いで、設定された足部運動を基にＺＭＰ安定領域を算出する（ステップＳ２）。ＺＭＰは、機体に印加されるモーメントがゼロとなる点であり、基本的には足底接地点と路面の形成する支持多角形の辺上あるいはその内側に存在する。ＺＭＰ安定領域は、この支持多角形のさらに内側に設定された領域であり、該領域にＺＭＰを収容させることによって機体を高度に安定した状態にすることができる。
【０１１９】
そして、足部運動とＺＭＰ安定領域を基に、足部運動中におけるＺＭＰ軌道を設定する（ステップＳ３）。
【０１２０】
また、機体の上半身（股関節より上側）の各部位については、腰部、体幹部、上肢、頭部などのようにグループ設定する（ステップＳ１１）。
【０１２１】
そして、各部位グループごとに希望軌道を設定する（ステップＳ１２）。上半身の希望軌道の設定は、モーション編集部１００２において行なわれる。
【０１２２】
次いで、各部位のグループ設定の調整（再グルーピング）を行ない（ステップＳ１３）、さらにこれらグループに対して優先順位を与える（ステップＳ１４）。ここで言う優先順位とは、機体の姿勢安定制御のため処理演算に投入する順位のことであり、例えば質量操作量に応じて割り振られる。この結果、機体上半身についての各部位についての優先順位付き希望軌道群が出来上がる。
【０１２３】
また、機体上半身の各部位グループ毎に、モーメント補償に利用できる質量を算出しておく（ステップＳ１５）。
【０１２４】
そして、足部運動とＺＭＰ軌道、並びに上半身の各部位グループ毎の希望軌道群を基に、ステップＳ１４により設定された優先順位に従って、各部位グループの運動パターンを姿勢安定化処理に投入する。
【０１２５】
この姿勢安定化処理では、まず、処理変数ｉに初期値１を代入する（ステップＳ２０）。そして、優先順位が先頭からｉ番目までの部位グループについての目標軌道設定時における、目標ＺＭＰ上でのモーメント量すなわち総モーメント補償量を算出する（ステップＳ２１）。目標軌道が算出されていない部位については、希望軌道を用いる。
【０１２６】
次いで、ステップＳ１５において算出された当該部位のモーメント補償に利用できる質量を用いて、そのモーメント補償量を設定して（ステップＳ２２）、モーメント補償量を算出する（ステップＳ２３）。
【０１２７】
次いで、算出されたｉ番目の部位のモーメント補償量を用いて、ｉ番目の部位についてのＺＭＰ方程式を導出して（ステップＳ２４）、当該部位のモーメント補償運動を算出することにより（ステップＳ２５）、優先順位が先頭からｉ番目までの部位についての目標軌道を得ることができる。
【０１２８】
このような処理をすべての部位グループについて行なうことにより、安定運動（例えば歩行）が可能な全身運動パターンが生成される。
【０１２９】
Ｃ−３−３．ＺＭＰ軌道の規制
姿勢安定化処理部１００３は、モーション編集部１００２において編集されたモーションを、姿勢安定化が可能な動作パターンに修正する。
【０１３０】
一方、モーション編集部１００２は、足部運動の生成に際し、足底の接地位置を指定することはできるが、この段階では機体の重心位置を設定することはできない。そこで、姿勢安定化処理部１００３において、オペレータからのＺＭＰ軌道の入力を受け容れて、これに基づいてＺＭＰ釣合い方程式を立てて、姿勢安定化制御を行なう。
【０１３１】
ここで、図１６に示すような、基本立ち姿勢から右足を開いて再び右足を閉じて基本立ち姿勢に戻るというモーションをモーション編集部１００２で作成したとする。
【０１３２】
図１７には、図１６で示したモーションに対して、ＺＭＰ軌道を規制して姿勢安定化処理を行なった結果を示している。
【０１３３】
まず、初期姿勢としての基本立ち姿勢からＺＭＰを左足方向に移動させることにより、右足を開く。
【０１３４】
ここで、ＺＭＰ軌道を規制しているので、ＺＭＰは左足に保たれる。
【０１３５】
その後、右足を閉じると、初期姿勢に戻る。
【０１３６】
また、図１８には、図１６で示したモーションに対して、ＺＭＰ軌道を規制して姿勢安定化処理を行なった結果を示している。
【０１３７】
まず、初期姿勢としての基本立ち姿勢からＺＭＰを左足方向に移動させることにより、右足を開く。
【０１３８】
このとき、ＺＭＰ軌道を規制していないので、姿勢安定化処理により、ＺＭＰが両足の中心まで戻る。
【０１３９】
そして、ＺＭＰを右足方向へ移動させた後、ＺＭＰを再度左足方向へ移動させると、右足を閉じ、初期の姿勢へ戻る。
【０１４０】
［追補］
以上、特定の実施例を参照しなら、本発明について詳解してきた。しかしながら、本発明の要旨を逸脱しない範囲で当業者が該実施例の修正や代用を成し得ることは自明である。
【０１４１】
本発明の要旨は、必ずしも「ロボット」と称される製品には限定されない。すなわち、電気的若しくは磁気的な作用を用いて人間の動作に似せた運動を行う機械装置であるならば、例えば玩具等のような他の産業分野に属する製品であっても、同様に本発明を適用することができる。
【０１４２】
要するに、例示という形態で本発明を開示してきたのであり、本明細書の記載内容を限定的に解釈するべきではない。本発明の要旨を判断するためには、冒頭に記載した特許請求の範囲の欄を参酌すべきである。
【０１４３】
【発明の効果】
以上詳記したように、本発明によれば、可動脚によりさまざまな作業を行なう脚式移動ロボットのための、優れた動作編集装置及び動作編集方法を提供することができる。
【０１４４】
また、本発明によれば、実機上での実行可能性を考慮しながら動作パターンの編集を支援することができる、脚式移動ロボットのための優れた動作編集装置及び動作編集方法を提供するができる。
【０１４５】
また、本発明によれば、実機上での実行時の姿勢安定性を考慮しながら動作パターンの編集作業を支援することができる、脚式移動ロボットのための優れた動作編集装置及び動作編集方法を提供することができる。
【図面の簡単な説明】
【図１】本発明の実施に供される脚式移動ロボットが直立している様子を前方から眺望した様子を示した図である。
【図２】本発明の実施に供される脚式移動ロボットが直立している様子を後方から眺望した様子を示した図である。
【図３】脚式移動ロボットが具備する関節自由度構成を模式的に示した図である。
【図４】脚式移動ロボット１００の制御システム構成を模式的に示した図である。
【図５】本発明の一実施形態に係るモーション編集システムの機能構成を模式的に示した図である。
【図６】脚式移動ロボット１００のポーズを規定する各関節軸の変位角を指定するための画面の構成例を示した図である。
【図７】逆キネマティクスにより各関節軸の変位角を求める場合の概略的な処理手順を示した図である。
【図８】機体の３Ｄアニメーション・キャラクタを介してポーズを指示するための３Ｄビューア画面の構成例を示した図である。
【図９】ＩＫ関節角グループ化ウィンドウの構成例を示した図である。
【図１０】左右両足を変更部位として指定した後、３Ｄキャラクタを用いてポーズを変更する様子を描いた図である。
【図１１】あるトラック上に複数のポーズが時系列的に配置されている様子を示した図である。
【図１２】ＩＫ関節角グループ毎にトラックが配設されている様子を示した図である。
【図１３】脚式移動ロボット１００の多質点近似モデルを示した図である。
【図１４】多質点モデルの腰部周辺の拡大図を示した図である。
【図１５】モーション編集部１００２により生成された機体のモーションを安定化処理するための手順を示したフローチャートである。
【図１６】モーション編集部１００２により生成したモーションを示した図である。
【図１７】ＺＭＰ軌道を規制した場合の図１６で示したモーションに対する姿勢安定化処理結果を示した図である。
【図１８】ＺＭＰ軌道を規制しない場合の図１６で示したモーションに対する姿勢安定化処理結果を示した図である。
【符号の説明】
１…首関節ヨー軸
２Ａ…第１の首関節ピッチ軸
２Ｂ…第２の首関節（頭）ピッチ軸
３…首関節ロール軸
４…肩関節ピッチ軸
５…肩関節ロール軸
６…上腕ヨー軸
７…肘関節ピッチ軸
８…手首関節ヨー軸
９…体幹ピッチ軸
１０…体幹ロール軸
１１…股関節ヨー軸
１２…股関節ピッチ軸
１３…股関節ロール軸
１４…膝関節ピッチ軸
１５…足首関節ピッチ軸
１６…足首関節ロール軸
３０…頭部ユニット，４０…体幹部ユニット
５０…腕部ユニット，５１…上腕ユニット
５２…肘関節ユニット，５３…前腕ユニット
６０…脚部ユニット，６１…大腿部ユニット
６２…膝関節ユニット，６３…脛部ユニット
８０…制御ユニット，８１…主制御部
８２…周辺回路
９１，９２…接地確認センサ
９３，９４…加速度センサ
９５…姿勢センサ
９６…加速度センサ
１００…脚式移動ロボット
１０００…モーション編集システム
１００１…ポーズ入力部
１００２…モーション編集部
１００３…姿勢安定化処理部
１００４…モーション再生部[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a motion editing apparatus and a motion editing method for supporting creation / editing of a series of commands / data describing a predetermined motion pattern of a robot, and in particular, leg-type movement for performing various operations with a movable leg. The present invention relates to a motion editing apparatus and a motion editing method for a robot.
[0002]
More particularly, the present invention relates to a motion editing apparatus and a motion editing method for a legged mobile robot that supports editing of motion patterns while considering feasibility on an actual machine, and more particularly, edited motion patterns. The present invention relates to a motion editing apparatus and a motion editing method for a legged mobile robot that supports editing work in consideration of posture stability during execution.
[0003]
[Prior art]
A mechanical device that uses an electrical or magnetic action to perform a movement resembling human movement is called a “robot”. It is said that the word “robot” comes from the Slavic word “ROBOTA (slave machine)”. In Japan, robots started to spread from the end of the 1960s, but many of them are industrial robots such as manipulators and transfer robots for the purpose of automating and unmanned production operations in factories. Met.
[0004]
Recently, the model is based on the body mechanism and movement of a four-legged animal such as a dog or a cat, or a pet-type robot that mimics its movement, or a human-like animal that walks upright on two legs. Research and development related to legged mobile robots such as the “humanoid” or “humanoid” robots have been progressed, and expectations for practical use are also increasing.
[0005]
A legged mobile robot that emulates a human biological mechanism or movement is particularly called a “humanoid” or “humanoid robot”. The humanoid robot can provide, for example, life support, that is, support for human activities in various situations in daily life such as a living environment.
[0006]
One of the uses of legged mobile robots is to perform various difficult operations in industrial activities and production activities. For example, maintenance work at nuclear power plants, thermal power plants, petrochemical plants, transportation and assembly work of parts at manufacturing plants, cleaning of high-rise buildings, substitution of dangerous work and difficult work such as rescue at fire sites etc. .
[0007]
Further, as other uses of the legged mobile robot, rather than the above-described work support, there is a life-contact type, that is, a “symbiosis” or “entertainment” with a human. This type of robot faithfully reproduces the rich emotional expression using the movement mechanism and limbs of relatively intelligent legged walking animals such as humans, dogs (pets), and bears. In addition, it does not simply execute a pre-input motion pattern faithfully, but dynamically responds to words and attitudes received from the user (or other robots) (such as “giving up”, “speaking”, “hitting”). It is also required to realize corresponding and vivid response expressions.
[0008]
In the conventional toy machine, the relationship between the user operation and the response operation is fixed, and the operation of the toy cannot be changed according to the user's preference. As a result, the user eventually gets bored with the toy that repeats only the same action.
[0009]
In contrast, intelligent robots are equipped with behavioral models and learning models due to movement, and by determining the movement by changing the model based on input information such as voice, images, and touch from the outside. Realize autonomous thinking and motion control. By preparing an emotion model and instinct model, the robot can express autonomous behavior according to the emotion and instinct of the robot itself. In addition, robots equipped with image input devices and voice input / output devices and performing image recognition processing and voice recognition processing can realize realistic communication with humans at a higher intelligent level. .
[0010]
In addition, by changing this model in response to detection of external stimuli such as user operations, that is, by providing a “learning effect”, it is possible to provide an operation pattern that does not get bored or adapts to preferences Can do.
[0011]
Recent legged mobile robots have high information processing capabilities, and the robot itself can be regarded as a kind of computer system. Therefore, a high-level and complicated series of motion sequences configured by motion patterns realized on a robot or a combination of a plurality of basic motion patterns is constructed by operations similar to computer programming.
[0012]
It is indispensable to prepare a lot of motion data to operate the actual machine in order to spread the robot body. Therefore, it is strongly desired to establish a development environment for performing motion editing for robots.
[0013]
In the future, it is expected that the robot will deeply penetrate not only the industry but also general households and daily life. In particular, for products that pursue entertainment, it is expected that there are many cases where general consumers who do not have advanced knowledge of computers and computer programming purchase and use robots. For such general users, it is preferable to provide a tool for supporting creation and editing of a robot motion sequence relatively easily and efficiently by interactive processing, that is, a motion editing system.
[0014]
The robot is composed of a plurality of control points such as joints. Therefore, by inputting the position and velocity (joint angle and its angular velocity) at each control point, the body motion can be edited. In this respect, it is similar to character animation generation in computer graphics. However, there is a difference between the operation in the virtual space and the actual operation. In the case of a legged mobile robot, a desired operation cannot be executed simply by driving the joint angle, and it is necessary to continue the legged work without falling down. In other words, maintaining the stability of the posture is a premise for realizing the desired motion.
[0015]
In many cases, the posture stability control of legged mobile robots uses a ZMP stability criterion that searches for points where the moment is zero on or inside the sides of the support polygon formed by the sole contact point and the road surface. Use. In the case of a biped legged mobile robot, the support polygon is extremely high, and thus posture stability control is particularly difficult.
[0016]
There is already a motion editing system in which the command values at each control point of the aircraft are entered on the screen and the robot motion is created.However, however, the posture stability when the actual machine is operated with the edited motion is checked, There is still no system that modifies the desired motion to stabilize. If the assembled motion cannot maintain the attitude stability of the aircraft, and the motion itself cannot be executed, the motion is not substantially edited.
[0017]
[Problems to be solved by the invention]
An object of the present invention is to provide an excellent motion editing apparatus and motion editing method for a legged mobile robot that performs various operations using movable legs.
[0018]
It is a further object of the present invention to provide an excellent motion editing apparatus and motion editing method for a legged mobile robot that can support editing of motion patterns while considering feasibility on an actual machine. is there.
[0019]
A further object of the present invention is to provide an excellent motion editing apparatus and motion editing method for a legged mobile robot capable of supporting editing work while considering the posture stability during execution of the edited motion pattern. There is to do.
[0020]
[Means and Actions for Solving the Problems]
The present invention has been made in consideration of the above problems, and is a motion editing device or a motion editing method for a legged mobile robot having a plurality of joint angles,
A posture data input unit or step for inputting posture data of the aircraft consisting of displacement values of each joint angle;
A motion generation unit or step for editing motion data of the aircraft by a combination of the one or more input posture data;
A posture stabilization processing unit or step that verifies whether the generated motion data can be operated while stabilizing the posture on the actual machine and / or corrects the motion data to enable posture stabilization;
A motion editing apparatus or a motion editing method for a legged mobile robot.
[0021]
According to the motion editing apparatus or the motion editing method, the motion of the robot is edited by interpolating the motion between the poses according to the pose of the machine body input from the operator. The posture stabilization processing unit verifies whether or not the edited motion can be operated while stabilizing the posture on the actual machine based on the ZMP stability determination criterion, and can perform posture stabilization. Make corrections to the pattern. As a result, it is possible to efficiently edit operation data that is guaranteed to operate on the actual machine.
[0022]
Here, the posture data input unit or step may accept a direct input of a displacement value for each joint angle using a keyboard or the like.
[0023]
Alternatively, the posture data input unit or step may calculate the displacement value of each joint angle by inverse kinematics in response to the application of the pose change operation by the user on the 3D character display representing the robot. It may be.
[0024]
In this case, the user can perform intuitive pose input. In addition, one or more parts of the aircraft whose pose is desired to be changed may be designated, and the pose may be changed only for the designated part in response to a pose change operation by the user on the 3D character display. .
[0025]
The motion generation unit or step may generate a motion by interpolating between the poses by combining one or more posture data input by the posture data input unit or step in a time series. .
[0026]
In addition, the motion generation unit or step may generate motion in a corresponding part group by arranging poses in time series on a track assigned to each part group in the body in which the pose is desired to be changed. .
[0027]
Further, the motion generation unit or step generates motion for each part group on a plurality of prioritized tracks, and performs motion of each track so that the motion for each part group does not compete according to the priority order. You may make it produce | generate the motion of the whole body by superimposing.
[0028]
Further, the posture stabilization unit or step generates a ZMP balance equation describing a balance relationship of each moment applied to the robot body based on the motion data generated by the motion generation unit or step. The operation data may be corrected so as to cancel the moment error appearing on the ZMP balance equation.
[0029]
At this time, the target trajectory may be corrected for each part in an order according to a predetermined priority order. For example, priority for correcting the target trajectory may be given to each part in order of the magnitude of the mass manipulated variable on the aircraft.
[0030]
Further, the motion data correcting means or step may obtain a desired foot trajectory by correcting the motion data so as to cancel a moment error appearing on the ZMP balance equation while regulating the ZMP trajectory. Can do.
[0031]
Other objects, features, and advantages of the present invention will become apparent from more detailed description based on embodiments of the present invention described later and the accompanying drawings.
[0032]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0033]
A. Mechanical structure of legged mobile robot
1 and 2 show an external configuration of a legged mobile robot 100 that performs motion editing by the motion editing system according to the present invention. This legged mobile robot 100 is called “human form” or “human form”, and as shown in the figure, the legged mobile robot 100 performs legged movement with the trunk, the head, the left and right upper limbs. For example, a control unit (not shown) built in the torso controls the operation of the aircraft in an integrated manner.
[0034]
Each of the left and right lower limbs is composed of a thigh, a knee joint, a shin, an ankle, and a foot, and is connected by a hip joint at the substantially lower end of the trunk. The left and right upper limbs are composed of an upper arm, an elbow joint, and a forearm, and are connected to the left and right side edges above the trunk by shoulder joints. The head is connected to the substantially uppermost center of the trunk by a neck joint.
[0035]
The control unit is equipped with a controller (main control unit) that processes the external inputs from the joint actuators and sensors (described later) that constitute the legged mobile robot 100, and a power supply circuit and other peripheral devices. It is the housing which was made. In addition, the control unit may include a communication interface and a communication device for remote operation.
[0036]
The legged mobile robot 100 configured as described above can realize bipedal walking by whole body cooperative operation control by the control unit. Such biped walking is generally performed by repeating a walking cycle divided into the following operation periods. That is,
[0037]
(1) Single leg support period with left leg lifted right leg
(2) Supporting both legs with the right foot grounded
(3) Single leg support period with right leg lifted left leg
(4) Supporting both legs with the left foot on the ground
[0038]
The walking control in the legged mobile robot 100 is realized by planning the target trajectory of the lower limb in advance and correcting the planned trajectory in each of the above periods. That is, in the both-leg support period, the correction of the lower limb trajectory is stopped and the waist height is corrected at a constant value using the total correction amount with respect to the planned trajectory. In the single leg support period, a corrected trajectory is generated so that the relative positional relationship between the corrected ankle and waist of the leg is returned to the planned trajectory.
[0039]
Starting with correcting the trajectory of walking motion, the attitude stabilization control of the aircraft is generally performed by interpolation calculation using a fifth order polynomial so that the position, speed, and acceleration for reducing the deviation from ZMP are continuous. . ZMP (Zero Moment Point) is used as a standard for determining the stability of walking. The standard for discriminating the stability by ZMP is the principle of d'Alembert that gravity and inertia force from the walking system to the road surface, and these moments balance with the floor reaction force and the floor reaction force moment as a reaction from the road surface to the walking system. based on. As a result of the dynamic reasoning, the point where the pitch axis and roll axis moments become zero on or inside the side of the support polygon (that is, the ZMP stable region) formed by the sole contact point and the road surface, that is, “ZMP (Zero Moment”. Point) "exists.
[0040]
FIG. 3 schematically shows a joint degree-of-freedom configuration of the legged mobile robot 100. As shown in the figure, a legged mobile robot 100 connects an upper limb including two arms and a head 1, a lower limb including two legs that realize a moving operation, and an upper limb and a lower limb. It is a structure having a plurality of limbs, which is composed of a trunk.
[0041]
A neck joint (Neck) that supports the head has three degrees of freedom: a neck joint yaw axis 1, a neck joint pitch axis 2, and a neck joint roll axis 3.
[0042]
Each arm portion has a degree of freedom as a shoulder joint pitch axis 4 at the shoulder, a shoulder joint roll axis 5, an upper arm yaw axis 6, an elbow joint pitch axis 7 at the elbow, and a wrist ( Wrist) is composed of a wrist joint yaw axis 8 and a hand portion. The hand part is actually a multi-joint / multi-degree-of-freedom structure including a plurality of fingers.
[0043]
The trunk (Trunk) has two degrees of freedom: a trunk pitch axis 9 and a trunk roll axis 10.
[0044]
Further, each leg part constituting the lower limb includes a hip joint yaw axis 11 at the hip joint (Hip), a hip joint pitch axis 12, a hip joint roll axis 13, a knee joint pitch axis 14 at the knee (Knee), and an ankle (Ankle). ), An ankle joint pitch axis 15, an ankle joint roll axis 16, and a foot.
[0045]
However, the entertainment-type legged mobile robot 100 does not have to be equipped with all the above-mentioned degrees of freedom, or is not limited to this. It goes without saying that the degree of freedom, that is, the number of joints, can be increased or decreased as appropriate in accordance with design / manufacturing constraints and required specifications.
[0046]
Each degree of freedom of the legged mobile robot 100 as described above is actually implemented using an actuator. It is preferable that the actuator be small and light in light of demands such as eliminating the appearance of extra bulges on the appearance and approximating the shape of a human body, and performing posture control on an unstable structure such as biped walking. . In the present embodiment, a small AC servo actuator of a gear direct connection type and a servo control system made into one chip and built in a motor unit is mounted (for this type of AC servo actuator, for example, this JP-A 2000-299970 already assigned to the applicant). In the present embodiment, by adopting a reduced speed gear as a direct connection gear, the passive characteristics of the drive system required for the robot 100 of a type that places importance on physical interaction with humans are obtained.
[0047]
B. Control system configuration for legged mobile robot
FIG. 4 schematically shows a control system configuration of the legged mobile robot 100. As shown in the figure, the legged mobile robot 100 includes each of the mechanism units 30, 40, 50R / L, 60R / L expressing human limbs, and adaptive control for realizing a cooperative operation between the mechanism units. (Where R and L are suffixes indicating right and left, and so on).
[0048]
The entire operation of the legged mobile robot 100 is controlled by the control unit 80 in an integrated manner. The control unit 80 exchanges data and commands between the main control unit 81 including main circuit components (not shown) such as a CPU (Central Processing Unit) and a memory, and each component of the power supply circuit and the robot 100. The peripheral circuit 82 includes an interface (none of which is shown).
[0049]
In realizing the present invention, the installation location of the control unit 80 is not particularly limited. Although it is mounted on the trunk unit 40 in FIG. 4, it may be mounted on the head unit 30. Alternatively, the control unit 80 may be provided outside the legged mobile robot 100 so as to communicate with the body of the legged mobile robot 100 by wire or wirelessly.
[0050]
Each joint degree of freedom in the legged mobile robot 100 shown in FIG. 3 is realized by a corresponding actuator. That is, the head unit 30 includes a neck joint yaw axis actuator A representing the neck joint yaw axis 1, the first and second neck joint pitch axes 2A and 2B, and the neck joint roll axis 3.₁, Neck joint pitch axis actuator A_2AAnd A_2B, Neck joint roll axis actuator A₃Is arranged.
[0051]
The trunk unit 40 includes a trunk pitch axis actuator A that represents the trunk pitch axis 9 and the trunk roll axis 10.₉, Trunk roll axis actuator A₁₀Is deployed.
[0052]
Further, the arm unit 50R / L is subdivided into an upper arm unit 51R / L, an elbow joint unit 52R / L, and a forearm unit 53R / L, but a shoulder joint pitch axis 4, a shoulder joint roll axis 5, an upper arm Shoulder joint pitch axis actuator A representing the yaw axis 6, the elbow joint pitch axis 7, and the wrist joint yaw axis 8.₄, Shoulder joint roll axis actuator A₅, Upper arm yaw axis actuator A₆, Elbow joint pitch axis actuator A₇, Wrist joint yaw axis actuator A₈Is deployed.
[0053]
The leg unit 60R / L is subdivided into a thigh unit 61R / L, a knee unit 62R / L, and a shin unit 63R / L, but the hip joint yaw axis 11, hip joint pitch axis 12, hip joint Hip joint yaw axis actuator A representing each of roll axis 13, knee joint pitch axis 14, ankle joint pitch axis 15, and ankle joint roll axis 16.₁₁Hip joint pitch axis actuator A₁₂, Hip joint roll axis actuator A₁₃, Knee joint pitch axis actuator A₁₄, Ankle joint pitch axis actuator A₁₅, Ankle joint roll axis actuator A₁₆Is deployed.
[0054]
Actuator A used for each joint₁, A₂, A₃More preferably, it can be constituted by a small AC servo actuator (described above) of a gear direct connection type and of a type in which the servo control system is mounted on a motor unit in a single chip.
[0055]
For each mechanism unit such as the head unit 30, trunk unit 40, arm unit 50, and leg unit 60, sub-control units 35, 45, 55, and 65 for actuator drive control are provided.
[0056]
An acceleration sensor 95 and a posture sensor 96 are disposed on the trunk 40 of the body. The acceleration sensor 95 is disposed in the X, Y, and Z axial directions. By placing the acceleration sensor 95 on the waist of the airframe, the waist where the mass manipulated variable is large is set as a control target point, and the posture and acceleration at that position are directly measured, and posture stability control based on ZMP Can be performed.
[0057]
Further, ground check sensors 91 and 92 and acceleration sensors 93 and 94 are disposed on the leg portions 60R and 60L, respectively. The ground contact confirmation sensors 91 and 92 are configured by, for example, mounting a pressure sensor on the sole, and can detect whether the sole has landed based on the presence or absence of a floor reaction force. The acceleration sensors 93 and 94 are arranged in at least the X and Y axial directions. By disposing the acceleration sensors 93 and 94 on the left and right feet, the ZMP balance equation can be assembled directly with the feet closest to the ZMP position (described later).
[0058]
When an acceleration sensor is placed only on the waist where the mass manipulated variable is large, only the waist is set as the control target point, and the foot state must be relatively calculated based on the calculation result of this control target point. It is necessary to satisfy the following conditions between the foot and the road surface.
[0059]
(1) The road surface does not move no matter what force or torque is applied.
(2) The friction coefficient with respect to translation on the road surface is sufficiently large, and no slip occurs.
[0060]
On the other hand, in the present embodiment, a reaction force sensor system (such as a floor reaction force sensor) that directly applies a force to the ZMP is provided on a foot that is a contact portion with the road surface, and local coordinates used for control and the coordinates thereof are used. An acceleration sensor for directly measuring is provided. As a result, the ZMP balance equation can be directly assembled with the foot portion closest to the ZMP position, and more rigorous posture stabilization control can be realized at high speed without depending on the preconditions described above. As a result, the fuselage can be used on gravel or on carpets with long bristle feet that cause the surface to move when force or torque is applied, or on residential tiles that are prone to slip due to insufficient translational friction. Can guarantee stable walking (movement).
[0061]
The main control unit 80 can dynamically correct the control target in response to the outputs of the sensors 91 to 93. More specifically, an adaptive control is performed on each of the sub-control units 35, 45, 55, and 65, and a whole body motion pattern in which the upper limbs, trunk, and lower limbs of the legged mobile robot 100 are driven in cooperation. Is realized.
[0062]
The whole body motion on the body of the robot 100 sets a foot motion, a ZMP (Zero Moment Point) trajectory, a trunk motion, an upper limb motion, a waist height, and the like, and instructs an operation according to these setting contents. The command is transferred to each sub-control unit 35, 45, 55, 65. And each sub-control part 35, 45 ... interprets the received command from the main control part 81, and each actuator A₁, A₂, A₃A drive control signal is output to. Here, “ZMP” refers to a point on the floor where the moment due to floor reaction force during walking is zero, and “ZMP trajectory” refers to, for example, ZMP during the walking motion period of the robot 100. Means the trajectory that moves (see above).
[0063]
C. Motion editing system
FIG. 5 schematically shows a functional configuration of a motion editing system according to an embodiment of the present invention.
[0064]
The illustrated motion editing system 1000 includes a pose input unit 1001, a motion editing unit 1002, a posture stabilization processing unit 1003, and a motion playback unit 1004.
[0065]
The pose input unit 1001 includes, for example, a user interface such as a keyboard, a mouse, and a display, and an operator can input a pose of the robot 100 according to a GUI (Graphical User Interface) screen provided by the motion editing unit 1002. it can.
[0066]
The pose of the airframe is represented by the displacement angle of each joint axis arranged on the whole body of the airframe. The motion editing unit 1002 according to the present embodiment uses a reverse kinematics from a pose supported via the 3D animation character of the aircraft, in addition to accepting a direct input of the displacement angle of each joint axis as a pose input method. There is a method for obtaining the displacement angle of each joint axis.
[0067]
A motion editing unit (Motion Editor) 1002 performs motion interpolation by interpolating motion between poses according to the pose of the aircraft input from the operator via the pose input unit 1001. At this time, it is possible not only to combine two or more poses in time series but also to combine poses edited for each part in parallel.
[0068]
The posture stabilization processing unit (Stabilizer) 1003 verifies whether the motion edited by the motion editing unit 1002 can be operated while stabilizing the posture on the actual machine based on the ZMP stability determination criterion, The motion pattern that can stabilize the posture is corrected.
[0069]
Here, the stability determination criterion by ZMP is that the gravity and inertial force from the walking system to the road surface and these moments balance with the floor reaction force and the floor reaction force moment as a reaction from the road surface to the walking system. Based on "the principle of". The posture stabilization processing unit 1003 plans the ZMP trajectory during the motion execution so that the ZMP is accommodated in the ZMP stable region in the support polygon formed by the sole contact point and the road surface. The operator can designate a desired ZMP position or ZMP trajectory in advance.
[0070]
Based on the motion data edited by the motion editing unit 1002 and corrected by the posture stabilization processing unit 1003, the motion playback unit 1004 displays a simulation of the aircraft operation on the screen.
[0071]
The editing result by the motion editing system 100 is stored as a motion file in a predetermined format. By installing this motion file in the legged mobile robot 100, the motion can be reproduced by the actual operation.
[0072]
C-1. Enter pose
The operator can input a pose of the robot 100 according to a GUI (Graphical User Interface) screen provided by the motion editing unit 1002. The pose of the airframe is represented by the displacement angle of each joint axis arranged on the whole body of the airframe.
[0073]
In this embodiment, as a pose input method, the displacement angle of each joint axis is obtained by inverse kinematics from a method of directly inputting the displacement angle of each joint axis and a pose supported via the 3D animation character of the aircraft. Prepare a method.
[0074]
In the former direct input method, for example, a pause can be instructed using an input screen as shown in FIG. In the screen shown in the figure, the joint angle input box is arranged according to the joint degree of freedom configuration of the aircraft, so the operator uses the keyboard after placing the cursor with the mouse in the input box near the desired joint. To give a desired value. Also, by clicking the “+” button at the right end of the input box, the value already input can be incremented. Writing a new value to the input box saves it as the currently running pose.
[0075]
In the case of the direct input method, in addition to relying on the user's manual input on the input screen as shown in FIG. 6, the displacement amount of each joint angle obtained by motion capture or direct teaching on the actual machine is used. It can also be used as input data.
[0076]
FIG. 7 shows a schematic processing procedure for obtaining the displacement angle of each joint axis by reverse kinematics from a pose instructed via the 3D animation character of the aircraft.
[0077]
As shown in the figure, in the pose designation method based on inverse kinematics, a part to be changed in pose is designated, and then a motion is given to a designated part on the 3D character representing the legged mobile robot 100. Functions such as mouse dragging can be used to operate the designated part. Then, after moving the designated part, the displacement amount of each joint angle for forming a pose on the screen is calculated by inverse kinematics. The calculated value is reflected in the input box of the displacement angle designation screen shown in FIG.
[0078]
FIG. 8 shows a configuration example of a 3D viewer screen for instructing a pose via the 3D animation character of the aircraft.
[0079]
The operator can give a desired movement to the part by dragging the part designated on the 3D character displayed on the illustrated 3D viewer screen with the mouse.
[0080]
A camera mode button is arranged on the left edge of the viewer screen to view 3D characters such as “Front”, “Back”, “Left”, “Right”, “Top”, “Bottom”, etc. The direction (display) can be specified.
[0081]
In addition, a part designation button is arranged at the lower edge of the viewer screen, and the operator can designate a part to which a motion is to be given by pressing any one of them. In the illustrated example, buttons for designating the left arm, the right arm, the left leg, and the right leg are arranged in order from the left. The definition of each button A, B, and C is user-programmable, and the operator can use it as a shortcut button when simultaneously specifying two or more parts.
[0082]
Further, an IK (Reverse Kinematics) button is disposed at the lower left corner of the viewer screen. When this IK button is selected, an IK joint angle grouping window as shown in FIG. 9 appears.
[0083]
In the IK joint angle grouping window, the joint degree-of-freedom configuration of the airframe is drawn, and the operator can specify by directly clicking on the part where the pose is to be changed. Alternatively, the parts to be grouped can be selected using a part designation button arranged along the right edge of the screen.
[0084]
In addition, a check box for designating the attribute of the IK joint angle group is arranged above the window.
[0085]
By checking “Maintain End Effect Orientation”, it is possible to maintain the position of the sole of the foot when operating the leg.
[0086]
Also, by checking “Move X / Move Y / Move Z”, the operation direction when operating the designated part of the 3D character can be limited to each direction.
[0087]
After designating the part for which the pose is to be changed as described above, the pose is changed by returning to the 3D viewer screen shown in FIG. 8 and dragging the designated part on the 3D character with the mouse. FIG. 10 illustrates a state in which a pose is changed using a 3D character after both left and right feet are designated as a change part. In this case, the operator can, for example, grab the vicinity of the hip joint with a mouse cursor and scan the screen vertically and horizontally. In the example shown in FIG. 10, only the position and posture of the waist are changed without changing the position and posture of the sole according to the operation applied by the operator.
[0088]
C-2. Generate motion
A motion editing unit (Motion Editor) 1002 performs motion interpolation by interpolating motion between poses according to the pose of the aircraft input from the operator via the pose input unit 1001. At this time, it is possible not only to combine two or more poses in time series but also to combine poses edited for each part in parallel.
[0089]
The created pose is registered on a motion editing field called “track”. That is, the pose specified on the joint axis displacement angle input screen as shown in FIG. 6 or the pose specified on the 3D viewer screen as shown in FIG. 8 and obtained by inverse kinematics is sequentially arranged on the track. It will be done. FIG. 11 shows a state in which a plurality of poses are arranged in time series on a certain track.
[0090]
The horizontal axis of the track corresponds to the time axis. The icons representing the created poses are sequentially arranged on the track with a default interval. The playback time of the pause can be slid by dragging the icon horizontally on the track. Adjacent poses are interpolated using a technique such as linear interpolation or spline interpolation to form a motion.
[0091]
Only one pose with the same designated part is handled on one track. That is, a track is prepared for each IK joint angle group. For example, when editing a motion that consists of a pose with the right arm as a specified part on a track, a pose with the left leg as a specified part is input (or a part other than the right arm or other part together with the right arm) Is registered on another track.
[0092]
FIG. 12 shows a state in which tracks are arranged for each IK joint angle group. Each track handles motion consisting of poses defined in the corresponding IK joint angle group. In the example shown in the figure, tracks are arranged in order from the top to the right arm, left leg, left leg,.
[0093]
Tracks are arranged from the top according to priority. As shown in the figure, when a pose is created in units of tracks, that is, in units of IK joint angle groups, playback is performed according to the priority order.
[0094]
In the example shown in FIG. 12, priority is given to the expression of the right arm pose having a high priority. Next, the expression of the pose of the left leg is given priority. However, since the right arm and the left leg do not interfere with the hardware of the aircraft, the pose of the left leg is reproduced almost as it is.
[0095]
Further, when the track having the left leg as the IK joint angle group continues, the track with the higher priority is buffered, so that the pose of this track is not expressed during motion playback.
[0096]
When a track with the whole body as a designated part continues, the pose is expressed within a range that does not compete with a priority track such as the right arm and the left leg.
[0097]
In such a system that allows editing of poses on a part-by-part basis for each track, a high-priority track is assigned to a specific part for pose editing of a combination of relatively large parts such as the upper body, lower body, and whole body. It is considered preferable to use a low priority track for the efficiency of editing work.
[0098]
C-3. Posture stabilization processing
The posture stabilization processing unit 1003 determines whether the motion edited by the motion editing unit 1002 can be operated while stabilizing the posture on the actual machine, and inputs a displacement amount to each joint angle on the actual machine, The verification is performed based on the stability criterion and the motion pattern is corrected so that the posture can be stabilized.
[0099]
The robot posture stability control using ZMP as a stability criterion is basically to search for a point where the moment is zero on or inside the side of the support polygon formed by the ground contact point and the road surface. It is in. That is, the ZMP balance equation describing the balance relationship of each moment applied to the robot body is derived, and the target trajectory of the body is corrected so as to cancel the moment error appearing on the ZMP balance equation.
[0100]
The posture stabilization processing unit 1003 plans the ZMP trajectory of the edited motion so that the ZMP is accommodated in the ZMP stable region in the support polygon formed by the sole contact point and the road surface. The operator can designate a desired ZMP position or ZMP trajectory in advance.
[0101]
C-3-1. Introduction of ZMP balance equation
The legged mobile robot 100 is an infinite, that is, a collection of continuous mass points. Here, by replacing with an approximate model consisting of a finite number of discrete mass points, the amount of calculation for stabilization processing is reduced. I have to. More specifically, the legged mobile robot 100 having the multi-joint degree-of-freedom configuration shown in FIG. 3 is physically replaced with a multi-mass point approximation model as shown in FIG. The approximate model shown is a linear and non-interfering multi-mass point approximate model.
[0102]
In FIG. 13, the O-XYZ coordinate system represents the roll, pitch, and yaw axes in the absolute coordinate system, and the O′-X′Y′Z ′ coordinate system represents the roll, pitch, Each axis of yaw is represented. However, the meanings of the parameters in the figure are as follows. It should also be understood that symbols with a dash (') describe a motion coordinate system.
[0103]
[Expression 1]

[0104]
In the multi-mass model shown in the figure, i is a subscript representing the i-th given mass, m_iIs the mass of the i-th mass point, r_i  'Represents a position vector (however, a motion coordinate system) of the i-th mass point. The center of gravity of the body of the legged mobile robot 100 according to the present embodiment exists near the waist. That is, the waist is the mass point where the mass manipulated variable is the maximum, and in FIG._hThe position vector (however, the motion coordinate system) is r ′_h(R ’_hx, R '_hy, R '_hz). Also, the ZMP position vector (however, the motion coordinate system) of the aircraft is r '_zmp(R ’_zmpx, R '_zmpy, R '_zmpz).
[0105]
The world coordinate system O-XYZ is an absolute coordinate system and is invariant. In the legged mobile robot 100 according to the present embodiment, acceleration sensors 93, 94, and 96 are disposed on the waist and the legs of both legs, respectively. Therefore, on the actual machine, these sensors output the waist and the stance with the world coordinate system. Relative position vector r_qIs detected. On the other hand, in the motion coordinate system, that is, the local coordinate system of the aircraft, O-X′Y′Z ′ moves with the robot.
[0106]
The multi-mass model is a representation of a robot in the form of a wire frame model. As can be seen from FIG. 13, the multi-mass point approximation model is set with each shoulder, both elbows, both wrists, trunk, waist, and both ankles as mass points. In the illustrated inexact multi-mass point approximation model, the moment formula is described in the form of a linear equation that does not interfere with the pitch and roll axes. The multi-mass point approximation model can be generated by the following processing procedure.
[0107]
(1) The mass distribution of the entire robot 100 is obtained.
(2) Set the mass point. The mass point setting method may be manual input by the designer or automatic generation according to a predetermined rule.
(3) For each region i, the center of gravity is obtained, and the position of the center of gravity and mass m_iIs assigned to the relevant mass point.
(4) Each mass point m_i, The mass position r_iIs displayed as a sphere with a radius proportional to its mass.
(5) The mass points that are actually connected, that is, the spheres are connected.
[0108]
Each rotation angle (θ in the waist information of the multi-mass point model shown in FIG._hx, Θ_hy, Θ_hz) Regulates the posture of the waist in the legged mobile robot 100, that is, the rotation of the roll, pitch, and yaw axis (FIG. 14 shows an enlarged view around the waist of the multi-mass point model. Wanna)
[0109]
The ZMP equation of the airframe describes the balance relationship of each moment applied at the control target point. As shown in FIG._iWhen these are designated as control target points, all control target points m_iThe equation for obtaining the sum of the moments applied at is the ZMP balance equation.
[0110]
The ZMP balance equation of the aircraft described in the world coordinate system (O-XYZ) and the local coordinate system (O-X′Y′Z ′) of the aircraft are as follows.
[0111]
[Expression 2]

[0112]
The above formula is for each mass m_iAround the ZMP generated by the acceleration component applied (radius r_i-R_zmp) Sum of moments and mass points m_iExternal force moment M applied to_iAnd the ZMP rotation generated by the external force Fk (kth external force F_kS_kThe sum of the moments is balanced.
[0113]
This ZMP balance equation includes a total moment compensation amount, that is, a moment error component T. By suppressing this moment error to zero or within a predetermined allowable range, the attitude stability of the aircraft is maintained. In other words, it is the essence of posture stability control that uses ZMP as a stability criterion to correct the body motion (foot motion and the trajectory of each part of the upper body) so that the moment error is zero or less than the allowable value. is there.
[0114]
In this embodiment, acceleration sensors 96, 93, and 94 are disposed on the waist and the left and right feet, respectively (see FIG. 4), and in actual machine operation, acceleration measurement results at these control target points are obtained. The above ZMP balance equation can be derived directly and with high accuracy. As a result, high-speed and strict attitude stability control can be realized.
[0115]
C-3-2. Whole body cooperative posture stability control
FIG. 15 shows a procedure for stabilizing the motion of the machine generated by the motion editing unit 1002 in the form of a flowchart. However, in the following description, each joint position and operation of the legged mobile robot 100 are described using a linear / non-interference multi-mass approximate model as shown in FIGS. 13 and 14.
[0116]
First, the foot movement is set (step S1). The foot movement is motion data obtained by connecting two or more poses of the aircraft in time series.
[0117]
The motion data is data generated by the motion editing unit 1002 and is composed of joint space information representing the displacement of each joint angle of the foot and Cartesian space information representing the joint position.
[0118]
Next, a ZMP stable region is calculated based on the set foot movement (step S2). ZMP is a point at which the moment applied to the aircraft becomes zero, and basically exists on or inside the side of the support polygon formed by the ground contact point and the road surface. The ZMP stable region is a region set further inside the support polygon, and the aircraft can be brought into a highly stable state by accommodating the ZMP in the region.
[0119]
Then, a ZMP trajectory during the foot movement is set based on the foot movement and the ZMP stable region (step S3).
[0120]
In addition, for each part of the upper body of the aircraft (above the hip joint), a group setting is made such as a waist, a trunk, an upper limb, and a head (step S11).
[0121]
Then, a desired trajectory is set for each part group (step S12). The motion editing unit 1002 sets the desired trajectory for the upper body.
[0122]
Next, the group setting of each part is adjusted (regrouping) (step S13), and priority is given to these groups (step S14). The priority order mentioned here is the order of input to the processing calculation for the attitude stability control of the aircraft, and is assigned according to, for example, the mass operation amount. As a result, a desired trajectory group with priority for each part of the upper body of the aircraft is completed.
[0123]
Further, a mass that can be used for moment compensation is calculated for each part group of the upper body of the aircraft (step S15).
[0124]
Then, based on the foot movement, the ZMP trajectory, and the desired trajectory group for each part group of the upper body, the motion pattern of each part group is input to the posture stabilization process according to the priority set in step S14.
[0125]
In this posture stabilization process, first, an initial value 1 is substituted for the process variable i (step S20). Then, the moment amount on the target ZMP, that is, the total moment compensation amount at the time of setting the target trajectory for the part group having the priority from the head to the i-th is calculated (step S21). The desired trajectory is used for the part for which the target trajectory has not been calculated.
[0126]
Next, using the mass that can be used for moment compensation of the part calculated in step S15, the moment compensation amount is set (step S22), and the moment compensation amount is calculated (step S23).
[0127]
Next, by using the calculated moment compensation amount of the i-th part, a ZMP equation for the i-th part is derived (step S24), and the moment compensation motion of the part is calculated (step S25), The target trajectory can be obtained for the part with the priority from the top to the i-th part.
[0128]
By performing such processing for all the site groups, a whole body motion pattern capable of stable motion (for example, walking) is generated.
[0129]
C-3-3. ZMP orbit regulation
The posture stabilization processing unit 1003 corrects the motion edited by the motion editing unit 1002 into an operation pattern capable of posture stabilization.
[0130]
On the other hand, the motion editing unit 1002 can specify the ground contact position of the sole when generating the foot motion, but cannot set the center of gravity position of the aircraft at this stage. In view of this, the posture stabilization processing unit 1003 accepts an input of the ZMP trajectory from the operator, and based on this, establishes a ZMP balance equation and performs posture stabilization control.
[0131]
Here, it is assumed that the motion editing unit 1002 creates a motion that opens the right foot from the basic standing posture, closes the right foot again, and returns to the basic standing posture as shown in FIG.
[0132]
FIG. 17 shows the result of posture stabilization processing performed by regulating the ZMP trajectory for the motion shown in FIG.
[0133]
First, the right foot is opened by moving the ZMP in the left foot direction from the basic standing posture as the initial posture.
[0134]
Here, since the ZMP trajectory is regulated, the ZMP is kept on the left foot.
[0135]
Thereafter, when the right foot is closed, the posture returns to the initial posture.
[0136]
FIG. 18 shows the result of posture stabilization processing performed by regulating the ZMP trajectory for the motion shown in FIG.
[0137]
First, the right foot is opened by moving the ZMP in the left foot direction from the basic standing posture as the initial posture.
[0138]
At this time, since the ZMP trajectory is not regulated, the ZMP returns to the center of both feet by the posture stabilization process.
[0139]
Then, after moving the ZMP in the direction of the right foot and then moving the ZMP in the direction of the left foot again, the right foot is closed and the initial posture is restored.
[0140]
[Supplement]
The present invention has been described in detail above with reference to specific embodiments. However, it is obvious that those skilled in the art can make modifications and substitutions of the embodiments without departing from the gist of the present invention.
[0141]
The gist of the present invention is not necessarily limited to a product called a “robot”. That is, as long as it is a mechanical device that performs a movement resembling human movement using an electrical or magnetic action, the present invention similarly applies to products belonging to other industrial fields such as toys. Can be applied.
[0142]
In short, the present invention has been disclosed in the form of exemplification, and the description of the present specification should not be interpreted in a limited manner. In order to determine the gist of the present invention, the claims section described at the beginning should be considered.
[0143]
【The invention's effect】
As described in detail above, according to the present invention, it is possible to provide an excellent motion editing apparatus and motion editing method for a legged mobile robot that performs various operations using movable legs.
[0144]
In addition, according to the present invention, there is provided an excellent motion editing apparatus and motion editing method for a legged mobile robot that can support editing of a motion pattern while considering feasibility on an actual machine. it can.
[0145]
Further, according to the present invention, an excellent motion editing apparatus and motion editing method for a legged mobile robot capable of supporting motion pattern editing work while taking into consideration posture stability during execution on an actual machine. Can be provided.
[Brief description of the drawings]
FIG. 1 is a view showing a state in which a legged mobile robot used for carrying out the present invention is viewed from the front.
FIG. 2 is a view showing a state in which a legged mobile robot used for carrying out the present invention is viewed from the rear.
FIG. 3 is a diagram schematically illustrating a joint degree-of-freedom configuration included in a legged mobile robot.
4 is a diagram schematically showing a control system configuration of a legged mobile robot 100. FIG.
FIG. 5 is a diagram schematically showing a functional configuration of a motion editing system according to an embodiment of the present invention.
6 is a diagram showing a configuration example of a screen for designating a displacement angle of each joint axis that defines a pose of the legged mobile robot 100. FIG.
FIG. 7 is a diagram showing a schematic processing procedure when a displacement angle of each joint axis is obtained by inverse kinematics.
FIG. 8 is a diagram showing a configuration example of a 3D viewer screen for instructing a pose via a 3D animation character of the aircraft.
FIG. 9 is a diagram illustrating a configuration example of an IK joint angle grouping window.
FIG. 10 is a diagram illustrating a state in which a pose is changed using a 3D character after both left and right feet are designated as change sites.
FIG. 11 is a diagram showing a state in which a plurality of poses are arranged in time series on a certain track.
FIG. 12 is a diagram showing a state in which tracks are arranged for each IK joint angle group.
13 is a diagram showing a multi-mass point approximation model of the legged mobile robot 100. FIG.
FIG. 14 is an enlarged view of the vicinity of the waist of the multi-mass point model.
FIG. 15 is a flowchart showing a procedure for stabilizing the motion of the airframe generated by the motion editing unit 1002;
16 is a diagram showing a motion generated by a motion editing unit 1002. FIG.
17 is a diagram showing the result of posture stabilization processing for the motion shown in FIG. 16 when the ZMP trajectory is restricted. FIG.
18 is a view showing a posture stabilization processing result for the motion shown in FIG. 16 when the ZMP trajectory is not restricted. FIG.
[Explanation of symbols]
1 ... Neck joint yaw axis
2A ... 1st neck joint pitch axis
2B ... Second neck joint (head) pitch axis
3 ... Neck joint roll axis
4. Shoulder joint pitch axis
5 ... Shoulder joint roll axis
6 ... Upper arm yaw axis
7. Elbow joint pitch axis
8 ... wrist joint yaw axis
9 ... trunk pitch axis
10 ... trunk roll axis
11 ... Hip joint yaw axis
12 ... Hip pitch axis
13 ... Hip roll axis
14 ... Knee joint pitch axis
15 ... Ankle joint pitch axis
16 ... Ankle joint roll axis
30 ... head unit, 40 ... trunk unit
50 ... arm unit, 51 ... upper arm unit
52 ... Elbow joint unit, 53 ... Forearm unit
60 ... Leg unit, 61 ... Thigh unit
62 ... knee joint unit, 63 ... shin unit
80 ... control unit, 81 ... main control unit
82. Peripheral circuit
91, 92 ... Grounding confirmation sensor
93, 94 ... acceleration sensor
95 ... Attitude sensor
96 ... Acceleration sensor
100: Legged mobile robot
1000 ... Motion editing system
1001 ... Pause input section
1002 ... Motion editing section
1003 ... Posture stabilization processing unit
1004 ... Motion playback unit

Claims (20)

A motion editing device for a legged mobile robot having a plurality of joint angles,
An attitude data input unit for inputting attitude data of the aircraft consisting of displacement values of each joint angle;
A motion generation unit that edits the motion data of the aircraft by a combination of the one or more input posture data;
A posture stabilization processing unit that verifies on the motion editing device whether the generated motion data can be operated while stabilizing the posture on the actual machine, and corrects the motion data to be capable of posture stabilization;
A priority order setting unit for setting the priority order for correcting the motion data at the time of posture stabilization to each part;
The motion generation unit generates motion data for each part group by chronologically arranging the posture data on each track assigned to each part group for which posture data is to be changed in the body, and the part group The motion data of the entire aircraft is generated by superimposing the motion data of each track according to the priority set in the part group so that the motion data for each does not compete.
A motion editing device for a legged mobile robot. A motion editing device for a legged mobile robot having a plurality of joint angles,
An attitude data input unit for inputting attitude data of the aircraft consisting of displacement values of each joint angle;
A motion generation unit that edits the motion data of the aircraft by a combination of the one or more input posture data;
A posture stabilization processing unit that verifies on the motion editing device whether the generated motion data can be operated while stabilizing the posture on the actual machine, and corrects the motion data to be capable of posture stabilization;
A priority order setting unit for setting the priority order for correcting the motion data at the time of posture stabilization to each part;
The posture stabilization processing unit corrects the target trajectory for each part according to the set priority order.
A motion editing device for a legged mobile robot. The posture data input unit accepts direct input of a displacement value for each joint angle.
3. The motion editing apparatus for a legged mobile robot according to claim 1, wherein the motion editing apparatus is for a legged mobile robot. The posture data input unit
Means for displaying a 3D character of a legged mobile robot;
Means for accepting a pose change operation by a user on the 3D character display;
Means for calculating a displacement value of each joint angle by inverse kinematics based on a pose change applied to the 3D character display;
The motion editing apparatus for a legged mobile robot according to claim 1, further comprising: The posture data input unit further includes means for designating one or more parts of the aircraft whose pose is desired to be changed, and only the designated part is paused according to a pose change operation by the user on the 3D character display. Change the
The motion editing apparatus for a legged mobile robot according to claim 4. The motion generation unit generates motion by interpolating between each pose by combining one or more posture data input by the posture data input unit in time series,
3. The motion editing apparatus for a legged mobile robot according to claim 1, wherein the motion editing apparatus is for a legged mobile robot. The posture stabilization processing unit
ZMP balance equation generation means for generating a ZMP balance equation describing the balance relationship of each moment applied to the body of the robot based on the motion data generated by the motion generation unit;
Motion data correcting means for correcting the motion data so as to cancel the moment error appearing on the ZMP balance equation generated by the ZMP balance equation generating means;
The motion editing apparatus for a legged mobile robot according to claim 1, further comprising: The priority order setting unit gives a priority order for target trajectory correction to each part in order of the magnitude of the mass manipulated variable,
3. The motion editing apparatus for a legged mobile robot according to claim 1, wherein the motion editing apparatus is for a legged mobile robot. The region includes the waist, left arm, right arm, left leg, right leg,
3. The motion editing apparatus for a legged mobile robot according to claim 1, wherein the motion editing apparatus is for a legged mobile robot. 8. The legged mobile robot according to claim 7, wherein the motion data correcting means corrects the motion data so as to cancel a moment error appearing on the ZMP balance equation while regulating the ZMP trajectory. Motion editing device. A motion editing method for a legged mobile robot having a plurality of joint angles,
Posture data input step for inputting the posture data of the aircraft consisting of displacement values of each joint angle;
A motion generation step of editing motion data of the aircraft by combining the input one or more posture data;
Attitude stabilization processing step for verifying whether the generated motion data can be operated while stabilizing the posture on the actual machine in the motion editing process, and correcting the motion data capable of posture stabilization;
A priority order setting step for setting the priority order for correcting motion data at the time of posture stabilization to each part,
In the motion generation step, motion data for each part group is generated by chronologically arranging the posture data on each track assigned to each part group for which posture data is to be changed in the body, and the part group The motion data of the entire aircraft is generated by superimposing the motion data of each track according to the priority set in the part group so that the motion data for each does not compete.
A motion editing method for a legged mobile robot, comprising: A motion editing method for a legged mobile robot having a plurality of joint angles,
Posture data input step for inputting the posture data of the aircraft consisting of displacement values of each joint angle;
A motion generation step of editing motion data of the aircraft by combining the input one or more posture data;
Attitude stabilization processing step for verifying whether the generated motion data can be operated while stabilizing the posture on the actual machine in the motion editing process, and correcting the motion data capable of posture stabilization;
A priority order setting step for setting the priority order for correcting motion data at the time of posture stabilization to each part,
In the posture stabilization processing step, the target trajectory is corrected for each part according to the set priority order.
A motion editing device for a legged mobile robot. In the posture data input step, a direct input of a displacement value for each joint angle is received.
The motion editing method for a legged mobile robot according to claim 11, wherein the motion editing method is for the legged mobile robot. The posture data input step includes:
Displaying a 3D character of the legged mobile robot;
Receiving a pose change operation by the user on the 3D character display;
Calculating a displacement value of each joint angle based on a pose change applied to the 3D character display by inverse kinematics;
The motion editing method for a legged mobile robot according to claim 11, comprising: The posture data input step further includes means for designating one or more parts of the aircraft whose pose is desired to be changed, and poses only the designated part according to a pose change operation by the user on the 3D character display. Change the
The motion editing method for a legged mobile robot according to claim 14. In the motion generation step, one or more posture data input in the posture data input step is combined in time series to generate a motion by interpolating between each pose.
The motion editing method for a legged mobile robot according to claim 11, wherein the motion editing method is for the legged mobile robot. The posture stabilization processing step includes
A ZMP balance equation generation step for generating a ZMP balance equation describing a balance relationship of each moment applied to the body of the robot based on the motion data generated in the motion generation step;
An operation data correction step of correcting the operation data so as to cancel the moment error appearing on the ZMP balance equation generated in the ZMP balance equation generation step;
The motion editing method for a legged mobile robot according to claim 11, wherein the motion editing method is for the legged mobile robot. In the priority order setting step, a priority order for target trajectory correction is given to each part in order of the magnitude of the mass manipulated variable,
The motion editing method for a legged mobile robot according to claim 11, wherein the motion editing method is for the legged mobile robot. The region includes the waist, left arm, right arm, left leg, right leg,
The motion editing method for a legged mobile robot according to claim 11, wherein the motion editing method is for the legged mobile robot. The legitimate mobile robot according to claim 17, wherein in the motion data correction step, the motion data is corrected so as to cancel a moment error appearing on the ZMP balance equation while regulating the ZMP trajectory. Operation editing method.

Images