WO2007139135A1 - Robot and controller - Google Patents

Abstract

A robot and controller for optimally distributing an acting force necessary for movement to given contact points in a space and generating the torques at the respective coupling parts. A drive controller (3) which a robot has receives an input of target movement information (step S1), derives a ZMP to be targeted and an acting force to be targeted according to the movement to be targeted and represented by the received target movement information (step S2), derives forces acting on the respective contact parts so that the derived acting force can be optimally distributed according to a norm minimum standard (step S3), computes torque values as the control target values of the actuators for driving the respective coupling parts (step S4), and outputs the computed torque values as the control target values to the actuators (step 5). The actuators receive the torque values as the control target values and operate according to the received torque values.

Description

 Specification

 Robot and control device

 Technical field

 TECHNICAL FIELD [0001] The present invention relates to a robot having a plurality of drivable connecting portions and a control device that controls the operation of the robot, and more particularly to a robot and a control device that realize stable motion.

 Background art

 [0002] Research and development of robots such as biped robots that can imitate human walking forms are being promoted by various companies and research institutes, and various techniques for maintaining a stable posture during exercise A new control method has been proposed! Speak.

 [0003] For example, in Patent Document 1, when a robot joint is driven so as to follow a dynamic model and the difference between the dynamic model and the actual robot posture occurs, the floor reaction force of the dynamic model is adjusted. By driving the ankle joint and hip joint as much as possible, the posture is stabilized by absorbing the difference between the dynamic model and the actual robot.

 [0004] In such a biped robot, the floor reaction force that the robot receives also the floor force is detected by the floor reaction force sensor, and the target value of the angular velocity or angle of the leg joint is determined based on the detected floor reaction force. Various motion control is performed by controlling the actuator that drives the joint based on the calculated target value. The angular velocity of the joint and the target value of the angle are calculated based on the principle of the inverted pendulum, with the robot's ZMP (zero moment point) following the target ZMP. Do to derive. In order to derive the target trajectories for the bot's waist and torso, the target trajectories for each joint, i.e., the target values for angular velocity and angle, should be calculated by inverse kinematics calculation. become.

 [0005] Further, there is the following Non-Patent Document 1 as a technology related to robots.

 Patent Document 1: Japanese Patent Laid-Open No. 5-337849

Non-Patent Document 1: Jae Hoon Park, Osama Katie, “A Whole Body Control Flamework for Humanoid Operating in Human Jenno “Iromen” Proceeding of iTriple International Conference on Robotics Automation, United States, Eye Triplex International Conference on Robotics Automation (Jaeheung Park, Ous sama Khatio, “A wnole-body control framework for humanoids operating in human e nvironments , Proceedings of IEEE International Conference on Robotics and Automation, United States of America ^ IEEE International Conference on Robotics and Automation, May 15, 2006, p. 1963-1969)

 Disclosure of the invention

 Problems to be solved by the invention

 [0006] In the conventional robot that controls the actuator using the angular velocity or angle as a target value as described above while applying force, the joint is used to feed back the floor reaction force detected by the floor reaction force sensor and adjust the floor reaction force. Therefore, the floor reaction force is controlled by the angular velocity that is the first-order integral of the force or the angle that is the second-order integral, and the position of the angular velocity or angle is controlled. And there is a problem that a delay occurs because the causality related to force is not satisfied. These delays occur, for example, in the response time for an external force that is generated as a disturbance, and the time required for the conversion from force to angle. Furthermore, since feedback control is performed using a floor reaction force sensor, there is a problem that a delay due to sensor feedback occurs. Since these delays lead to delays in control, there is a possibility that various restrictions are imposed on the safe operation. In addition, since a highly accurate floor reaction force sensor is required, there is a problem that the cost is increased. Furthermore, since inverse kinematic calculations use an inverse matrix, there is a possibility that the solution may diverge, and a unique target value cannot be calculated.

The present invention has been made in view of such circumstances, and does not necessarily require a floor reaction force sensor, and by calculating a torque value as a control target value of an actuator used for each joint, The delay can be suppressed, stable posture control can be realized, the increase in cost caused by the sensor can be suppressed, and the target value is uniquely determined because the force does not require inverse kinematics calculation. An object of the present invention is to provide a robot capable of realizing stable posture control and a control device for controlling the operation of the robot. Means for solving the problem

 [0008] A robot according to a first aspect of the present invention is a robot including a plurality of drivable connecting portions, and a plurality of actuators that drive the connecting portions based on a torque value received as a control target value. Calculation means for calculating the torque values of the respective actuators that drive the respective connecting portions based on the set target acting force to be applied to the external contact portion, and the calculated torque values as control target values. And a means for outputting to each of the actuators.

 In the present invention, by controlling each actuator using the torque value as a target value, a sensor for measuring external force is not necessarily required, and inverse kinematics calculation is not required at all. Therefore, it is necessary to use an inverse matrix. It is possible to calculate a unique target value by preventing the divergence of the solution, and by controlling the actuator based on the torque value indicated by the force dimension, the external force can be obtained without breaking the causality. It is possible to respond promptly. However, the increase in cost caused by the sensor can also be suppressed.

 [0010] A robot according to a second invention is characterized in that, in the first invention, the actuator is a direct acting type actuator for extending and contracting the connecting portion and a rotating type actuator for rotating the Z or the connecting portion. And

 The present invention can be developed in various forms using various actuators such as a direct acting type actuator such as a hydraulic cylinder and a rotation type motor.

 [0012] The robot according to a third invention further comprises means for receiving the setting of the target acting force in the first invention or the second invention, wherein the calculating means is configured to use each actuator based on the received target acting force. It is configured to calculate the torque value.

 [0013] In the present invention, an external force can also accept an operation as the setting of the target acting force.

[0014] A robot according to a fourth invention is the first invention or the second invention, wherein in the first invention or the second invention, a means for receiving target motion information indicating a target motion and a target acting force to be set are derived based on the received target motion information. Derivation means, and the calculation means is configured to calculate the torque value of each of the actuators based on the derived target working force. In the present invention, it is possible to accept an operation from the outside as target exercise information indicating exercise such as balance, walking, and stopping.

[0016] A robot according to a fifth invention is the robot according to the fourth invention, wherein the calculating means is configured to calculate a torque value of each actuator from a target acting force based on a forward kinematic model. Features.

[0017] In the present invention, by converting the target acting force into a torque value based on a forward kinematic model that is easy to calculate, the calculation load required to calculate the torque value is reduced, and the processing speed is increased. Thus, the delay can be suppressed.

[0018] A robot according to a sixth invention is the robot according to the fifth invention, wherein the calculating means calculates the torque value of each actuator by taking into account at least one of inertia force, Coriolis force and centrifugal force. It is configured to do so.

In the present invention, it is possible to perform highly accurate control by using a dynamic model in addition to a forward kinematic model.

[0020] The robot according to a seventh aspect of the present invention further comprises a detection means for detecting a force received from the outside in any one of the first to sixth aspects, wherein the calculation means takes into account the force detected by the detection means. Thus, the torque value of each actuator is calculated.

 In the present invention, it is possible to perform control with higher accuracy by using a detection means such as a floor reaction force sensor for detecting a floor reaction force.

[0022] In a robot according to an eighth invention based on any one of the first to seventh inventions, the contact portion is a set of a plurality of contact points, and the calculation means sets the target acting force to a norm minimum norm. Based on the force distributed to each contact point calculated based on! /, The torque value of each actuator is calculated.

[0023] In the present invention, the force applied to a plurality of contact points of the legs such as the toes and the heel is appropriately distributed based on the norm minimum norm, particularly the weighted norm minimum norm, and generation of a large force that cancels out is generated. It is possible to prevent.

[0024] A robot according to a ninth invention is the robot according to any one of the first to eighth inventions, wherein the calculating means performs each action based on a target acting force that compensates for gravity applied to the center of gravity. The eta torque value is calculated.

[0025] In the present invention, by calculating a torque value that compensates for gravity applied to itself, a zero-gravity state is realized under the condition of ground contact. Therefore, in an external force direction that does not repel external force. It is possible to relieve external force by following.

 [0026] A robot according to a tenth aspect of the present invention is the robot according to any one of the first aspect to the ninth aspect, wherein each actuator is based on a restraining force that suppresses internal motion caused by redundant degrees of freedom related to a plurality of connecting portions. It is configured to calculate the torque value.

 [0027] In the present invention, by suppressing the internal motion with the suppression force, it is possible to prevent an unexpected movement of the joint and to prevent adverse effects such as reaching the limit of the movable angle of the joint.

 [0028] A robot according to an eleventh invention is characterized in that, in any one of the first invention to the tenth invention, the robot includes a plurality of legs that operate by driving the connecting portion.

 The present invention can be applied to legged robots such as biped robots.

 [0030] A robot according to a twelfth aspect of the present invention is configured so that the organism can be mounted in the first or second aspect of the invention, and is set based on the means for detecting the force received by the organism force and the detected force. Means for deriving a target acting force, and the calculating means is configured to record so as to calculate the torque value of each actuator based on the derived target acting force. .

 [0031] The present invention can be applied to an exercise aid that is worn by a living organism such as a person or an animal other than a person and supports operations such as carrying heavy objects and exercising a handicapped person.

 [0032] A control device according to a thirteenth aspect of the invention is a control device that controls the operation of a robot having a plurality of connecting portions that can be driven by an actuator. Based on the set target acting force, means for calculating the torque value of each actuator that drives each connecting portion, and means for outputting the calculated torque value to each of the actuators as a control target value. It is characterized by providing.

[0033] In the present invention, a sensor for measuring an external force is not necessarily required by controlling each actuator using the torque value as a target value when applied to the control of the robot operation, and the inverse kinematic calculation is not necessarily performed. Since it is not necessary, it is possible to calculate a unique target value by preventing the divergence of the solution without having to use an inverse matrix, and the force is also converted to the torque value indicated by the force dimension. By controlling the actuator based on this, it is possible to respond quickly to external forces without breaking causality. It is possible to suppress the increase in cost caused by the sensor force.

 The invention's effect

 [0034] The robot and the control device according to the present invention include a direct acting type actuator that expands and contracts the connecting portion based on a set target acting force that is supposed to act on the assumed contact portion with the outside, and the connecting portion. The torque value of an actuator that drives a connecting portion such as a rotating type actuator to be rotated is calculated, and the calculated torque value is output to each actuator as a control target value to control the actuator.

 [0035] With this configuration, in the present invention, it is not necessary to use an inverse matrix for calculating the torque value that is the control target value, so that the solution that becomes the target value does not diverge regardless of the calculation conditions. It is possible to calculate a unique target value and achieve excellent effects such as stable posture control. In the same way as external force, by controlling the actuator based on the torque value shown in the force dimension, it is possible to respond quickly to external force that does not break the causality of angular velocity or angular position and force. As a result, excellent effects such as being able to perform stable posture control that is resistant to disturbances and the like are obtained. Fast control is also advantageous for safe control such as avoiding collisions with people and objects. In addition, since the sensor for detecting the external force is not necessarily required, it is possible to suppress an increase in cost caused by the sensor, and the excellent effect is obtained.

 [0036] The robot or the like according to the present invention can be operated from the outside by setting a target acting force that also accepts an external force, and target motion information that indicates a motion such as balance, walking, and stopping from the outside. By obtaining the target action force set based on the received target exercise information, it is possible to perform an external force operation, and so on.

 [0037] In particular, the robot or the like according to the present invention calculates a torque value to be distributed to each actuator from a target acting force based on a forward kinematic model using, for example, a Jacobian matrix.

With this configuration, in the present invention, the torque value is calculated using a forward kinematic model that is easy to calculate. Therefore, the calculation load required for calculating the torque value is reduced, the processing speed is increased, and the processing speed is increased. There are excellent effects such as being able to suppress the elongation. In addition, it is possible to perform highly accurate control by calculating the torque value of the actuator by taking into account the dynamics model such as inertial force, Coriolica, centrifugal force, etc. Excellent effect.

 [0039] The robot and the like according to the present invention can perform control with higher accuracy by using an external force sensor that detects a force received from the outside, for example, a detection means such as a floor reaction force sensor that detects a floor reaction force. In addition, since the detection means is used as an auxiliary, it can be used even if it has relatively low accuracy. Therefore, it is possible to perform high-precision control with an inexpensive detection means. Has an effect.

 [0040] The robot and the like according to the present invention cancel each other by optimally allocating the floor acting force to the contact points of interest such as toes and heels based on the norm minimum norm, particularly the weighted norm minimum norm. An excellent effect can be obtained, for example, generation of force can be prevented. In addition, for example, when applied to a humanoid robot, it is assumed that the leg part of the toe, the heel, etc., the arm part such as the elbow, the hand, the palm, etc. are regarded as the contact points, so that it can It has excellent effects such as being applicable to various similar operations.

 [0041] A robot or the like according to the present invention realizes an operation simulating a weightless condition on the condition of grounding by providing a target acting force that guarantees the gravity applied to itself in a mathematical expression for calculating a torque value. . In addition, by adopting a structure that compensates for gravity, the external force is relaxed by following the external force in accordance with the external force rather than repelling the external force. In addition, there are excellent effects such as that it is possible to guide the direction of movement by applying an external force to the robot. In addition, the configuration that compensates for gravity tries to maintain a state where a force is applied to the ground from the floor contact point that is the contact portion of the robot with the ground. It has excellent effects such as being able to maintain a good grounding state without changing. For example, it is easy to control the force applied to the contact portion so as to be in a stable state even on an unknown uneven road surface.

[0042] It is noted that a conventional robot that feeds back the floor reaction force detected by the floor reaction force sensor and controls the actuator using the angular velocity or angle of the joint as a target value to adjust the floor reaction force. In order to realize bright gravity compensation, all external forces applied from outside must be detected in addition to the floor reaction force. Detecting an external force by arranging an infinite number of detection means in every part of the robot is not practical both in terms of both technical and economic forces.

 [0043] Furthermore, in order to accurately realize the floor reaction force, an attempt is made to derive the equation of motion based on an accurate model of the robot and the external environment, and to compensate for all the nonlinear dynamics with the control input. Some are shown in reference 1. However, it is not practical in various aspects such as model error, sensor noise, and calculation cost. On the other hand, in the present invention, it is possible to compensate for only the gravitational component with little influence of modeling error and noise. In other words, the robot according to the present invention has excellent effects such as that it is possible to easily realize dynamic compensation including gravitational compensation that cannot be easily achieved by the conventional method within a practical operating range. .

 [0044] The robot or the like according to the present invention suppresses internal motion caused by redundant degrees of freedom based on a plurality of joints with a suppression force such as damping of the joints. When there is a redundant degree of freedom, there is an advantage that the torque value of the joint that does not contribute to the control target is zero or close to zero. There is a risk of anomalies such as reaching the corner limit. In the present invention, by providing the suppression force term, it is possible to suppress the internal movement, and it is possible to prevent the unexpected movement of the joint and the occurrence of an abnormality based on the movement.

 [0045] The robot of the present invention is a legged robot having a plurality of legs, such as a humanoid biped walking mouth bot, which is attached to a living body such as a person or an animal other than a person, and is heavy. It can also be deployed in exercise aids that support movements, movements of people with disabilities, etc., and can also be used as a suspension system for drive wheels of vehicles running on uneven road surfaces. Can be applied to robots of various shapes that operate in various fields such as disaster sites, volcanoes, deep seas, etc. that cannot be easily entered by humans, and explorers that explore other celestial bodies. It has excellent effects such as being possible. In addition to exploration, it can also be applied to complex mobile robots that have wheels and legs that function as support and drive mechanisms, and can be used for building work that works stably on rough terrain. Brief Description of Drawings

FIG. 1 is an external view showing a robot according to Embodiment 1 of the present invention. 圆 2] An explanatory diagram schematically showing the skeleton and joints of the robot according to the first embodiment of the present invention.

 FIG. 3 is a block diagram showing a configuration of the robot according to the first embodiment of the present invention.

 FIG. 4 is an explanatory diagram schematically showing a robot according to Embodiment 1 of the present invention and a coordinate system related to control of the robot.

 FIG. 5 is an explanatory diagram schematically showing the robot according to Embodiment 1 of the present invention and the floor acting force related to the robot.

6] FIG. 6 is an explanatory view schematically showing the robot according to Embodiment 1 of the present invention and the virtual contact force related to the robot.

 FIG. 7 is a flowchart showing processing of a drive control device provided in the robot of the present invention.圆 8] is an external view schematically showing the bending and stretching motion of the robot according to the first embodiment of the present invention. 圆 9] The value indicating the motion of the bending and stretching motion in the simulation experiment of the robot according to the first embodiment of the present invention. It is a graph which shows a time-dependent change.

[10] FIG. 10 is a graph showing temporal changes in the center of gravity and ZMP during bending and stretching in the simulation experiment of the robot according to Embodiment 1 of the present invention.

[11] FIG. 11 is an external view schematically showing a leg raising motion of the robot according to the first embodiment of the present invention.

12] A graph showing changes over time in the position of the legs during the leg raising exercise in the simulation experiment of the robot according to Embodiment 1 of the present invention.

13] A graph showing a change with time of a value indicating a leg raising motion in the simulation experiment of the robot according to the first embodiment of the present invention.

14] A graph showing a change with time of a value indicating walking motion in the simulation experiment of the robot according to Embodiment 1 of the present invention.

15] An external view showing a robot according to the second embodiment of the present invention.

16] An external view showing the robot according to the third embodiment of the present invention.

圆 17] It is an external view showing a robot according to Embodiment 4 of the present invention.

Explanation of symbols 1 n

 10 legs

 2 Connecting part

 20 Ryo Kuchiyue

 3 Drive controller

 30 Control means

 31 Recording means

 32 Storage means

 33 Measuring means

 34 Output means

 35 Input means

 4 Drive mechanism

 5 Detection mechanism

 BEST MODE FOR CARRYING OUT THE INVENTION

 Embodiment 1.

 Hereinafter, the present invention will be described in detail with reference to the drawings illustrating embodiments thereof. FIG. 1 is an external view showing a robot according to Embodiment 1 of the present invention, and FIG. 2 is a block diagram schematically showing a skeleton and joints of the robot according to Embodiment 1 of the present invention. Embodiment 1 exemplifies a form in which the present invention is applied to a legged robot that includes at least a pair of legs and performs various operations such as walking, bending and stretching, and leg raising.

 [0049] In Fig. 1 and Fig. 2, 1 is a robot, and the left and right leg portions 10, 10 of the robot 1 are provided with connecting portions 2, 2, ... such as joints on the waist, knees, and ankles. 2, 2, ... are driven by actuators 20, 20, ... such as rotary motors. By being driven by the actuators 20, 20,..., Each connecting portion 2, 2,... Can be bent in a plurality of directions such as front and rear, left and right. In addition, the robot 1 has actuators 20, 20,... For driving joints 2, 2,... At various locations such as the neck, chest, shoulders, elbows, wrists, and the like that are only legs 10, 10. Yes.

[0050] As long as the actuator 20 has a function of receiving a torque value as a control target value as a drive signal and performing control based on the received torque value, the servo motor, hydraulic pressure Various actuators such as a motor can be used. For example, in a servo motor that has a drive circuit capable of current control and generates torque proportional to the current, the torque value input as the control target value is multiplied by the torque constant determined by the gear ratio, and the drive circuit is commanded. Thus, torque control for generating the input torque is realized. In particular, by providing a torque sensor at the connecting portion 2 and feeding back the value detected by the torque sensor to the drive circuit, highly accurate torque control becomes possible. Further, not only a rotary type but also a direct acting type actuator 20 such as a hydraulic cylinder can be used. That is, the number and arrangement of the connecting portions 2, 2,... Of the robot 1 shown in FIG. 2 are merely examples, and the connecting portions including various types of actuators 20, 20,. It is possible to place parts 2, 2, ... in various places.

 FIG. 3 is a block diagram showing a configuration of the robot 1 according to Embodiment 1 of the present invention. Robot 1 outputs a signal to each of the actuators 20, 20,... That drive the connecting portions 2, 2,..., And the actual torque based on the signal output from the drive control device 3. , And various detection mechanisms 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5 … And. The drive mechanisms 4, 4,... May be mounted as a drive means provided in the drive control device 3, or an intelligent motor integrated with the actuator 20 may be mounted.

[0052] The angle sensor is a sensor for detecting the angle of each joint provided as the connecting portions 2, 2,..., For example, a sensor such as an analog potentiometer or a digital rotary encoder is used. The attitude sensor is a sensor that detects the absolute attitude of the robot 1 in the inertial coordinate system. For example, a gyro sensor attached to the body of the robot 1 is used. As the external force sensor, for example, a floor reaction force sensor attached to the sole of the robot 1 is used. Note that the robot 1 of the present invention does not necessarily require an external force sensor, but by using the external force sensor together, it is possible to control the force applied to the outside according to the actual contact state. That is, it is effective in determining whether or not to distribute the acting force that acts on each contact point according to the actual contact situation. Furthermore, the detection of external force by an external force sensor is also effective when setting the weight according to the external friction condition. [0053] The drive control device 3 includes a control means 30 such as a CPU that performs various calculations such as calculation of a control target value, and a ROM, EPROM, hard disk, and the like that records information such as programs and data required for control. Means 31, storage means 32 such as RAM for temporarily storing data generated by program execution, measurement means 33 for receiving input of various signals indicating detection results from detection mechanisms 5, 5,. It comprises output means 34 for converting the signal to be output to the actuator 20 into a format corresponding to the drive mechanism 4 and outputting it, and input means 35 for receiving external input.

 The signal output from the drive control device 3 to each of the actuators 20, 20,... Via the drive mechanism 4 is a control signal indicating a torque value as a control target value, for example. Actuators 20, 20,... That drive the connecting portions 2, 2,... Operate based on a control signal such as a torque value input from the drive control device 3. The input means 35 is a mechanism for receiving target motion information indicating a target motion such as balance, walking, or stopping of the robot 1 or a target acting force for performing the target motion. The controller power of the system receives a command including information such as target exercise information to be transmitted. Further, an operation unit such as a keyboard, various buttons, or a switch that accepts a direct command from the operator may be used as the input means 35. When the drive control device 3 receives the target motion information, the target action force to be set and the target zero moment point (hereinafter referred to as ZMP: Zero Moment Point) are derived from the target motion, and the derived target Based on the applied force and the target ZMP, the robot 1 is controlled as described later. Further, when the drive control device 3 receives the target acting force, the drive control device 3 controls the robot 1 based on the received target acting force and the target ZMP derived from the target acting force.

It should be noted that the object to be contacted by a contact portion such as a grounding point described in the present application is not limited to the ground, but generally refers to an external environment in which the robot 1 applies its own weight to support itself. Specifically, it includes external environments other than planes, such as sloped floors and steps with steps, in addition to the ground and floor, such as knees, hands, arms, etc. In the case of taking a posture to support itself using a part other than the sole, it includes external environments such as handrails and walls. Therefore, when taking a posture such as a four-sided heel that supports itself using the upper body, the hand portion (front leg portion) such as a palm can also be a contact portion. Similarly, the floor reaction force described in the present application is not necessarily the reaction received from the floor. It is not limited to force. External environmental force that the contact part is in contact with Indicates the reaction force received

Next, control of the robot 1 of the present invention will be described. FIG. 4 is an explanatory diagram schematically showing the robot 1 according to the first embodiment of the present invention and the coordinate system related to the control of the robot 1. In Fig. 4, CoM is the center of mass of the robot, and the center of gravity CoM is a position vector defined by Equation 1 below in a three-dimensional coordinate system ∑ using x, y, and z coordinates. Define with r. In the coordinate system 示 す shown in Fig. 4, a point outside the robot 1 is used as a reference point.

C

 A force that shows the center of gravity CoM at the position vector r.

 c

 You may make it define.

[0057] r = [x, y, z] ^T ≡ R ^S … (Formula 1)

 c c c c

 Where r is the center of gravity CoM position vector

 c

^T : Transpose operator for vector or matrix

R ³ : 3D number vector space

[0058] In order to simplify the explanation, first, the robot 1 will be described in a situation where an arbitrary point on the sole of the foot is in contact with the external environment. The position vector from the center of gravity CoM of this contact point is shown as r, and the following equation using a three-dimensional coordinate system based on the X, y, and z coordinates:

P

 Define.

[0059] r = [x, y, z] ^T ≡R ^S … (Formula 2)

 P P P P

 Where r is the position vector of the contact point

 P

 [0060] The force applied to the center of gravity CoM can be expressed by the following Equation 3 using other external forces such as gravity, a floor reaction force received from the contact point, and a disturbance. If the robot 1 is in contact with the outside only at this contact point, here the floor, the contact point matches ZMP.

[0061] Md ² r / dt ² = Mg + f + f (Formula 3)

 C R E

 Where M is the mass of robot 1.

d ² r Zdt ² : acceleration applied to the center of gravity

 C

g: [0, 0, 9. 81] Gravitational acceleration expressed as ^τ

f: Floor reaction force which is f ER ³

 R R

f: External force other than gravity and floor reaction force that is f ER ³ [0062] The position vectors of the points such as CoM and ZMP shown in Equation 2 can be derived based on the detection values detected by the angle sensor and attitude sensor that are the detection mechanism 5. The drive controller 3 has a floor applied force (GAF: Ground Applied Force) that has the same magnitude and opposite direction to the floor reaction force from the robot 1 to the contact point. ) Is set to a desired value according to the task target of the movement of mouth bot 1, and robot 1 is controlled so that the determined floor action force is captured from robot 1 to the contact point. By this control, the robot 1 can perform various follow-up operations such as balancing itself and performing stable posture control. The floor force is defined by Equation 4 below using a three-dimensional coordinate system based on the X, y, and z coordinates.

[0063] f = [f, f, f] ^τ = -f ≡ R ³ (Equation 4)

 P xP yP zp R

 Where fP: floor force

 [0064] As shown in Equation 5 below, the drive control device 3 drives each joint 2, 2, ... based on a forward kinematic model defined by the Jacobian matrix with the target floor action force. Are converted into respective torque values of the respective actuators 20, 20,..., And the converted torque values are output as control target values to the respective actuators 20, 20,. Each of the actuators 20, 20,... Operates based on the received torque value.

 [0065] [Equation 1]

T-(q) ^T f _p (5)

 Where: Torque value for each actuator 2, 2, ...

 q: q & R "joint angle and body posture

 (n is the number of postures of joints and torso)

J (q): J {q) e R ^3x "Jacobi matrix from the center of gravity to the contact point

f _p : Target floor force

[0066] As shown in Equation 5, torque values that are control target values of the respective actuators 20, 20,... Of each joint can be calculated using a transposed matrix. In addition, the solution does not diverge because the inverse matrix is not used in the calculation process. The eyes where the actual floor reaction force is calculated using Equation 5. The robot 1 according to the present invention can achieve a desired motion with a very simple calculation when it corresponds to the force in the opposite direction of the target floor acting force. For example, the robot 1 can balance itself or be stable. Various follow-up operations such as performing posture control can be performed. In addition, the inventors of the present application have already examined and published a discussion about whether or not the floor reaction force actually matches the force in the opposite direction of the floor action force.

 [0067] Since the robot 1 performs various actions such as walking, it is not always in contact with the floor at one point of the ZMP. Then, the control of the mouth bot 1 of the present invention under the situation where the floor is contacted at a plurality of contact points will be described. FIG. 5 is an explanatory diagram schematically showing the robot 1 according to Embodiment 1 of the present invention and the floor acting force related to the robot 1. FIG. In the robot 1 illustrated in Fig. 5, the floor force f is shown as a vector from the center of gravity CoM to the direction of ZMP.

 p

 The Consider the set of points in contact with the external environment such as the floor in Fig. 5. The contact part of the leg part 10 is regarded as a set of a plurality of contact points that contact the floor surface, and a particular a contact point in the contact part of the leg part 10 is noticed. This is defined by Equation 6 below using a three-dimensional coordinate system based on the X, y, and z coordinates.

[0068] r = [r 1, r 2,..., R] ^T ≡R ^Sa (Formula 6)

 S SI S2 Sa

 Where r is the position vector of each contact point Sj (j = l, 2, ..., a)

 Sj

 [0069] Then, by paying attention to a specific contact point in the set of contact points, and considering the floor action force as a resultant force applied to the contact point, the floor action force f

 P can be defined by Equation 7 below.

[0070] [Equation 2]

fp -∑f _Sj . (Equation 7)

 Z = 1

Where f _Sj : contact point (zo · 1, 2, ... force applied to the first

[0071] For example, in the robot 1 shown in Fig. 5, a portion corresponding to the sole of the toe that forms a rectangular parallelepiped from the heel to the toe is used as the contact portion of the leg portion. Right tip S, left tip S, right rear end S and left rear end S, and right tip of the foot part of the left leg Edge S, left tip S, right rear end S, and left rear end S are considered contact points.

 5 6 7 8

 [0072] Note that the number of contact points of the robot 1 that performs a movement such as walking is not always constant. For example, when mouth bot 1 performs a walking motion, since the free leg is not in contact with the floor surface, the floor acting force is distributed only to the contact point on the support leg side. Furthermore, for a free leg that does not touch the floor, a virtual contact point is defined as shown in Equation 8, as with the support leg.

[0073] r = [r, r, ···, r] ^τ R ^Sh (Equation 8)

 F Fl F2 Fb

 Where r: position vector of each contact point F (j = l, 2, ..., b)

 Fj j

 [0074] For these virtual contact points, the coordinates of points that actually contact the external environment or points that do not contact the external environment but move in space are used. For example, as shown in Fig. 5, in the robot 1 that is in contact with the floor with both legs 1 0 and 10, a force of a = 8, b = 0. When one leg 10 becomes a free leg, a = 4 , b = 4. Further, when only a part of the leg 10 such as the toe and the heel is in contact with the external environment, the change further occurs. Assuming a virtual contact point on the palm as well as the sole, b = 8. Also, the X and y coordinates of the ZMP position vector can be expressed by Equation 9 and Equation 10 below. If the robot 1 is in contact with the external environment on a flat floor, the z coordinate of the ZMP position vector is zero.

[0075] [Equation 3]

X

 p (Equation 9)

yp

(Formula 10)

S

x _p: x-coordinate of the ZM zone P

X _Sj : X coordinate of contact point 'f _{∑ Si} : Force in z direction applied to contact point' y _p : Y coordinate of ZMP y _Sj : Y coordinate of contact point '

[0076] It should be noted that Equation 7, Equation 9, and Equation 10 described above can be summarized as Equation 11 below as a force relationship equation in the Z direction. The following formulas 12 and 13 are assumed as the force relationship in the X and Y directions. This is a measure for assigning a correspondingly large horizontal contact force, that is, a frictional force, to a contact point with a larger force in the Z direction.

[0077] [Equation 4]

f _Z P (Equation 1 1)

xP (Equation 1 2)

f yS \

 ysa

 YP (Equation 1 3)

 1 1 i

 2xa

A _y eR

[0078] Further, when the floor acting force with respect to the floor reaction force is distributed to each contact point, the target force to be distributed to each contact point is the norm minimum norm using Equation 14, Equation 15, and Equation 16 below. The optimal allocation is determined based on this. This prevents the generation of large forces that cancel each other. When mouth bot 1 takes a posture such as standing or standing on its toe, standing upside down, or crawling on all fours, the floor reaction force is distributed to each contact point according to the contact state based on the posture. In other words, the target action force to be applied to each contact point is calculated based on the target ZMP and the target floor action force by the calculation using the following expressions 14, 15, and 16.

[0079] [Equation 5] (Formula 14)

(Formula 15)

(Formula 1 6)

Af = A (Af A _t y (= χ, γ, ζ)

[0080] It is also possible to set an arbitrary weight for the target acting force acting on each contact point, for example, 80% for the toe of the right leg and 20% for the heel of the left foot. Specifically, the matrix A ^# used in Equations 14, 4, and 16 is defined using an inverse matrix of an arbitrary weight coefficient matrix as shown in Equation 17 below. By modifying Equations 15 and 16, it is possible to distribute the target acting force based on the weighted norm minimum criterion.

[0081] A ^# = (A ^T W ^_1 A) ^_1 A ^T W ^_1 … (Formula 17)

 Where W: Weight coefficient matrix

 [0082] When the weight coefficient matrix is used, the value of the optimal evaluation function indicated as the product of the transposed matrix of the target contact force applied to the contact point S, the weight coefficient matrix, and the matrix indicating the target contact force is minimized. The target contact force is defined as follows. Since the target contact force is a row matrix and the transposed matrix is a column matrix, the value of the optimal evaluation function is a scalar quantity.

[0083] Then, the drive control device 3 makes contact with each other so that the floor action force is optimally distributed based on the norm minimum norm based on the above-described Equation 7, Equation 9, Equation 10, and Equation 14, Equation 15, and Equation 16. The force acting on the point is derived, and the floor acting force distributed to the force applied to each contact point is expressed in the Jacobian matrix. Based on the specified forward kinematics model, the respective torque values of the respective actuators 20, 20,... That drive each joint are converted to the respective torque values as shown in the following equation 18, and the converted torque values are converted into the drive mechanisms. 4 is output as a control target value to each actuator 2, 2,. Each of the actuators 20, 20,... Operates based on the torque value received.

[0084] [Equation 6]: q, ^T f _s ·. '(Equation 1 8) where (e R: Jacobian matrix for the position vector from the center of gravity to multiple contact points

f _s : Target contact force

[0085] As each of the actuators 20, 20, ... operates based on the torque value received as input, the robot 1 of the present invention performs a stable operation during exercise such as walking.

 Next, a control method for suppressing internal motion in the robot 1 of the present invention will be described. When calculating the torque value of each actuator 20, 20, ... using Equation 5 or Equation 18 for the robot 1 with many joints 2, 2,…, etc., the degree of freedom of joint redundancy is high. As a result, the target torque of some joints may be zero or an approximate value of zero, and there is a possibility that an internal motion will occur where the joints operate unexpectedly. Therefore, the drive control device 3 of the present invention calculates the torque values of the respective actuators 20, 20,... Using the following equation 19 provided with a suppression force term that suppresses internal motion.

[0087] [Equation 7]

-(q, q) + r _a (Equation 1 9)

However, C (q, q): Suppression force term q: Joint angular velocity τ _η : Arbitrary set torque Equation 19 is an equation in which the suppression force term is added to the above-mentioned Equation 18, and the first term on the right side is Equation 18. Yes, the second term is the restraining force term. The simplest suppression term is damping for each joint. The following equation 20 shows the damping coefficient for each joint as a matrix.

[0089] [Equation 8]

^ ^ Jsiqf f _s -Dq + T _a (Equation 2 0)

And D: D = diag {d _x ,… ί „)> 0 Damping coefficient matrix

[0090] As shown in Equation 20, by setting an arbitrary friction coefficient as a damping coefficient for each of the actuators 20, 20, ..., an internal motion based on the free movement of the actuators 20, 20, ... not intended to operate Suppress movement. τ

 “a” is a value that can be set to an arbitrary value as necessary to correct the target value of the torque value. For example, a is used when a local posture and an angle are desired to be specified. In this way, the drive control device 3 controls based on the torque values of the respective actuators 20, 20,... Calculated by the mathematical formula with the restraining force term. Suppressed and performed according to the operator's intention. Note that an expression in which the suppression force term is provided in the above expression 5 may be used.

 Next, a control method that operates flexibly with respect to an external force in the robot 1 of the present invention will be described. The drive control device 3 of the present invention controls the robot 1 by providing a term that takes gravity into account for the target value of the floor acting force that compensates for the gravity applied to the center of gravity of the robot 1, as shown in Equation 21 below. . By performing control to compensate for gravity, the robot 1 realizes an operation that simulates the state of zero gravity on the condition that it is in contact with the floor. That is, the robot 1 of the present invention performs an operation of following the direction of the external force according to the external force that does not repel the external force.

[0092] [Equation 9] f _P = Mg + f _u ··· (Equation 2 1) where f _P : floor acting force during gravity compensation control

f _u : Arbitrary setting force [0093] In Equation 21, the arbitrarily set force is a target acting force that can be arbitrarily set to control the operation of the robot 1. For example, as the target motion information, an operation to lower the center of gravity on the robot 1 is performed. When the information to be performed is accepted, an arbitrary setting force is set as the downward force.

 [0094] Based on Equation 21 and Equation 3 described above, the following Equation 22 can be derived.

[0095] Md ² r / dt ² = f + f + f (Formula 22)

 C D E u

 Where f is the restraining force term based on the second term on the right side of Equation 19

 D

 [0096] Considering Equation 21 as shown in Equation 22, it is possible to eliminate the effect of apparent gravity. The drive control device 3 controls the robot 1 based on the target torque value of the actuators 20, 20,... Calculated using the floor acting force that compensates for gravity as shown in Equation 21. Since the robot 1 operates according to an external force that does not repel the external force, the external force is relaxed and safety at the time of a collision with the person and the object is increased. Can be induced.

 [0097] The arbitrarily set force shown in Equation 22 is a target acting force that is derived as an information force received by the robot 1 as the target motion information as described above. There are various methods for deriving the target acting force. For example, the target acting force is calculated from the target position and the target velocity of the center of gravity of the robot 1 in the three-dimensional space indicated by the target motion information using the following equation (23). Can be derived.

[0098] [Expression ^{10] fu = K PC (r} C ~ rc) + K DC \ r c -... R c) ( Equation 2 3)

K _PC , K _DC : Positive constant

r _c : Center of gravity C o M position vector

f _c : Center of gravity C o M target position vector (target position)

r _c : Center of gravity. o M speed

 c: Target speed of center of gravity C o M

[0099] Equation 23 is a derivation method using a simple linear feedback law. The controller 3 can derive the target working force that is treated as an arbitrarily set force by various derivation methods other than Equation 23. Furthermore, the drive control device 3 of the present invention can derive the target ZMP based on the following equation 24 from the target acting force that is an arbitrarily set force.

[0100] [Equation 11] One

 Mg + f,

 (Formula 2 4)

 Mg +

X _P : x coordinate of target ZMP

y _P : y coordinate of target ZMP

f _m : X coordinate of arbitrary setting force

 fuy: y-coordinate of arbitrarily set force

[0101] If the target ZMP derived from Equation 24 is grounded, that is, not in contact with the external environment, the closest contact point in the set of countless contact points in contact with the external environment is set as the target ZMP. Based on the derived ZMP again, the target acting force is derived. However, when the horizontal force of the target acting force is zero, that is, when only gravity compensation or vertical movement of the center of gravity is performed, the deviation of the X and y coordinates viewed from the center of gravity CoM of the target ZMP is zero.

 [0102] Next, in the robot 1 of the present invention, as a method of controlling the floor reaction force with higher accuracy, inverse dynamics calculation considering nonlinear terms such as inertial force term, Coriolis term, and centrifugal force term for the mouth bot 1. There is a way to do. Equation 25 below shows the nonlinear term for robot 1 in the barycentric coordinate system.

[0103] [Equation 12] (Formula 25)

E (q) q _c = where I (q) is the inertia matrix

C (q, q): centrifugal force term and turning force term

 id: 3 x 3 identity matrix

 p iqf: Jacobian matrix from the center of gravity to ZMP

[0104] From Equation 25 above, the floor acting force can be calculated using Equation 26 below.

[0105] [Equation 13]

 (Formula 2 6)

 d

 1C

[0106] The drive control device 3 calculates the torque values of the respective actuators 20, 20,... Of each joint as well as the target value force of the floor action force by solving Equation 26 for (the self sign above u). Can do. However, since it is difficult to accurately calculate all nonlinear terms, particularly terms including the square of a noisy speed, an estimated value calculated using an appropriate filter may be used. Since gravity compensation is performed as described above, high follow-up can be expected even if errors are included in dynamic calculations other than gravity compensation.

[0107] Next, a method for controlling the whole body movement when performing various motions using the extremities such as the hand portion and the leg portion 10 that are not in contact with the external environment in the robot 1 of the present invention will be described. FIG. 6 is an explanatory diagram schematically showing the robot 1 according to Embodiment 1 of the present invention and the virtual contact force related to the robot 1. FIG. The drive control device 3 uses, for example, the arm or leg 10 as a desired motion in the space as the target motion such as the motion indicated by the target motion information that has received the input. When performing a reaching movement to move to the position, for example, by performing PD control, a virtual contact point of the robot 1 is assumed, and a target virtual contact force to be applied to each virtual contact point is derived. Figure 6 shows the virtual contact point r and the target virtual contact force f based on the target motion.

 Fj Fj. Then, the drive control device 3 calculates, for example, the following from the obtained target virtual contact force f

 Fj

 Based on Equation 27, the torque values of the respective actuators 20, 20,... Can be calculated.

[0108] [Equation 14] f Aq †† _F · · · (Equation 2 7)

Where J _F (g): Jacobian matrix related to virtual contact point f _F : Target virtual contact force

[0109] However, since the sum of the virtual contact forces determined in this way becomes a reaction force with respect to the center of gravity, there is a possibility of adversely affecting the balance. So this force must be compensated. For this purpose, the target acting force is again obtained by subtracting the sum of the virtual acting forces from the target floor acting force in Equation 21. The virtual contact point shown in Figure 6:

 Fj

 Rather than calculating using the Jacobian matrix shown in Equation 27, assuming that the contact point r described above is in contact, it may be possible to calculate using the equation related to the contact point r. The calculation using the Jacobian matrix shown in Equation 27 is not necessary.

[0110] Further, when the robot 1 performs a movement such as a walking movement, the contact force of the support leg is useful not only for generating a floor action force corresponding to a translational force but also for generating a floor action moment corresponding to a rotational force. Can be used. Because there are multiple contact forces, these can be combined to generate moments. For example, the orientation of the robot 1 can be controlled by appropriately generating a moment with respect to the contact portion.

Next, control processing of the robot 1 using the drive control device 3 according to Embodiment 1 of the present invention will be described. FIG. 7 is a flowchart showing the processing of the drive control device 3 provided in the robot 1 according to Embodiment 1 of the present invention. An operator who operates the robot 1 reaches the target object with a balance motion, bending / extending motion, hand or foot to maintain the posture so as not to fall down. The target motion information indicating the motion such as the reaching task motion to be reached is input to the drive control device 3 of the robot 1. The input of the target motion information is performed, for example, when the operator operates the controller for the robot 1 and transmits the target motion information to the drive control device 3 through wired or wireless communication. The drive control device 3 included in the robot 1 of the present invention receives input of target motion information by the input means 35 under the control of the control means 30 (step Sl). In step SI, for example, the input means 35 receives input of the target motion information that is also transmitted by wireless communication with the controller force, thereby accepting the input. The drive control device 3 converts the bending / extension movement information indicated by the received target movement information into information indicating the movement of each part of the robot 1 based on the setting indicating the correspondence relation of the movement recorded in advance. By recognizing, the movement related movement is recognized. The target acting force and the target ZMP other than the target motion information may be input to the robot 1, and in step S1, the input means 35 may accept the inputted target acting force and target ZMP.

 [0112] The drive control device 3 included in the robot 1 derives the target acting force and the target ZMP according to the target motion indicated by the received target motion information under the control of the control means 30 (step S2). . In step S2, for example, the target acting force, in this case, the floor acting force is derived based on the above-described Equation 23, and the target ZMP is derived based on Equation 24. Note that, as shown in the explanation using Expression 8 or FIG. 6, a virtual contact point may be assumed and the target ZMP and the target acting force may be derived. As described above, a method other than Equation 23 may be used as the method of deriving the target acting force. A method other than Equation 24 may be used as the method of deriving the target ZMP. When calculating the target acting force, if necessary, gravity compensation based on Equation 21 above, arbitrarily set force based on Equation 22, and nonlinear terms such as inertial force, Coriolis, centrifugal force, etc. based on Equation 25 and Equation 26. Is taken into account. The derived target acting force and target ZMP are stored in the storage means 32 as set values. When the input means 35 accepts the target applied force and target ZMP in step S1, the process in step S2 performs the processing in the format that can be handled in the subsequent processes from the received target applied force and target ZMP. Derived processing. It is also possible to accept only the target acting force and derive the target ZMP from the target acting force using Equation 24.

[0113] Then, the drive control device 3 provided in the robot 1 of the present invention is controlled by the control means 30, Based on Equation 5, Equation 9, Equation 9, Equation 10, Equation 14, Equation 15, and Equation 16, the applied force is applied to each contact so that it is optimally distributed based on the norm minimum criterion. The force is derived (step S3), and the actuators 20, 20, 20 that drive the connecting portions 2, 2,. Torque values are calculated as the control target values of (Step S4).

Then, the drive control device 3 provided in the robot 1 of the present invention controls the control means 30 to use the calculated torque value as a control target value from the output means 34 via the drive mechanisms 4, 4,. Are output to 20, 20, 20, ... (step S5). Each of the actuators 20, 20,... Receives a torque value as a control target value and operates based on the received torque value.

 [0115] Next, simulation experiment results regarding the robot of the present invention will be described. FIG. 8 is an external view schematically showing the bending and stretching motion of the robot according to the first embodiment of the present invention. Fig. 8 shows the bending and stretching motion assumed as a simulation experiment of the present invention. The robot is shown in Fig. 8 (a), Fig. 8 (b), Fig. 8 (c), Fig. 8 (d), and Fig. 8 Operates repeatedly in the order of (e).

 [0116] FIG. 9 is a graph showing a change with time of the value indicating the bending / extending motion in the simulation experiment of the robot according to Embodiment 1 of the present invention. Fig. 9 (a) is a graph showing the change over time in the height Z of the center of gravity of the robot during the bending and stretching movements shown in Fig. 8, and Fig. 9 (b) is based on the upright position.

 C

 The time-dependent changes in the longitudinal angle Φ and the horizontal angle Φ of the trunk of the robot

 P r

 It is a graph to show. As shown in Fig. 9 (a), the robot is controlled to perform bending and stretching movements in which the height of the center of gravity changes based on a sine curve, and as shown in Fig. 9 (b), the robot It is controlled to perform bending and stretching movements in which the angle of the trunk is changed based on the sine curve. In the simulation experiment shown in FIG. 9, the target value of each joint related to control is arbitrarily set within the movable range of each joint.

[0117] FIG. 10 is a graph showing the time-dependent changes in the center of gravity and ZMP during bending and stretching in the simulation experiment of the robot according to Embodiment 1 of the present invention. Figure 10 (a) shows the time-dependent change in the X-coordinate X of the center of gravity of the robot with the origin at the center of both legs and the ZMP

 c

 Fig. 10 (b) is a graph showing the change with time of the X coordinate X.

P

6 is a graph showing the time-dependent change of y-coordinate y and the time-dependent change of ZMP y-coordinate y. x coordinate Is a coordinate indicating the front-rear direction of the robot, and y-coordinate is a coordinate indicating the left-right direction of the robot. Fig. 10 shows the changes in the center of gravity and ZMP when the bending and stretching movements shown in Fig. 9 are performed. 9 and 10, it can be seen that while the robot is bending and stretching, the ZMP swings back and forth and left and right, but the center of gravity is almost constant. This is because the robot of the present invention is controlled so that the center of gravity is stabilized by applying a load to the front, rear, left and right during bending and stretching movements.

[0118] FIG. 11 is an external view schematically showing the leg-raising motion of the robot according to Embodiment 1 of the present invention. Fig. 11 shows the leg-lifting motion assumed as a simulation experiment of the present invention. The robot lifts one leg to its right front as shown in 011 (a), and then Fig. 11 (b) Fig. 11 (c) and Fig. 11 (d) are repeated in the order of lowering the legs. In the simulation experiment shown in FIG. 11, the target value of each joint related to control is arbitrarily set within the movable range of each joint.

 [0119] FIG. 12 is a graph showing a change with time of the position of the leg during the leg raising exercise in the simulation experiment of the robot according to Embodiment 1 of the present invention. Fig. 12 shows the X-coordinate X of the toe on the free leg side, with the sole of the support leg as the origin in the leg raising movement shown in Fig. 11.

 It is a graph which shows a time-dependent change of Fy coordinate yF and z coordinate zF. As shown in Fig. 12, the robot performs a leg-lifting motion so that the position of the toes moves based on a smooth curve.

[0120] FIG. 13 is a graph showing a change with time of a value indicating the leg raising motion in the simulation experiment of the robot according to Embodiment 1 of the present invention. Fig. 13 (a) shows the X coordinate X of the center of gravity of the robot with the sole of the support leg as the origin in the leg raising motion shown in Fig. 11.

 Fig. 13 (b) is a graph showing changes over time in the z-coordinate z of the center of gravity.

 C

 Fig. 13 (c) shows the trunk's front-rear angle φ, left-right angle φ,

 P r

 It is a graph which shows a time-dependent change of degree (phi). Fig. 13 shows the result of the leg raising exercise shown in Fig. 12.

 The robot of the present invention can perform stable control even during the leg raising motion.

 FIG. 14 is a graph showing a change with time of a value indicating walking motion in the simulation experiment of the robot according to Embodiment 1 of the present invention. Fig. 14 (a) shows the robot center of gravity speed in the X coordinate direction dx Zdt, the speed in the y coordinate direction dy Zdt, and the speed in the z coordinate direction dz Zdt over time.

C C C

Fig. 14 (b) shows the angle φ in the longitudinal direction of the trunk of the robot and the angle in the horizontal direction. It is a graph which shows a time-dependent change of degree (phi) and a shaft attitude angle (phi). Graph ry shown in Figure 14

 Shows the operation when the robot of the present invention performing gravity compensation control receives an external force during walking as the speed of the center of gravity and the inclination of the trunk. The robot receives an external force of 1500 N backward for 0.1 second 2 seconds after the start of the experiment, receives an external force of 1500 N forward for 0.1 second after 4 seconds, and receives an external force of 500 N rightward for 0.1 second after 5 seconds 6 seconds later and receiving 500N external force for 0.1 second. As shown in Fig. 14, the robot continues its walking motion without falling down according to the external force rather than repelling it.

 [0122] The robot of the present invention is not limited to the above-described example, and can be developed into various forms for controlling the actuators of each joint included in the robot based on the torque value calculated from the floor acting force. . For example, in the first embodiment, a robot having a pair, that is, two legs has been described. However, the present invention is not limited to this, and there are a large number of robots such as four, six, and the like that walk upside down with their arms. It can be deployed in various forms, such as being applied to a robot having multiple legs.

 [0123] Embodiment 2.

 The second embodiment is an embodiment in which the robot of the present invention is applied to a motion assisting device. FIG. 15 is an external view showing a robot according to Embodiment 2 of the present invention. In FIG. 15, 1 is a robot according to Embodiment 2 of the present invention, and the robot 1 is configured to be worn by a person. In FIG. 15, a person wearing the robot 1 that is an exercise assisting device is shown. This shows the situation where heavy objects are being transported. The robot 1 is composed of a rod-shaped auxiliary exoskeleton having telescopic connecting parts 2, 2,... Driven by direct acting actuators 20, 20,. Is helping to exercise. In addition, a drive control device 3 including a power source of the robot 1 is worn on the back of the person.

 [0124] The configuration of the robot 1 is substantially the same as the configuration of the first embodiment shown in the block diagram of Fig. 3, and the connecting parts 2, 2, ..., the actuators 20, 20, ... , And a drive control device 3, and a drive mechanism and a detection mechanism. The drive control device 3 includes control means, recording means, storage means, measurement means, output means, and input means.

[0125] The process by the drive control device 3 of the robot 1 according to the second embodiment is substantially the same as that of the first embodiment described with reference to FIG. 7, and is a process corresponding to step S1 in FIG. , Enter The force means detects the force in the person's arm, torso and leg, and accepts the detected force as input of the target movement information.

 [0126] Then, as a process corresponding to step S2, the drive control device 3 of the robot 1 uses the target motion information based on the detected force to perform the target ZMP and the target action using the various calculation methods described in the first embodiment. As a process corresponding to step S3, a force applied to each contact portion is derived so that the derived action force is optimally distributed based on the norm minimum criterion. In the example shown in FIG. 15, the robot 1 of the present invention has a position vector r 1, r 2, r 3, r from the center of gravity CoM.

 SI S2 S3

Deriving the floor action force distributed in the direction of each contact point indicated by S4, and distributing it in the direction of each virtual contact point indicated by the position vector r, r, r to lift the heavy object

 Fl F2 F3

 Deriving force.

 [0127] Further, as a process corresponding to step S4, the drive control device 3 of the robot 1 calculates a torque value as a control target value of each of the actuators 20, 20, ..., and calculates as a process corresponding to step S5. Each control target value is output to each of the actuators 20, 20,. By such processing, a person wearing the robot 1 configured as an exercise assisting device can carry a heavy object with a small force as shown in FIG. Since the input means has a function of detecting the force of a person, it is possible to share part of the functions of the detection mechanism and the input means.

 [0128] Control of the drive control device 3 of the robot 1 will be further described in detail. In step S2, the target ZMP to be calculated is set to be the center of gravity projection point obtained by projecting the center of gravity CoM onto the ground, and by performing the gravity compensation described in Embodiment 1, the person wearing the robot 1 If it is a simple motion such as movement, the robot 1 can be easily operated without being aware of the operation method.

[0129] The drive control device 3 of the robot 1 can be controlled in various modes according to the purpose. First, the balance mode that automatically maintains the horizontal balance will be described. In the noise mode, the target ZMP is set so that the center of gravity projection of robot 1 comes to the center of gravity of the contact surface that is the contact part that contacts the ground. By controlling based on such settings, a person wearing the robot 1 as an exercise assisting device can perform a transport operation without being particularly aware of balance even when transporting heavy objects. Also drive system As the setting of the control device 3, when using the weighting coefficient matrix, Equation 23, the constant K indicating the feedback gain, the constant K, the PID value for the actuators 20, 20,.

 PC DC

 By appropriately adjusting the parameters related to deceleration, it is possible to control the followability to the target ZMP and to control the strength of the noise.

 Next, a movement assistance mode for assisting acceleration / deceleration of the center of gravity of the person in the three-dimensional space will be described. In the movement assist mode, the actual floor reaction force and ZMP are detected or calculated based on the detection result of the detection mechanism, and the center of gravity projection point and ZMP distance calculated based on the floor reaction force are used as acceleration / deceleration parameters to be assisted. Use. By performing control using such parameters, a person wearing the robot 1 as an exercise assisting device can easily perform a work of moving a heavy object to the right force left in an upright state, for example. Further, as the setting of the drive control device 3, the strength of the movement assist can be controlled by multiplying the acceleration / deceleration parameter by the control target related to the followability.

 [0131] Next, an autonomous mode in which a person's force is not used for control will be described. In the autonomous mode, it operates based on the target motion information received by the input means and the set values such as Z or target acting force. In the autonomous mode, the person wearing the robot 1 can completely remove his / her power and only sets the target movement information such as the target moving speed and moving point. The balance mode, the mobility assistance mode, and the autonomous mode described above are not only capable of functioning independently, but the operator uses the parameters related to the strength of the mode as weights, and the torque values calculated in each mode are weighted. It is also possible to function at the same time by superimposing those multiplied by.

 [0132] In the second embodiment, a force showing a form in which a robot is used as an exercise assisting tool that can be worn by a person. The present invention is not limited to this, and it may be worn by a living organism other than a person. It is also possible to suppress the force related to the exercise and assist the work that requires fine and powerful control of the force.

 [0133] Embodiment 3.

Embodiment 3 is an embodiment in which the robot of the present invention is applied to a vehicle. FIG. 16 is an external view showing a robot according to Embodiment 3 of the present invention. In FIG. 16, 1 is a robot according to Embodiment 3 of the present invention, and Robot 1 is a three-wheel buggy type with two front wheels and one rear wheel. It is configured as a vehicle. The front and rear wheels are all drive wheels, and a rod-like body with extendable connecting parts 2, 2, ... driven by direct acting actuators 20, 20, ... as a suspension system to support the drive wheels Is used. Other components such as a drive control device are incorporated in the vehicle body.

 [0134] The configuration of the robot 1 is substantially the same as the configuration of the first embodiment shown in the block diagram of Fig. 3, and includes the connecting sections 2, 2, ..., the actuators 20, 20, ..., and the drive control. It is equipped with a device, a drive mechanism, and a detection mechanism. The drive control device includes a control unit, a recording unit, a storage unit, a measuring unit, an output unit, and an input unit.

 [0135] The processing by the drive control device of the robot 1 according to the third embodiment is substantially the same as that of the first embodiment described with reference to Fig. 7, and input is performed as processing corresponding to step S1 in Fig. 7. The means accepts a passenger's operation as an input of target motion information from a steering mechanism such as a steering wheel of a vehicle, an acceleration mechanism such as an accelerator, and a control mechanism such as a brake.

 [0136] Then, as a process corresponding to step S2, the drive control device of robot 1 derives the target ZMP and the target acting force from the received target motion information by the various calculation methods described in the first embodiment, As a process corresponding to step S3, a force applied to each contact portion is derived so that the derived applied force is optimally distributed based on the norm minimum criterion. In the example shown in FIG. 16, the robot 1 of the present invention has a center of gravity CoM force and position vectors r 1, r 2, r 3.

 SI S2 S3

 The floor acting force distributed in the direction of the contact point is derived.

 [0137] Further, the drive control device of robot 1 calculates the torque value as the control target value of each actuator 20, 20, ... as the process corresponding to step S4, and calculates the process as the process corresponding to step S5. Each control target value is output to each of the actuators 20, 20,. By such processing, the robot 1 configured as a vehicle such as a three-wheel buggy determines the posture corresponding to the vertical movement and steering during traveling, disperses the weight, and elastically absorbs the impact and vibration of the road surface force. Suspend the vehicle body and passengers stably.

 [0138] In the third embodiment, a robot is used as a three-wheel buggy. However, the present invention is not limited to this, and the number of wheels is changed. Other than the endless track, the support of the leg-like body and the drive mechanism may be substituted.

[0139] Embodiment 4. Embodiment 4 is an embodiment in which the robot of the present invention is applied to a variable polyhedron type moving device. In FIG. 17, reference numeral 1 denotes a robot according to the fourth embodiment of the present invention, and the robot 1 is configured by an exoskeleton having an octahedral shape combining eight triangles! Each side of the octahedron is composed of a rod-shaped body with extendable connecting parts 2, 2, ... driven by direct acting actuators 20, 20, ... It is configured as a possible spherical joint. It is also possible to incorporate a rotary type actuator into the spherical joint. Other components such as the drive control device are incorporated in the spherical joint and Z or inside the connecting parts 2, 2,.

 [0140] Robot 1 has an octahedral shape as shown in Fig. 17 (a), and one end of an arbitrary rod-like body having connecting portion 2 as shown in Fig. 17 (b) is detached from the spherical joint. By making contact with the ground, the detached rod-shaped body becomes a support shaft and comes into contact with the ground together with an arbitrary apex of the octahedron. It can be moved by attaching and detaching.

 [0141] The configuration of the robot 1 is substantially the same as the configuration of the first embodiment shown in the block diagram of Fig. 3, and includes the connecting portions 2, 2, ..., the actuators 20, 20, ..., and the drive control. It is equipped with a device, a drive mechanism, and a detection mechanism. The drive control device includes a control unit, a recording unit, a storage unit, a measuring unit, an output unit, and an input unit.

 [0142] The process by the drive control device for robot 1 according to the fourth embodiment is substantially the same as that of the first embodiment described with reference to FIG. 7, and the control corresponds to step S1 in FIG. The target exercise information transmitted from the roller by wireless communication is received by the input means.

 [0143] Then, as a process corresponding to step S2, the drive control device of the robot 1 derives the target ZMP and the target acting force from the received target motion information by the various calculation methods described in the first embodiment, As a process corresponding to step S3, a force applied to each contact portion is derived so that the derived applied force is optimally distributed based on the norm minimum criterion. In the example shown in FIG. 17, the robot 1 of the present invention is represented by the center-of-gravity CoM force position vector r 1, r 2, r 1, r 2.

 SI S2 S3 S4 The floor acting force distributed in the direction of each contact point is derived.

[0144] Further, as a process corresponding to step S4, the drive control device of robot 1 calculates a torque value as a control target value for each of the actuators 20, 20, ..., and corresponds to step S5. As processing, the calculated control target values are output to the respective actuators 20, 20,. By such processing, the robot 1 configured as a variable polyhedron device performs various operations.

 Embodiments 1 to 4 show only a part of the infinite number of realizations of the robot according to the present invention, and the robot according to the present invention is not limited to the above-described forms, and can be developed in various forms. Is possible.

Claims

The scope of the claims

 [1] In a robot having a plurality of drivable connecting parts,

 Based on the torque value received as the control target value, a plurality of actuators that drive the connecting portion,

 Calculation means for calculating the torque value of each actuator that drives each connecting portion based on the set target acting force that is supposed to act on the assumed external contact portion, and the calculated torque value as a control target value And a means for outputting to each of the actuators.

 [2] The robot according to claim 1, wherein the actuator is a direct acting type actuator that expands and contracts a connecting portion and a rotation type actuator that rotates Z or the connecting portion.

[3] The apparatus further comprises means for receiving the setting of the target acting force,

 The calculation means is configured to calculate a torque value of each actuator based on the received target acting force.

 The robot according to claim 1 or claim 2, wherein

[4] means for receiving target exercise information indicating the target exercise;

 Deriving means for deriving the target acting force to be set based on the received target motion information;

 Further comprising

 The calculation means is configured to calculate the torque value of each actuator based on the derived target acting force.

 The robot according to claim 1 or claim 2, wherein

5. The robot according to claim 4, wherein the calculating means is configured to calculate a torque value of each of the actuators from a target acting force based on a forward kinematic model.

[6] The claim, wherein the calculation means is configured to calculate a torque value of each of the actuators in consideration of at least one of inertia force, coriolica and centrifugal force. The robot described in 1.

[7] It further comprises a detecting means for detecting the force received by the external force,

 The calculation means is configured to calculate the torque value of each actuator in consideration of the force detected by the detection means.

 The robot according to any one of claims 1 to 6, characterized in that:

[8] The contact portion is a set of a plurality of contact points,

 The calculation means is configured to calculate a torque value of each actuator based on a force distributed to each contact point calculated based on the norm minimum norm.

 The robot according to any one of claims 1 to 7, characterized by:

[9] The calculation means is configured to calculate a torque value of each actuator based on a target action force that compensates for gravity applied to the center of gravity. Item 8 !, the robot described in any of the above.

[10] Claim 1 characterized in that the torque values of the respective actuators are calculated based on the restraining force that suppresses the internal motion caused by the redundancy degree of freedom related to the plurality of connecting portions. The robot according to claim 9.

11. A plurality of legs that operate by driving the connecting portion.

The robot according to any one of claims 1 to 10.

[12] The organism is configured to be wearable,

 A means to detect the force of the organism,

 Means for deriving a target acting force to be set based on the detected force;

 Further comprising

 The calculation means is configured to record so as to calculate the torque value of each actuator based on the derived target acting force.

 The robot according to claim 1 or claim 2, wherein

[13] In a control device for controlling the operation of a robot having a plurality of connecting portions that can be driven by an actuator,

Means for calculating a torque value of each actuator for driving each connecting portion based on a set target acting force to be applied to the assumed external contact portion; And a means for outputting the calculated torque value as a control target value to each of the actuators.