JP2007007797A - Walking robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot, performing stable action according to the simple control logic even if a target position of a robot arm or the like is given in real time to the robot operated according to the gait data. <P>SOLUTION: During the robot operation, the target position of the robot arm part is output from a robot operating device 130 in real time. At this time, the center of gravity position of the robot when the trunk link and the leg link are put in the target positions and the arm part is put in the standard position is calculated. Simultaneously, the center of gravity position of the robot when the trunk link and the leg link are put in the target positions and the arm part is put in the target position output from the robot operating device 130 is calculated. The target position of the robot trunk link is corrected by the deviation. Thus, the center of gravity position of the robot is near the center of gravity position when the arm part is put in the standard position to ensure stability. Since ZMP of the robot is not taken into consideration in such a control, the operation can be achieved by simple control logic. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a walking robot in which a leg link and an upper link are swingably connected to a trunk link.

A leg link is swingably connected to a trunk link, and a robot that walks by changing the position (posture) of the leg link with respect to the trunk link has been developed.
An upper link such as an upper limb link or a head link is swingably connected to the trunk link, and the upper limb is swung or the neck link is tilted by changing the position (posture) of the upper link with respect to the trunk link. Robots are being developed. Here, the upper link is a link that is swingably connected to the trunk link, and refers to a link that does not come in contact with the body during walking.
In order to operate the robot in which the leg link and the upper link are swingably connected to the trunk link, data that describes the target positions of the trunk link, the leg link, and the upper link in time series is required. The “target position of the upper link” is a target value of a position where each link constituting the upper link can determine the position and posture with respect to the trunk link. For example, when the position of the hand is determined, the posture of each link of the arm can be determined. At this time, the position of the hand becomes the target position of the upper link.
In the case of a walking robot, the ZMP (Zero Moment Point) is the area formed by the foot of the grounded leg link (when both legs are grounded, the outer circumference of both feet and two common tangents that touch the outer circumference of both feet) The condition that it must be present in) is required. Data that describes the target positions of the trunk link, leg link, and upper link in chronological order satisfies the relationship that the ZMP obtained when the robot moves according to the data exists in the foot of the grounded leg link Must be. Otherwise, the balance of the robot is not secured and the robot may fall down.

  Patent Document 1 gives the trunk link that can satisfy the relationship that the ZMP exists in the foot of the grounded leg link when data describing the target positions of the leg link and the upper link in time series is given. A technique for calculating time series data of a target position is disclosed. In this technology, the target position of the trunk link is assumed, and the ZMP is calculated when the movement of matching the leg link and the upper link to the given target position is calculated. The calculated ZMP is calculated in the foot of the grounded leg link. The target position of the trunk link that satisfies the relationship that exists in the search is searched. In the search process, the ZMP is calculated after correcting the target position of the trunk link, and when the calculated ZMP protrudes from the foot of the grounded leg link, the target position of the trunk link is further corrected. Repeat.

JP 2003-117858 A (paragraph 0032, FIG. 6, FIG. 7)

Since the technology of Patent Document 1 takes into account the influence of the movement of the upper link on the ZMP, it is ensured with high reliability that the ZMP when the robot is actually moved is present in the foot of the grounded leg link. However, since the calculation takes into account the movement of the upper link, a large amount of calculation is required, and there is a problem that it takes time to calculate the target position of the trunk link.
In order to make the robot a human-friendly machine, there is a demand for instructing the movement of the upper link in real time using an input device such as a joystick. Alternatively, there is a demand for mounting an object position recognition sensor on a robot and causing the robot to autonomously execute an operation of “finding, grasping and lifting an object”.
In these cases, it is disadvantageous that it takes time to calculate the target position of the trunk link in consideration of the motion of the upper link, and the movement of the robot can only be slow.
There is a need for a technique for calculating the target position of the trunk link at a high speed in response to an unexpected movement of the upper link (a movement that is not programmed before the robot starts moving).

The present invention adopts the following configuration in order to calculate the target position of the trunk link corresponding to the unexpected movement of the upper link at high speed.
(1) By specifying the time series data of the target position of the leg link, the carrying of the robot leg is specified in advance.
(2) The time series data of the target position of the trunk link that satisfies the condition that the ZMP exists in the foot of the grounded leg link is calculated from the movement of the leg. At this time, if time series data of the target position of the upper link is not specified, it is unclear whether or not the ZMP exists in the foot of the grounded leg link. However, in the present invention, the upper link is at the standard position. Assume that there is.
The standard position of the upper link assumed here is not necessarily fixed with respect to the trunk link. The standard position may change in time series. Even if it changes in time series, it only needs to be known in advance. The normal movement of the upper link can be a standard position that changes over time.
(3) The actual position of the upper link is acquired. At this stage, the target position input from the input means for designating the movement of the upper link may be adopted, or the actual position may be measured. When the robot autonomously swings the upper link, a method of measuring the actual position is suitable. Since the robot matches the position of the upper link with the target position output by the control device, the robot may treat the target position output by the control device as the actual position.
(4) Assuming that the upper link is placed at the standard position (the standard position may change in time series), the time series data of the target position of the leg link specified in (1) By using together, it is possible to calculate time-series data of the target position of the trunk link necessary for securing the balance of the robot. Here, the technique described in Patent Document 1 is utilized.
(5) The time-series data of the target position of the trunk link obtained by calculation moves the leg link based on the time-series data of the target position specified in (1), and moves the upper link to the standard position (its The relationship of ensuring the balance of the robot is satisfied when the standard position may be changed in time series).
When the standard position changes in time series, complicated calculation is required to calculate the time series data of the target position of the trunk link that satisfies the relationship in which the robot secures the balance. Therefore, it is not a serious problem that the calculation amount is large at this stage. If the standard position is fixed, the upper link and the trunk link can be regarded as one rigid body, so that the calculation amount can be reduced.
(6) In the present invention, the time series data of the target positions of the trunk link and the leg link calculated in (5) is stored in the storage means.
(7) In the present invention, the upper link is allowed to swing out of the standard position (the standard position may change in time series). For example, a person is allowed to specify the position of the upper link by using a joystick or the like. Alternatively, a robot equipped with an object position recognition sensor may swing the upper link autonomously in order to grasp an object.
(8) The position of the center of gravity of the robot when the upper link is at the standard position (the standard position may change in time series) and the position of the center of gravity of the robot when the upper link is separated from the standard position Is different. Therefore, in the present invention, the deviation in the horizontal plane between the two is calculated.
(9) When the robot is actually operated, the target position of the trunk link obtained in (5) and stored in (6) is corrected with the horizontal plane deviation obtained in (8). The target position of the trunk link is adopted.
By adopting the corrected target position of the trunk link, the position of the center of gravity of the robot when the upper link has departed from the standard position, the robot's center of gravity when the upper link where the balance is secured is placed at the standard position It can be close to the position of the center of gravity. This ensures the balance of the robot even when the upper link is detached from the standard position.
With the above technique, the calculation amount of (7) to (9) can be reduced, and the target position of the trunk link corresponding to the actual movement of the upper link can be calculated at high speed. Even when the movement of the upper link is instructed in real time, it can be handled without difficulty, and the robot can be operated quickly.
The present invention is effective when the process (7) is performed while the robot is actually operated, but is also effective when the process (7) is performed prior to the actual operation of the robot. It is. In particular, when the standard position of the upper link is fixed, it is practical to execute the process (7) before actually operating the robot. If the standard position of the upper link is fixed, the calculation amount of (5) can be reduced. When the process (7) is performed, (8) and (9) can be performed. In this case, the target position of the trunk link that is balanced with respect to the operation of the upper link in (7) can be calculated with a small amount of calculation. Even when the target position of the trunk link is calculated in advance, it is significant that the calculation amount can be reduced.
The above technique does not calculate inertia due to upper link motion. It only calculates the static center of gravity. Less computation is required. Although it is not accurate because inertia is not taken into account, when the robot is actually operated, the robot is sufficiently stable and can be operated without difficulty.
There are various modes in which the robot changes its posture in response to the correction of the target position of the trunk link. The aspect which corrects the joint angle of the knee joint which exists in a leg link may be sufficient, and the aspect which corrects the inclination angle of a trunk link may be sufficient.

In the walking robot of the present invention, the leg link and the upper link are swingably connected to the trunk link, and the walking robot walks by changing the position (posture) of the leg link with respect to the trunk link, and the upper link to the trunk link. By changing the position (posture), an operation of swinging the upper limb or tilting the neck link is executed.
The walking robot of the present invention includes storage means for storing time series data of target positions of the trunk link and the leg link, and an upper link position acquisition means for acquiring the position of the upper link during the robot operation. The walking robot of the present invention further includes the position of the center of gravity of the robot when the trunk link and the leg link are placed at the target position stored in the storage means and the upper link is at the standard position, the trunk link and the leg link. Horizontal plane deviation calculating means for calculating a horizontal plane deviation from the center of gravity of the robot when the upper link is placed at the position acquired by the upper link acquiring means while being placed at the target position stored in the storage means, and stored in the storage means Correction means for correcting the position in the horizontal plane of the target position of the trunk link, which is calculated by the horizontal plane deviation calculated by the horizontal plane deviation calculation means, corrected data of the target position of the trunk link, and storage in the storage means Control means for controlling the relative posture of the trunk link and the leg link is provided according to the target position data of the leg link.
The time-series data of the target positions of the trunk link and the leg link stored in the storage means is set so as to ensure the balance of the robot when the upper link is at the standard position.

The walking robot of the present invention stores time-series data of target positions of trunk links and leg links. If the trunk link and the leg link are matched with the stored target position, the walking robot walks. At this time, as long as the upper link is in the standard position, time series data that satisfies the condition that the ZMP exists in the foot of the grounded leg link is stored.
When the robot actually operates, the upper link leaves the standard position. As a result, the position of the center of gravity of the robot when the upper link is at the standard position and the position of the center of gravity of the robot when the upper link is removed from the standard position change. The balance of the robot may be lost due to the withdrawal. Therefore, the walking robot of the present invention calculates the amount of movement (horizontal plane deviation) of the center of gravity position that occurs when the upper link leaves the standard position.
The walking robot of the present invention corrects the target position of the trunk link by a deviation in the horizontal plane in order to prevent the balance of the robot from being lost due to the upper link being separated from the standard position.
When this technology is actually verified, the balance of the robot is prevented from being lost even if the upper link is swung away from the standard position. Moreover, the amount of calculation from the determination of the position (posture) of the upper link to the correction of the target position of the trunk link can be reduced, and the correction value of the target position of the trunk link can be calculated in a very short time. Was confirmed. Even when the position (posture) of the upper link is indicated in real time or when the robot autonomously swings the upper link, the robot can move quickly.

The standard position of the upper link may change in time series with respect to the trunk link, but is preferably fixed with respect to the trunk link.
If the standard position is fixed, the time series data of the target position of the trunk link necessary for securing the balance of the robot can be easily calculated. When the robot is operating, the upper link leaves the standard position. If the upper link leaves the standard position, the target position of the trunk link is corrected accordingly, so the target position of the trunk link is calculated in advance. At the stage, there is no problem even if the upper link is fixed to the trunk link.

It is preferable to provide an input means used to specify the operation of the upper link. In this case, the upper link position acquisition means only needs to acquire the target position of the upper link input from the input means. This is because if the target position of the upper link is designated, the target position and the actual position may be substantially equal because the robot control device positions the upper link at the designated target position.
The present invention is extremely effective when the operation of the upper link is specified while operating the robot, and the robot can be operated quickly while specifying the operation of the upper link in real time.
There are no particular restrictions on the input means used to specify the operation of the upward link, and input devices such as a joystick, cursor, button, and mouse can be used.

In order to acquire the position of the upper link, a joint angle measuring unit that measures the joint angle between the trunk link and the upper link is provided, and the position of the upper link may be acquired from the measurement value of the joint angle measuring unit. Good. In this case, the actual position of the upper link can be obtained relatively easily. Here, the “joint angle between the trunk link and the upper link” refers to the angle of the joint that connects adjacent links, and the link and trunk of any of the upper links. The angle of the joint that connects the links.
The upper link may change its position based on a command input from the input means described above. Alternatively, the robot itself may be provided with a camera and an image processing device, and may be programmed to recognize the position of the object and move the upper link toward the object. When the robot is programmed to autonomously swing the upper link, a method of measuring the position of the upper link is advantageous.

  The robot may perform an operation of gripping an object with an upper link. In this case, input means used for designating an operation of gripping an object with the upper link is provided, and the horizontal plane deviation calculating means places the trunk link and the leg link at a target position stored in the storage means. The center of gravity position of the robot when the upper link is in the standard position, the trunk link and the leg link are placed at the target positions stored in the storage means, and the object is gripped at the position acquired by the upper link position acquisition means. The deviation in the horizontal plane from the center of gravity position of the robot is calculated.

  When the robot lifts an object using the upper link, the position of the center of gravity of the robot changes due to the change in the posture of the upper link and the mass of the object. If the target position of the trunk link is corrected in consideration of the change in the center of gravity position, a robot that does not lose its balance even when the robot picks up an object can be realized.

  According to the present invention, it is possible to calculate the trunk target position at a high speed with a small amount of calculation without causing the balance to be lost even when the robot walking while swinging the upper link swings the upper link. Whether the upper link position (posture) is specified in real time or when the robot autonomously swings the upper link, the trunk target position where the robot does not lose the balance can be calculated at high speed. Therefore, the robot can be operated quickly.

The main features of the examples are listed.
(1st form) It is isolate | separated into the trunk link and the waist link, The change of the gravity center position resulting from the rocking | fluctuation of an upper limb link is canceled by changing the rocking | fluctuation angle of the trunk link with respect to a waist link.

Embodiments will be described in detail with reference to the drawings.
<Example 1>
A first embodiment of the present invention will be described with reference to FIGS. 1, 2, 5, and 6.
First, the outline of the link configuration of the legged robot will be described with reference to FIG. FIG. 5A is a front view of the main body of the robot 100. The robot includes a plurality of links and joints that connect adjacent links so as to be able to swing with each other. The robot 100 includes a trunk link 40 corresponding to a human torso, a waist link 42 corresponding to a waist, a right arm portion 44R, a left arm portion 44L, a right leg portion 46R, a left leg portion 46L, and a head link 48. . Each of the right arm portion 44R, the left arm portion 44L, the right leg portion 46R, and the left leg portion 44L includes a plurality of links. The link attached to the tip of the right leg 46R is the right foot link 52R. A left foot link 52L is attached to the tip of the left leg 46L. Here, a combination of the right arm portion 44R, the left arm portion 44L and the head link 48 is an upper link. That is, the “upward link” includes a plurality of links. Therefore, a joint that connects adjacent links included in the “upper link”, a joint that connects the right arm portion 44R and the left arm portion 44L to the trunk link, and a joint that connects the head link 48 and the trunk link are combined together. These will be referred to as “upper link joints”. In addition, the trunk link 40 and the right arm portion 44R are connected by a shoulder joint 50 so as to be swingable. In FIG. 4A, the same circle as the circle illustrated for the shoulder joint 50 represents a joint. However, a single circle may represent a plurality of joints.

FIG. 1 is a block diagram of a robot controller 10a and a robot body 100 according to the present invention. First, the configuration of modules (a processing unit that performs a predetermined process or a storage unit that stores specific data) included in the robot control apparatus 10a and the robot main body 100 will be described, and then the details of each module will be described.
The robot control apparatus 10a includes a gait data storage unit 20 that stores gait data including time-series data of target positions of the trunk link and the leg link. In addition, a time-series data of the target positions of the trunk link and the leg link is read from the gait data storage unit 20, and an inverse conversion unit 22a that converts the target position into an angle of each joint included in the leg is provided. A standard center-of-gravity position calculation unit 24 that calculates the center-of-gravity position of the robot when the upper link is placed at a standard position (“standard position” will be described later) using the angles of the joints of the legs output from the inverse conversion unit 22a. Is provided. In addition, the time series data of the target positions of the trunk link and the leg link are read from the gait data storage unit 20 and at the same time, the target position of the upper link of the robot output from the robot operation device 130 is acquired to be provided in the robot. Further, an inverse conversion unit 22b that outputs angles of all the joints is provided. An actual center-of-gravity position calculation unit 26 that calculates the center-of-gravity position of the robot from the angles of all the joints of the robot output from the inverse conversion unit 22b is provided.
The robot control apparatus 10a also includes a deviation calculation unit 32 that obtains a deviation in the horizontal plane between the gravity center position calculated by the standard gravity center position calculation unit 24 and the gravity center position calculated by the actual gravity center position calculation unit 26. The deviation in the horizontal plane is the base of the correction amount for the trunk link target position. Further, time-series data of the target positions of the trunk link and the leg link read from the gait data storage unit 20 and the horizontal plane deviation calculated by the deviation calculation unit 32 (that is, correction of the trunk link target position in the horizontal plane). Amount) and the target position of the robot upper link output from the robot operation device 130, an inverse conversion unit 22c for converting the added target position into a target joint angle of each joint of the robot, and An actuator drive unit 28 that controls the actuator 110 provided in each joint is provided so that the angle of each joint of the robot follows the converted target joint angle.

The robot body 100 includes an actuator 110 that drives each joint and a force sensor 120 attached to the hand of the robot. Note that the force sensor 120 is not used in the first embodiment, but is used in the fourth embodiment later, and thus the description thereof is omitted here.
The robot operation device 130 is a device that designates the operation of the upper link of the robot. For example, the hand of the robot can be moved to a desired position, or the head link can be swung left and right. In order to perform such an operation, the robot operation device 130 outputs a target position to the hand or head link of the robot. Specific examples of the robot operation device 130 include a joystick, buttons, and a mouse.

Next, details of each module will be described.
The gait data stored in the gait data storage unit 20 is the time-series data of the target position of the trunk link, both leg links (the leg link is composed of a plurality of links, but is simply referred to as a leg link hereinafter). ) Is a combination of time-series data of target positions. A representative point is set for the foot link at the tip of both legs, and the target position of the leg link is the target position of this foot link representative point. The “target position of the trunk link” includes the position of the representative point set at a predetermined position of the trunk link in the three-dimensional space and the posture angle of the trunk link. The “target position of the leg link” includes the position of the foot link representative point in the three-dimensional space and the posture angle of the foot link. The gait data may include time series data of the target position of the upper link. The target position of the upper link is the target position of the representative point set for the two-hand link and the target position of the representative point set for the head link. Here, the “target position” includes the position in the three-dimensional space and the posture angle of the link where the representative point is set in the same manner as described above. The gait data stored in the gait data storage unit 20 is created before the robot is controlled.

The gait data consists of two common tangent lines that touch the outer circumference of both feet and the outer circumference of both feet when ZMP is in the foot of the grounding leg (when both legs are grounded) The time series data of the target positions of the trunk link, the leg link, and the upper link is created so as to satisfy the condition of being within the region to be formed (that is, to ensure the balance of the robot). At this time, time series data in which the target position of the upper link changes every moment so that the upper link performs a predetermined operation may be created, or the relative position of the upper link with respect to the trunk link is fixed, and the trunk You may create the time series data of the target position of a link and a leg link. This is because it is assumed that the target position of the upper link is given when the robot is actually operated. Here, when creating time-series data of the upper link, the gait data includes time-series data of the target positions of the trunk link, the leg link, and the upper link. When the time series data of the target position of the trunk link and the leg link is created by fixing the relative position of the upper link to the trunk link, the time series data of the target position of the trunk link and the leg link is included in the gait data. And the time-series data of the target position of the upper link may not be included. Here, when the time series data of the target position of the upper link is created, the target position of the upper link or the position of the upper link when the relative position of the upper link is fixed with respect to the trunk link is referred to as “standard position of the upper link”. I will call it.
It is preferable that the gait data includes time series data of the center of gravity position of the robot when the upper link is the standard position. When the gait data includes time-series data of the center of gravity position of the robot when the upper link is the standard position, the inverse conversion unit 22a and the standard center of gravity position calculation unit 24 are not necessary in the block diagram of FIG. This is because it can be simplified. In this case, the time series data of the center of gravity position of the robot when the upper link is set as the standard position from the gait data storage unit 20 is directly sent to the deviation calculation unit 32.

  The inverse conversion units 22a, 22b, and 22c are modules that convert the trunk link target position, the leg link target position, and the upper link target position into angles of each joint of the robot. In FIG. 1, three inverse conversion units are described, but these are shown separately for convenience in order to facilitate understanding of the structure of the robot control device 10a. You may comprise so that conversion may be performed. When the inverse conversion unit is configured as a subroutine program, it is preferable that the inverse conversion unit subroutine is called by designating the value of the robot representative point to be input as necessary. When the gait data is created assuming that the position of the upper link is fixed to the trunk link, the target position of the upper link may not be included in the gait data. In that case, the position of the upper link fixed to the trunk link at the time of creating the gait data is stored in the inverse conversion unit 22a. The inverse conversion unit 22a calculates the angle of each joint of the upper link using the stored position of the upper link. Further, when the gait data is created assuming that the position of the upper link is fixed to the trunk link, the angle of each joint of the upper link is constant. It is also preferable that the inverse conversion unit 22a stores the angle of each joint of the upper link. This is because if the angle of each joint of the upper link is stored, the inverse link calculation from the standard position to each joint can be made unnecessary for the upper link.

  The angle of each joint converted from the gait data by the inverse conversion unit 22a is input to the standard gravity center position calculation unit 24. If the angle of each joint is known, the relative positional relationship between the links connected by each joint can also be calculated. The standard center-of-gravity calculation unit 24 stores the mass of each link, and calculates the position of the center of gravity based on the gait data of the entire robot from the positional relationship between the links and the mass of each link. That is, the center-of-gravity position of the robot when the trunk link and the leg link are set at the target position and the upper link is set at the standard position is calculated. Here, when the gait data is created assuming that the upper link is fixed to the trunk link, the upper link and the trunk link can be regarded as one rigid body. The standard center-of-gravity calculation unit 24 preferably stores the center-of-gravity position of the rigid body when the upper link and the trunk link are regarded as one rigid body. As a result, it is possible to simplify the calculation of the position of the center of gravity of the robot when the trunk link and the leg link are at the target position and the upper link is at the standard position.

The inverse conversion unit 22b determines the robot from the target position of the upper link of the robot acquired from the robot operation device 130 and the data (gait data) of the target positions of the trunk link and the leg link read from the gait data storage unit 20. Convert back to the angle of each joint.
The actual center-of-gravity position calculation unit 26 calculates the center-of-gravity position of the robot based on the angle of each joint of the robot inversely converted by the inverse conversion unit 22b. When the target position of the upper link is acquired from the robot operation device 130, the target position of the upper link is different from the standard position. Therefore, the center-of-gravity position of the robot calculated by the standard center-of-gravity position calculation unit 24 and the center-of-gravity position of the robot calculated by the actual center-of-gravity position calculation unit 26 are different.

  When the upper link calculated by the standard center-of-gravity position calculation unit 24 is at the standard position and the upper link calculated by the actual center-of-gravity position calculation unit 26 is at the target position, the deviation calculation unit 32 The difference in the horizontal plane (deviation in the horizontal plane) from the center of gravity position of the robot is obtained. Specifically, the coordinate values of the positions of the center of gravity of both robots are projected onto a horizontal plane. Then, the coordinate value in the horizontal plane of the center of gravity of the robot when the upper link is at the target position acquired from the robot operation device 130 is subtracted from the coordinate value in the horizontal plane of the center of gravity of the robot when the upper link is at the standard position. Thereby, a vector in a horizontal plane from the center of gravity position of the robot when the upper link is at the target position to the position of the center of gravity of the robot when the upper link is at the standard position is calculated. This vector is the horizontal deviation. This vector amount is also the correction amount of the trunk link target position.

The adding unit 30 adds the vector (horizontal plane deviation, that is, the correction amount) calculated by the deviation calculating unit 32 to the horizontal coordinate value of the trunk link target position in the gait data read from the gait data storage unit 20. To do. That is, the trunk link target position is corrected in the horizontal direction by the amount of the vector. At the same time, the adding unit 30 adds the target position of the upper link acquired from the robot operation device 130 to the gait data read from the gait data storage unit 20.
Thus, the gait data after the correction amount and the target position of the upper link are added to the gait data read from the gait data storage device 20 becomes the final gait data to be given to the robot body 100.

The inverse conversion unit 22 c converts the above-described final gait data, that is, the target position of each representative point into the target joint angle of each joint of the robot body 100. The target joint angle of each joint is sent to the actuator driving unit 28. The actuator driving unit 28 drives the actuator 110 provided in each joint so that the angle of each joint of the robot body 100 follows the target joint angle. The above processing is repeated for each time point of the time series data of the target position of each representative point in the gait data. Thus, the robot body 100 operates to follow the gait data after the correction amount and the target position of the upper link are added to the gait data read from the gait data storage device 20.
Each module described above may be configured by hardware, or may be configured as a software module and executed by a computer. A part or all of the modules of the walking control device 10a may be built in the robot body 100.

Next, the flow of processing will be described with reference to the flowchart of FIG.
First, gait data is read from the gait data storage unit 20 in step S100. At the same time, the target position of the upper link output by the robot operation device 130 is acquired in step S102. The read gait data is inversely converted into angles of the joints in step S104. As described above, when the target position of the upper link is included in the gait data, the angle of each joint of the upper link is obtained using the target position. If the gait data does not contain the target position of the upper link, the gait data is created assuming that the angle of each joint of the upper link is a constant angle. It is not necessary to reversely convert the upper link.
In step S108, the position of the center of gravity of the robot when the upper link is at the standard position is calculated from the angle of each joint.
On the other hand, in step S106, the angle of each joint of the robot is inversely converted from the target position of the upper link acquired in step S102 and the target position of each representative point in the gait data.
In step S110, the position of the center of gravity of the robot when the upper link of the robot is at the target position is calculated based on the angles of the joints inversely converted in step S106.
In step S112, a horizontal deviation between the barycentric position calculated in step S108 and the barycentric position calculated in step S110 is calculated.
In step S114, the calculated horizontal plane deviation and the upper link target position are added to the gait data stored in the gait data storage unit 20, and the gait data finally given to the robot is completed.
The gait data completed in step S114 is inversely converted into target angles of the joints of the robot in step S116. In step S118, the actuator of each joint is driven according to the target angle. As a result, the robot operates. The above processing is repeated for each sampling.

According to the first embodiment, when the target position of the upper link is given in real time during the operation of the robot, the center of gravity of the robot when the upper link is at the target position and the robot when the upper link is at the standard position Is calculated. The deviation in the horizontal plane of the positions of both center of gravity is calculated, and the target position in the horizontal plane of the robot trunk link is corrected by the deviation. Thus, the center of gravity position of the robot when the upper link is at the target position matches the position of the center of gravity of the robot when the upper link is at the standard position in the horizontal plane. Here, “match” may not include exact match but may include an error. This is because the calculation of the position of the center of gravity of the robot when the upper link is at the target position includes an error because the target value is used instead of the actual position of each link of the robot.
The position of the center of gravity of the robot when the upper link is at the standard position is the gait data created so as to ensure the balance of the robot. Therefore, even when the target position of the upper link is given in real time, the center-of-gravity position of the entire robot substantially coincides with the center-of-gravity position of the robot in which the balance is secured when the upper link is at the standard position.
The robot's gait data is created with a margin so that it does not fall over even with some disturbance. Therefore, the target of the upper link during the robot operation can be achieved by a simple control of correcting the target position of the trunk link so that the position of the center of gravity of the robot greatly affecting the ZMP substantially matches the position of the center of gravity of the robot when the upper link is at the standard position. Even if the position is given in real time, the balance of the robot can be ensured.

In the first embodiment, the position of the center of gravity of the robot is calculated from the target position and the gait data of the link above the robot acquired from the robot operation device 130. The correction amount of the target position of the trunk link is set from the position of the center of gravity of the robot. The set correction amount is added to the gait data together with the target position of the link above the robot used when calculating the position of the center of gravity. The target joint angle of each joint of the robot is calculated from the gait data obtained by adding the correction amount and the target position of the upper link, and the robot operates.
In other words, a correction amount of the gait data is obtained from the gait data at a predetermined time and the upper link target position, and the correction amount is added to the gait data at the predetermined time and becomes a command value for the robot. That is, the correction amount is controlled to be fed forward.
In the first embodiment, when the target position of the robot upper link is given in real time, the control that does not lose the balance of the robot can be realized by feedforward control. Therefore, more stable control can be achieved.

  In the first embodiment, the gait data storage unit 20 corresponds to an aspect of “storage means”. Further, the inverse conversion unit 22b and step S102 in FIG. 2 correspond to an aspect of the “uplink position acquisition unit”. The standard center-of-gravity position calculation unit 24, the actual center-of-gravity position calculation unit 26, and the deviation calculation unit 32 correspond to one aspect of “horizontal plane deviation calculation means”. In the flowchart of FIG. 2, step S108, step S110, and step S112 correspond to one aspect of “horizontal plane deviation calculating means”. Further, the adding unit 30 and step S114 of FIG. 2 correspond to an aspect of the “correction unit”. The actuator driving unit 28, the actuator 110, and step S118 in FIG. 2 correspond to one aspect of the “control unit”. Further, the robot operation device 130 corresponds to an aspect of “input means”.

<Example 2>
Next, Embodiment 2 will be described with reference to FIGS. FIG. 3 is a block diagram of the robot controller 10b and the robot body 100 according to the second embodiment.
In the robot control apparatus 10b according to the second embodiment, the output value of the encoder 140 attached to each joint of the robot main body 100 is fed back to the actual center-of-gravity position calculation unit 26. Based on the fed back value, the actual center-of-gravity position calculation unit 26 calculates the center-of-gravity position of the robot when the upper link is at the target position. In the robot control apparatus 10a according to the first embodiment, the actual center-of-gravity calculation unit 26 that calculates the position of the center of gravity of the robot when the upper link is at the target position includes the target positions of the trunk link and the leg link in the gait data, and the robot The center-of-gravity position of the robot was calculated based on the target position of the upper link acquired from the operation device 130. The processing of the actual center-of-gravity position calculation unit 26 is different from the first embodiment. Since the other modules are the same as those in the first embodiment, description thereof is omitted.

  FIG. 4 shows a flowchart of the second embodiment. The difference from the first embodiment is that the output value of the encoder 140 attached to each joint of the robot body 100 is read in step S200, and the robot in the case where the upper link target value is different from the standard position in step S110 based on the read value. It is a point which calculates the gravity center position. Others are the same as the flowchart of FIG.

As can be understood by comparing FIG. 1 and FIG. 3, according to the second embodiment, the inverse conversion unit 22b is not required, and the control device can be simplified. Further, as can be understood by comparing the flowcharts of FIG. 2 and FIG. 4, according to the second embodiment, the processing can be simplified.
In the second embodiment, when calculating the position of the center of gravity of the robot, encoder values attached to the joints of the robot main body 100 are used. Therefore, the relative positional relationship between the links can be accurately acquired. The output value of the encoder also reflects the result of the robot operating device 130 giving the target position of the upper link of the robot and operating the robot according to the target position. Therefore, the actual center of gravity position of the robot can be accurately calculated. This makes it possible to correct the target position of the trunk link so that the actual center of gravity position of the robot more accurately matches the position of the center of gravity of the robot when the upper link of the robot is at the standard position.

  In the second embodiment, the adding unit 30 corresponds to “correction unit” and one mode of “uplink position acquisition unit”. The encoder 140 corresponds to one aspect of the joint angle measuring unit. The correspondence between each means described in other claims and the configuration of the embodiment is the same as that of the first embodiment.

<Example 3>
Next, Embodiment 3 will be described with reference to FIGS. In this embodiment, a target joint angle of the upper link for each control sampling is output from the robot operation device 130b. This is the case, for example, when the robot operating device 130b is configured to individually command the target joint angle of each joint of the upper link. Alternatively, the robot operation device 130b may function as a part of the robot control device. The functions as a part of the robot control device include a function in which the robot itself includes a camera and an image processing device, recognizes the position of the object, and moves the upper link toward the object. In this case, a hand target position is set from the position of the object in the robot operation device 130b, and a target joint angle for each control sampling of the upper arm link (upper link) is calculated from the hand target position. From the robot operation device 130b, the target joint angle of each joint of the upper link for each calculated control sampling is output.

  FIG. 5 is a block diagram of the robot controller 10c and the robot body 100 according to the third embodiment. The target joint angle of each joint of the upper link output from the robot operation device 130b is sent to the actual center-of-gravity position calculation unit 26b. At the same time, the actual center-of-gravity position calculation unit 26b receives the target joint angles of the respective joints of the legs output from the inverse conversion unit 22a. The actual center-of-gravity position calculation unit 26b calculates the center-of-gravity position of the robot from the target joint angle of each joint of the upper link and the target joint angle of each joint of the leg. The functions of the standard gravity center position calculation unit 24 and the deviation calculation unit 32 are the same as those in the first embodiment.

The deviation in the horizontal plane of the position of the center of gravity calculated by the deviation calculating unit 32 is added to the target position of the trunk link on the gait data by the adding unit 30b as a correction value of the target position in the horizontal direction of the trunk link. .
Here, since the target position of the upper link is output from the robot operation device 130 in the first embodiment, the target position of the upper link output from the robot operation device 130 is added by the adding unit 30 in FIG. In the third embodiment, since the target joint angle of each joint of the upper link for each control sampling is output from the robot operation device 130b, the adding unit 30b does not need to add the output from the robot operation device 130b.

  The gait data after the adder 30b corrects the target position of the trunk link of the gait data is converted into the target joint angle of each joint of the leg by the inverse converter 22c. The actuator drive unit 28 receives the target joint angle of each joint of the leg output from the inverse conversion unit 22c and the target joint angle of each joint of the upper link output from the robot operation device 130b. The actuator driving unit 28 drives the actuator 110 so as to follow these target joint angles.

  FIG. 6 shows a flowchart of the processing of the above operation. In step S102b, the target angle of each joint of the upper link is acquired from the robot operation device 130b. In step S110b, the upper link of the robot moves according to the target joint angle based on the target joint angle of each joint of the leg output from step S104 and the target joint angle of each joint of the upper link acquired in step S102b. In this case, the position of the center of gravity of the robot is calculated. In step S112, a horizontal deviation between the actual center of gravity of the robot obtained in step S110b and the center of gravity of the robot when the upper link obtained in step S108 is at the standard position is calculated. In step S114b, the horizontal target position of the trunk link of the gait data is corrected with the above-described horizontal plane deviation, and the final gait data of the leg is calculated. In the process of step S114 of the first embodiment (FIG. 2), the target position of the upper link is added here and the final gait data of the entire robot is calculated. However, in step S114b of the third embodiment, the step of the leg portion is calculated. Only content data is calculated. In step S116b, the leg gait data calculated in step S114b is inversely transformed to calculate the target joint angle of the corner joint of the leg. In step S118, each joint of the robot is driven based on the target joint angle of each joint of the leg calculated in step S116b and the target joint angle of each joint of the upper link acquired in step S102b.

  The block diagram of the first embodiment shown in FIG. 1 and the block diagram of the third embodiment shown in FIG. 5 are compared, or the flowchart and the diagram of the first embodiment shown in FIG. 2 and the third embodiment shown in FIG. Comparing the flowcharts, the processing in Example 3 is simpler. This is because the robot operation device 130b according to the third embodiment outputs the target joint angle of each joint of the upper link. Thus, by obtaining the target joint angle of each joint of the upper link with another control circuit (robot operating device 130b), the horizontal difference between the actual center of gravity position and the center of gravity position when the upper link is at the standard position. It is possible to simplify the processing of obtaining the horizontal target position in the horizontal plane and correcting the target position in the horizontal direction of the trunk link.

  In the third embodiment, the upper joint target joint angle for each control sampling is output from the robot operation device 130b which is an aspect of the “input unit”. Accordingly, the target joint angle of the upper link output from the robot operation device 130 b is directly sent to the actuator driving unit 28. Therefore, in the third embodiment, the actuator driving unit corresponds to one aspect of “control means” and also corresponds to one aspect of “uplink position acquisition means” and “correction means”. In the flowchart of FIG. 6, step S <b> 114 b corresponds to an aspect of “correction unit”. The correspondence between each means described in other claims and the configuration of the embodiment is the same as that of the first embodiment.

Next, setting of the correction amount for correcting the trunk link target position of the robot will be exemplified with reference to FIGS. This illustration is an example that is possible with any of the configurations of the first to third embodiments described above. In order to simplify the description, in the example of FIG. 7, the operation of the robot will be described only in the robot body side direction, that is, the Y-axis direction shown in FIG.
FIG. 7A is a schematic diagram of the posture of the robot at a certain point when the robot body 100 is walking vertically upward on the paper surface. The configuration of the robot in FIG. 7A is as described above.
The posture in FIG. 7A is also a posture when the upper link (right arm portion 44R, left arm portion 44L, head link 48) of the robot is at the standard position. Here, the representative point of the right arm portion 44R is set to the right arm hand tip link tip 44RP, and similarly, the representative point of the left arm portion 44L is set to the left arm hand tip link tip 44LP. The representative point of the head link 48 is set to the top 48P. These standard positions are the positions of the right arm hand tip link tip 44RP, the left arm hand tip link tip 44LP, and the crown 48P shown in FIG. 7A, respectively. These standard positions are represented by coordinate values in a coordinate system with the origin at the trunk link representative point 40P. For example, the standard position of the right arm hand tip link tip 44RP is represented by a vector 44RPH illustrated in FIG. The same applies to other standard positions.

In FIG. 7A, the trunk link 40 and the leg link (the right leg portion 46R and the left leg portion 46L) operate according to the time series data of the target positions of the trunk link 40 and the leg link in the gait data. . Gait data is created assuming that the upper link is fixed with respect to the trunk link 40, and the upper link is not operating in the state of FIG. That is, the upper link is in the standard position.
The actual position of the center of gravity G of the entire robot in the posture of FIG. The position of the representative point 40P of the trunk link 40 is also Y1. In FIG. 7A, the robot operation device 130 is not yet operated, and the target position of the upper link is not given from the robot operation device 130. Therefore, the robot operates following the gait data stored in the gait data storage device 20. Therefore, the position of the center of gravity GH of the robot calculated from the target positions of the trunk link 40 and the leg link in the gait data and the standard position of the upper link is also Y1.
Here, from the robot operation device 130, the hand target position of the left arm 44L of the robot is given to the position Q. Then, the left arm portion 44L operates according to this target position. As a result, the left arm portion 44L is detached from the standard position and assumes the posture of FIG. At this time, the position of the center of gravity G of the robot calculated from the target positions of the trunk link 60 and the leg link in the gait data and the target position of the upper link acquired from the robot operation device is Y2. Therefore, the position Y1 of the center of gravity GH of the robot when the trunk link and the leg link are at the target position and the upper link is at the standard position, and the target position where the trunk link and the leg link are at the target position and the upper link is acquired. The deviation in the horizontal plane from the position Y2 of the center of gravity G of the robot at a certain time is a vector L1. Here, the vector L1 is a vector directed from the position Y2 of the center of gravity G of the robot when the upper link is at the acquired target position to the position Y1 of the center of gravity GH of the robot when the upper link is at the standard position.

The robot controller corrects the target position of the trunk link representative point 40P by the vector L1. FIG. 7C shows the posture of the robot after correction. As a result of the correction, the target position of the trunk link representative point 40P is the position of Y3 that is moved by L1 in the leftward direction from Y1 before correction in FIG. 7C. By this correction, the position of the center of gravity G of the robot when the upper link becomes the target position given from the robot operation device 130 is calculated from the target position of the trunk link and the leg link and the standard position of the upper link. The position Y1 of the center of gravity GH can be substantially the same position in the horizontal plane. Strictly speaking, the posture of the robot after correcting the horizontal target position of the trunk link 40 (FIG. 7C) is obtained when the center-of-gravity position of the robot when the upper link is at the standard position is calculated. This is different from either the robot posture (FIG. 7A) or the robot posture (FIG. 7B) when the center-of-gravity position of the robot when the upper link is at the acquired target position. Therefore, the actual center-of-gravity position does not exactly match Y1 in the corrected posture of the robot (FIG. 7C). However, they are consistent enough to ensure balance.
Thus, even when the target position of the robot upper link is given in real time, the robot body 100 can be controlled to continue to operate without losing the balance. ), The left hand tip position 44LP does not shift from the state of FIG. 7A to the state of FIG. 7B during one sampling, and in actuality, gradually from the state of FIG. Go to state B). In the process, the above correction is repeated every sampling period. FIG. 7 is a schematic diagram for illustrating the setting of the correction amount to the last.

Next, another example of correcting the position of the center of gravity of the robot will be described with reference to FIG. In this example, only the X-axis direction shown in FIG. 8 will be described.
FIG. 8A is a schematic diagram when the robot takes an upright posture according to the target positions of the trunk link and the leg link in the gait data and the standard position of the upper link. The upper link is in the standard position. For example, the standard position of the right hand tip position 44RP is represented by a vector 44RPH in a coordinate system with the trunk link representative point 40P as the origin.
Since the robot is controlled to follow the gait data, the position of the center of gravity GH of the robot calculated from the gait data and the standard position of the upper link and the actual position of the center of gravity G of the robot are on the X axis. It is the same at position X1. Here, the target position is output from the robot operation device 130 so that the positions of the both-arms hand positions (44RP, 44LP) are set to the R position shown in FIG. 8B. The robot body 100 follows this target position, and the hand representative points (44RP, 44LP) of both arms of the robot are in the R position as shown in FIG. Since the robot's both-hands position is deviated from the standard position, the actual center of gravity position G of the robot becomes X2. The horizontal deviation of the center of gravity at this time is a vector L2.
The robot controller corrects the horizontal position of the target position of the representative point 40P of the trunk link by the vector L2. The result is shown in FIG. In this example, in order to correct the horizontal position of the representative point 40P of the trunk link by the vector L2, the correction amount is set so that the target posture angle of the trunk link is A1. As a result, the position of the center of gravity G when the upper link becomes the target position acquired from the robot operation device 130 is such that the trunk link and the leg link are placed at the target position in the gait data, and the upper link is at the standard position. Substantially coincides with the position X1 of the center of gravity GH of the robot. Therefore, the robot can continue to operate without losing balance.
Note that FIG. 8 is also a schematic diagram illustrating how the correction amount is set, just like FIG.

<Example 4>
Next, as a fourth embodiment, a control device that ensures the balance of the robot when another object (for example, a load) is added during the robot operation will be described with reference back to FIG.
In the fourth embodiment, the robot operation device 130 is a device that detects the position of a load with a camera installed on the head link of the robot and generates a target value for the upper link in real time so that the load is held by both arms. .
A force sensor 120 is attached to both arms of the robot. When the robot body 100 has a load, the force sensor 120 detects the force received from the load. The detected force is sent to the actual center-of-gravity position calculation unit 26. The actual center-of-gravity position calculation unit 26 calculates the mass added to the robot and its position from the output value of the force sensor and the installation position of the force sensor. The actual center-of-gravity position calculation unit 26 calculates the center-of-gravity position of the entire robot by combining the mass of each link of the robot and its position data, and the mass of the load added to the robot and its position data. Subsequent processing is the same as in the first or second embodiment.
Simultaneously with the target position of the upper link of the robot given in real time, the center of gravity position of the entire robot is calculated in consideration of the mass and position of an object (for example, luggage) added to the robot. The horizontal plane deviation between the center of gravity position and the center of gravity position calculated from the target position of the trunk link and the leg link in the gait data and the standard position of the upper link is calculated. Then, the horizontal target position of the representative point of the trunk link is corrected using the deviation as a correction amount. As a result, the robot can be controlled to avoid losing balance. At this time, it is not necessary to explicitly consider the change in ZMP due to the influence of the object added to the robot in the control logic. The control logic can be simplified.
In the fourth embodiment, the robot operating device is a device that detects the position of the load with a camera installed on the head link of the robot and generates a target value for the upper link in real time so as to hold the load with both arms. 130 corresponds to one mode of “input means used for designating an operation of gripping an object with an upper link”.

A specific example of the fourth embodiment will be described with reference to FIG. FIG. 9A shows the posture when the robot body 100 is controlled to the target position of the trunk link and the leg link and the standard position of the upper link. At this time, the actual position of the center of gravity G of the robot coincides with the position of the center of gravity GH of the robot calculated from the target positions of the trunk link and the leg link and the standard position of the upper link at the position X1 on the X axis. . The position of the representative point 40P of the trunk link 40 is also X1.
Next, the camera provided on the robot head detects the luggage 200, and outputs a hand target position in which both arm hand positions are set on both sides of the luggage so as to hold the luggage against both arms of the robot. 100 operates according to this target position.
FIG. 9B shows a moment when the robot body 100 holds the luggage 200. A force sensor 120 installed at the hand of the robot body 100 detects an external force due to the mass of the load. The actual center-of-gravity position calculation unit 26 (see FIG. 1) receives the value of the external force and calculates the mass added to the robot body 100 and its position. The actual center-of-gravity position calculation unit 26 determines the position of the hand away from the standard position, the added mass, and the position of the center of gravity G of the entire robot body 100 (the target position of the trunk link and the leg link, the target position of the upper link). The position of the center of gravity G of the robot calculated from the value and the mass and position of the load is calculated. The calculated position of the center of gravity G is X4 shown in FIG. The deviation in the horizontal plane between the position X1 of the center of gravity GH of the robot calculated from the standard position of the upper link before gripping the load and the position X4 of the actual center of gravity G of the robot after gripping the load is a vector L3.

  The robot controller corrects the target position X1 of the representative point 40P of the trunk link 40 with this vector L3. FIG. 9C shows the posture of the robot body 100 after correction. The position X5 of the trunk link 40 has moved by L3 from the original position X1. The actual center-of-gravity position of the robot substantially coincides with the position X1 of the center-of-gravity GH of the robot calculated from the target positions of the trunk link and the leg link and the standard position of the upper link. Therefore, control can be performed so that the balance is not lost even when the robot grips the load and lifts it.

At this time, the robot arm 130 continues to output the target positions of both arms so as to raise the position of the load upward. Therefore, the hand target positions of both arms are kept at the same position as in FIG. 9B. Therefore, the postures of both arms 44R and 44L also change.
Also, the mass distribution of the robot changes abruptly at the moment when the baggage is held, but the operation of the robot changes by a small amount when viewed every sampling. When the robot hand holding the load changes by a small amount, the load is supported by the desk 210 even if the position of the center of gravity G of the entire robot becomes the position X4 shown in FIG. Therefore, the robot body 100 does not fall down. At the next sampling, as shown in FIG. 9C, the actual gravity center G position of the robot is almost equal to the position X1 of the robot gravity center GH calculated from the target position of the trunk link and the leg link and the standard position of the upper link. By correcting the position of the trunk link representative point 40P so as to match, it is possible to lift the luggage stably at the next sampling.

Specific examples of the present invention have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above.
The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology exemplified in this specification or the drawings can achieve a plurality of objects at the same time, and has technical usefulness by achieving one of the objects.

1 is a block diagram of a robot control apparatus according to a first embodiment. It is a flowchart figure of the process of the robot control apparatus of Example 1. It is a block diagram of the robot control apparatus of Example 2. It is a flowchart figure of the process of the robot control apparatus of Example 2. FIG. 6 is a block diagram of a robot control apparatus according to a third embodiment. It is a flowchart figure of the process of the robot control apparatus of Example 3. 6 is a diagram illustrating an example of correction amount setting according to Embodiments 1 to 3. FIG. It is a figure which shows the other example of the correction amount setting by Example 1-3. FIG. 10 is a diagram illustrating an example of correction amount setting according to a fourth embodiment.

Explanation of symbols

10a, 10b, 10c: Robot control device 20: Gait data storage units 22a, 22b, 22c: Inverse conversion unit 24: Standard centroid position calculation unit 26, 26b: Actual centroid position calculation unit 28: Actuator drive unit 30, 30b: Adder 32: Deviation calculator 100: Robot main body 110: Actuator 120: Force sensor 130: Robot operating device

Claims (5)

A walking robot in which a leg link and an upper link are swingably connected to a trunk link,
Storage means for storing time series data of the target positions of the trunk link and the leg link;
Upper link position acquisition means for acquiring the position of the upper link during robot operation;
The position of the center of gravity of the robot when the trunk link and the leg link are stored at the target position stored in the storage means and the upper link is at the standard position, and the trunk link and the leg link are stored in the storage means. Horizontal plane deviation calculating means for calculating a horizontal plane deviation from the center of gravity of the robot when the upper link is placed at the target position and at the position acquired by the upper link position acquiring means;
Correction means for correcting the horizontal plane position of the target position of the trunk link stored in the storage means by the horizontal plane deviation;
Control means for controlling the relative posture of the trunk link and the leg link according to the corrected data of the target position of the trunk link and the data of the target position of the leg link stored in the storage means,
The time-series data of the target positions of the trunk link and the leg link stored in the storage means is set so as to ensure a balance of the robot when the upper link is at the standard position. Walking robot.   The walking robot according to claim 1, wherein the standard position of the upper link is fixed with respect to the trunk link. It has an input means used to specify the operation of the upper link,
The walking robot according to claim 1, wherein the upper link position acquisition unit acquires a target position of the upper link input from the input unit. It has a joint angle measurement means that measures the joint angle between the trunk link and the upper link,
The walking robot according to claim 1, wherein the upper link position acquisition unit acquires the position of the upper link from the measurement value of the joint angle measurement unit. It has input means used to specify the action of gripping an object with the upper link,
The horizontal plane deviation calculating means sets the position of the center of gravity of the robot when the trunk link and the leg link are stored at the target position stored in the storage means and the upper link is at the standard position, the trunk link and the leg link. A horizontal plane deviation from the center of gravity position of the robot when the object is gripped at the position acquired by the upper link position acquisition unit and placed at the target position stored in the storage unit is calculated. The walking robot according to claim 1.

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