DE102009032457B4 - Running machine, control device and control method for controlling a movement of an object - Google Patents

Abstract

Running machine (100) having a body (150) on which a plurality of extremities (110, 111, 120, 130, 140) are independently movable by means of a plurality of drive means (180), wherein the plurality of extremities (110, 111, 120, 130, 140) locomotion extremities (130, 140), which serve for moving the running machine (100), with a detection device (195) for detecting an actual position of the plurality of extremities (110, 111, 120, 130, 140), and a control device (160, 170) for controlling a movement of the plurality of extremities (110, 111, 120, 130, 140), wherein the control device (160) has a calculation device (161) for calculating a travel of the running machine by means of the travel extremities, wherein the calculation means (161) is adapted to derive the travel text from the actual position of a travel extremity (130, 140) and based on the actual position and the controllers (160, 170) are configured to compare each of the travel extremities (130, 140) of... 130, 140) with the target positions at which the travel extremities (130, 140) are to be located after predetermined time periods whose actual position in the predetermined time periods controls the target position calculated for the locomotion extremities (130, 140), and wherein the predetermined time duration for controlling one of the locomotion extremities (130, 140) from their respective actual position to the respectively calculated target position for all locomotion extremities ( 130, 140) is equal, so that only one increment of the locomotion extremities (130, 140) is changeable with respect to a speed set by an adjuster (190), which is a travel speed of the walking machine (100) by means of the locomotion extremities (130, 140) ,

Description

The invention relates to a running machine, a control device and a control method for controlling a movement of an object, in particular a running machine.

Conventionally, four-legged toy figures are known in which the toy figures can run on their own with the aid of the running mechanism.

For example, is from the DE 78 32 634 U1 a toy horse with at least two movable limbs with a body arranged in the trunk drive for the limbs. In the body is also a control unit having curved wheels with defined segments on the peripheral surface, arranged for the movement of the individual limbs. The control unit is connected to the drive on the one hand and with joints of the limbs on the other hand in operative connection. It is also possible to articulate other body parts, such as the head or the like, activatable on the body via further joints.

In addition, an electric motor driven four-legged toy figure, in particular an animal figure, from the DE 1 146 416 A known, which is able to perform walking and other body movements. For this purpose, the animal figure on the feet located idlers, which controlled by freewheel lock, can only make movements in the sense of a forward movement of the animal figure. Here, both the left and the right legs of their drive by means of an operator via flexible transmission means to be actuated clutches are selectively switched on and off to give the walking animal animal any, deviating from a straight line directions of movement. Other body parts, such as the head and tail, can also be set in motion or switched off by the operator independently of the means of locomotion.

From the DE 103 61 726 A1 For example, a robot toy is known which makes it possible to assemble various forms of robot toys requiring propulsion using a single type of articulated motor so that the parts, including the limbs, can be assembled in an independent unit.

The said conventional toy animals, however, have in common that not in all situations, mistakes in walking can be avoided. Such errors may be, for example, that the stability of the toy animal when running is not always guaranteed, for example, if the ground is not flat. In addition, the technique known from the above-mentioned conventional toy animals is not easily applicable to large-sized game figures such as a life size brown bear, since the stability becomes increasingly critical as the toy figure becomes larger in running.

Accordingly, it is an object of the present invention to provide a running machine, a control device and a control method for controlling a movement of an object.

This object is achieved by a running machine according to the features of claim 1. The walking machine has a trunk on which a plurality of extremities are independently movable by means of a plurality of drive means, the plurality of extremities comprising locomotion extremities which serve for locomotion of the running machine. In addition, the walking machine has detection means for detecting an actual position of the plurality of extremities, and control means for controlling movement of the plurality of extremities. The control device has a calculation device for calculating a movement of the running machine by means of the movement extremities. In this case, the calculation device is designed such that it calculates, based on the actual position of a locomotion extreme and on the basis of the actual position of the locomotion extremities, the desired positions at which the locomotion extremities are to be located after predetermined periods of time. In addition, the control device is designed such that it controls each of the locomotion extremities from their actual position in the predetermined time periods to the desired position calculated for the locomotion extremities.

Further advantageous embodiments will become apparent from the dependent claims.

The running machine may further comprise determining means for determining whether, when a locomotion extremity has occurred, the target position calculated for locomotion extremity has been reached. Here, the calculation means is arranged to calculate a new target position for the locomotion extremities which have not yet been moved to the target position previously calculated by the calculation means, if the determining means has determined that, when a locomotion extremity occurs, the target position calculated for the locomotion extremities does not reach has been. In addition, the control device is configured such that it detects the locomotion extremities which have not yet been moved to the desired position previously calculated by the calculation device for these locomotion extremities Actual positions in the predetermined time periods to the newly calculated for these locomotion extremes target position controls.

It is also possible that the control means is arranged to first control the locomotion extremity from whose actual position it starts in the calculation to the target position calculated therefor, then controls the locomotion extreme to the locomotion forward in the direction of travel to the target position calculated therefor , then another locomotion extreme, which is arranged substantially transversely to the direction of movement next to the locomotion extremity, is controlled by their actual position in the calculation, to the calculated target position controls, and finally to this forward locomotion in the direction of movement diagonally behind it arranged locomotion extremity to the calculated therefor Target position controls.

In the running machine according to the invention, it is provided that the predetermined time duration for controlling one of the locomotion extremities from their respective actual position to the respectively calculated set position for all locomotion extremities is the same. In this case, it is conceivable that the predetermined period of time, which lies between the start of a control of a locomotion extreme from its actual position to the nominal position calculated therefor and the beginning of a control of a hind leg diagonally arranged to this foreleg, from its actual position to the nominal position calculated for it Period of time, which is between the beginning of a control of a hind leg from its actual position to the calculated target position and the beginning of a control of the front leg diagonally arranged to this hind leg from its actual position to the calculated target position.

The computing means may be further configured to precalculate the travel extremity setpoint positions for one-half of a cycle duration of the running machine, wherein the cycle of travel of the running machine is to move a travel extremity from its current position to a next desired position subsequent movement of a locomotion trajectory diagonally behind this locomotion extremity in the direction of movement from its current position to a next nominal position, followed by movement of a locomotion extremity substantially transverse to the direction of movement adjacent to the locomotion extremity, from its actual position in the calculation , from its actual position to a next target position, and an adjoining movement of this to the locomotion extreme in the direction diagon al arranged behind it locomotion extremity from its actual position to a next target position.

In the running machine, the predetermined period of time for controlling one of the locomotion extremities from their respective actual position to the desired position calculated for the latter is preferably adjustable by means of an adjusting device.

As another possibility, the calculation means may be arranged to calculate the target positions for the travel extremities based on a speed set by an adjustment means, which is a travel speed of the running machine by means of the travel extremities.

It is advantageous if the running machine has restricting means for limiting the speed set by an adjusting means when the determining means determines that the calculated set position for a traveling extremity exceeds a predetermined upper limit.

It is also possible that the restriction means is configured to limit the speed set by an adjustment means when the determination means determines that one of the travel extremities occurs too early and thereby a distance between the actual position and the calculated target position for another travel extremity to be moved thereafter exceeds the predetermined upper limit.

The calculating means may also be arranged to calculate the target positions for locomotion extremities on the basis of a travel type set by a setting means of a plurality of locomotion types which are ways of locomotion of the traveling machine by means of locomotion extremities.

In the running machine, each of the plurality of extremities may be associated with an auxiliary control device which is connected to the control device via a communication line and subordinate to the control device such that the control device transmits to each of the auxiliary control devices the information required for controlling the extremity which is assigned to this auxiliary control device.

Preferably, the controller is configured to use each of Moving extremities from their actual position in the predetermined time periods to the setpoint position calculated for the locomotion extremities in real time controls.

The aforementioned object is also achieved by a control device according to the features of claim 14.

The control device is for controlling a movement of an object having a trunk on which a plurality of extremities are independently movable by means of a plurality of drive means, the plurality of extremities comprising travel extremities for advancing the object. The control device has a transmitting / receiving device and a calculation device. The transmitting / receiving device is for receiving detection signals of a detection device, which detects an actual position of the plurality of extremities. The calculation means is for calculating a movement of the object by means of the locomotion extremities, wherein the calculation means is adapted to calculate, based on the actual position of a locomotion extremity and on the basis of the actual position of the locomotion extremities, the target positions at which the locomotion extremities are to be located after predetermined time periods , In this case, the control device is designed such that it controls the locomotion extremities from their actual position in the predetermined time periods to the desired position calculated for the locomotion extremities.

The aforementioned object is also achieved by a control device according to the features of claim 15.

The control method is for controlling a movement of an object having a trunk on which a plurality of extremities are independently movable by means of a plurality of drive means, the plurality of extremities comprising locomotion extremities which serve to propel the object. The method comprises the steps of: receiving detection signals of a detection device which detects an actual position of the plurality of extremities; Calculating a travel of the object by means of the locomotion extremities, wherein the calculation based on the actual position of a locomotion extremity and on the basis of the actual position of the locomotion extremities, the target positions at which the locomotion extremities are to be located after predetermined periods of time; and controlling the locomotion extremities from their actual position to the desired position calculated for the locomotion extremities in the predetermined time periods.

With the above-described running machine, the control device described above, and the control method described above, stable traveling of the running machine or the object can be ensured in all situations. In addition, even with a running machine or an article with large dimensions always a stable locomotion of the running machine or the object can be realized. The movement of the running machine or the object is in particular self-stabilizing.

In the following the invention will be described in more detail with reference to the drawing. Show it:

1A a three-dimensional view of a running machine with four locomotion extremities;

1B a top view of the in 1A shown running machine;

2 an electrical block diagram of a control of the running machine of 1A and 1B ;

3 a diagram showing the sequence of steps of the locomotion extremities of the running machine of 1A and 1B represents;

4 a figure showing the diagonals of the locomotion extremities of the running machine of 1A and 1B illustrated;

5 a figure to illustrate a distance of the diagonal of the center of gravity in the straight line;

6 a diagram showing the course of the diagonal distances from the center of gravity in the straight line;

7 a diagram showing the load-bearing triangle in straight-line;

8th a diagram illustrating a movement sequence in the crab;

9 a diagram illustrating a movement during the Kurvengang;

10 a diagram illustrating a variation of the diagonal when cornering;

11 a diagram illustrating the critical radius when cornering;

12 a diagram illustrating a step division when cornering;

13A a diagram showing a step division in the course of the running machine of 1A and 1B illustrated with a 1: 1 division;

13B a diagram of the floorplate positions of the feet 132 . 142 while walking the running machine of 1A and 1B illustrated with a 1: 1 division;

14A a diagram showing the step division in the course of the running machine of 1A and 1B with a 2: 1 division clarified;

14B a diagram of the floorplate positions of the feet 132 . 142 while walking the running machine of 1A and 1B with a 2: 1 division clarified;

15 a diagram illustrating the position and diagonal courses;

16 a graphic for a construction of the leg points when straight ahead;

17 a graphic for the classification of cases considered;

18 a diagram illustrating the superimposition of the straight line output and a rotational movement to the curve;

19 a graph for the construction of the leg points when cornering;

20 a graph of the absolute and relative movement when cornering;

21 a graph showing the determination of the maximum speed; and

22 a graphic to illustrate an exceeding of the working range of the running machine in the straight-line output.

1A and 1B show a running machine 100 with two wings 105 , two eyes 108 , a head 110 a neck 111 a tail 120 and four legs, the two front legs 130 and two hind legs 140 include. The wings 105 , the head 110 together with the neck 111 , the tail 120 , the two front legs 130 and the two hind legs 140 are extremities of the running machine 100 , The two front legs 130 and the two hind legs 140 are locomotion extremities of the running machine 100 , The extremities are on a frame or trunk 150 the running machine 100 attached.

The head 110 has along with the neck 111 a variety of joints 112 , the tail 120 has a variety of joints 121 , the two front legs 130 have a variety of joints 131 and the two hind legs 140 have a variety of joints 141 , The joints 131 . 141 the front and hind legs 130 . 140 are, for example, a hip joint, a knee joint and an ankle. The front legs 130 have one foot each 132 and the hind legs 140 have one foot each 142 , By means of the joints 112 . 121 . 131 and 141 can the extremities 110 . 120 . 130 and 140 be moved in any direction. This allows the in 1A and 1B illustrated running machine to replicate the movement of an animal, especially a dragon, to a large extent true to nature.

How out 2 can be seen, the running machine points 100 a central control device 160 , a variety of auxiliary control devices 170 , a variety of drive equipment 180 , an adjustment device 190 and a detection device 195 with a variety of later mentioned in more detail sensors.

The central control device 160 can with the running machine 100 from 1A and 1B in the hull 150 be arranged. The auxiliary control devices 170 are each individual extremity 110 . 120 . 130 . 140 are assigned by the central control device 160 coordinated. That is, the structure of the structure of the central control device 160 to the auxiliary control devices 170 is hierarchical. The running machine 100 from 1A and 1B For example, it has a number of eight auxiliary controllers 170 , that is, in each case an auxiliary control device 170 for the four legs (two front legs 130 , two hind legs 140 ), an auxiliary control device 170 for the neck 111 , an auxiliary control device 170 for the head 110 , an auxiliary control device 170 for the tail 120 , and an auxiliary control device 170 for the wing or wings 105 , The central control device 160 and the auxiliary control devices 170 form a control device 200 , as in 2 shown.

The central control device 160 has in 2 via a microcomputer or calculation device 161 with an electronic control unit (ECU) operating on a read-only memory (ROM) 162 and a random access memory (RAM) 163 can access the operations of the control equipment 160 perform. In the ROM 162 are stored unchangeable data, and the RAM 163 serves as a working memory of the calculation device 161 , hereinafter also referred to as ECU 161 is designated.

In addition, the central control device includes 160 in 2 a transmitting / receiving device 164 for transmitting and receiving various signals to and from external devices, such as the auxiliary controllers 170 , the adjuster 190 and the detection device 195 , In addition, the central control device 160 also signals from the drive devices 180 received directly, even if this is in 2 not shown. In addition, sensors of the detection device 195 also directly to the auxiliary control devices 170 be connected and their signals thus to the auxiliary control devices 170 send, whereupon the signals also to the controller 160 can be forwarded, even if they are in 2 not shown.

In 2 is the transmitting / receiving device 164 to the calculation device 161 and the determining device 165 connected. The transmitting / receiving device 164 Core also to a restriction device 166 be connected, even if this is in 2 not shown. The determining device 165 and the restriction device 166 are also directly to the ECU 161 connected. Via a bus system 167 is the central controller 160 with the auxiliary control devices 170 connected.

For a movement of the running machine 100 calculates the calculation device 161 a desired movement of the locomotion extremities or the front and hind legs 130 . 140 the running machine. Such calculation is based on signals from the detector 195 For example, actual positions of the front and hind legs 130 , and a desired mode of travel of the running machine 100 instead of. The desired mode of travel, for example, from a user in the adjustment 190 have been entered.

With the determination device 165 can be determined if on the occurrence of a locomotion extreme 130 . 140 one from the calculator 161 Target position calculated for the locomotion extremity has been reached or not. That heals, the determining device 165 is used to check whether the of the calculation device 161 actually calculated values from the running machine 100 be converted into a desired or calculated locomotion.

The restriction device 166 is used to restrict one of an adjustment 190 set travel speed, if the determining means determines that during locomotion of the running machine 100 an error has occurred which, for example, leads to instability of the running machine 100 could lead. Such an error could be present, for example, if the calculated target position for a locomotion extremity 130 . 140 exceeds a predetermined upper limit or that one of the advancement extremes occurs too early, whereby a distance between the actual position and the calculated set position for another movement extremity to be moved thereafter 130 . 140 will exceed a predetermined upper limit.

Overall, see the central control device 160 All calculations take place, which is the overall behavior of the running machine 100 affect. This is how the locomotion of the running machine becomes 100 in various types of locomotion using a screaming algorithm described later in the central control device 160 calculated, as well as all actions of the animation company. The animation operation includes movements of the head 110 and the tail 120 or also movements of the front and hind legs 130 . 140 that does not move the treadmill 100 affect. Such movements may include, for example, raising, lowering, turning, panning or shaking, etc. of the head 110 and / or the tail 120 , and / or the front and hind legs 130 . 140 and / or the hull 150 be. In addition, the eyes can 108 the running machine via additional auxiliary control devices 170 to be controlled. The head 120 may also include means for generating a fireball, generating smoke or generating fire from the nostrils of the head 120 the running machine 100 exhibit. As a further device for the animation operation, an audio system, not shown in the running machine 100 installed or grown.

The supply of the electrical system of the running machine described above 100 Can be done on batteries or accumulators, which are also not shown.

The central control device 160 transfers setpoints from global positions to the frame or body 150 the running machine 100 to the auxiliary control devices 170 , These then perform a coordinate transformation, which joint angle of the joints 112 . 121 . 131 . 141 of the extremities 110 . 120 . 130 . 140 determined. These joint angles serve as a controlled variable for the movement of hydraulic cylinders of the drive devices 180 on the extremities 110 . 120 . 130 . 140 to the movement of the extremities 110 . 120 . 130 . 140 available. The actual values of the joint angles are determined by means of one of the sensors 195 , For example, a digital rotary encoder, determined. The sensors 195 can directly to the auxiliary control devices 170 be connected.

The described communication between the central control device 160 and the auxiliary control devices 170 done via the in 2 shown deterministic bus system 167 , The bus system 167 has real-time behavior and it is advantageous if the signals are transmitted redundantly. In this case, the signal or data exchange preferably takes place in halpduplex. That is, both the central control device 160 to the auxiliary control devices 170 Information via signal or data exchange passes as well as vice versa.

In order to decisively increase the safety, it is advantageous, in addition, all actual positions of the extremities 110 . 120 . 130 . 140 with the detection device 195 To detect, for example, a displacement measuring system in the hydraulic cylinders. This can be detected actual positions of the hydraulic cylinder and actual rotation angle of the joints 112 . 121 . 131 . 141 be exactly converted into each other. The actual positions of the hydraulic cylinders and the actual angles of rotation of the joints 112 . 121 . 131 . 141 are preferably redundant, which is the probability of failure of one of the central control device 160 , the auxiliary control devices 170 and the bus system 167 considerably lowered.

The auxiliary control devices 170 perform a desired-actual value comparison, calculate the manipulated variables (control current of a proportional valve of the hydraulic cylinder) according to the control algorithm and transfer the current global positions, or global actual positions, to the central control device 160 , Thus, the tasks are on all control devices 160 . 170 distributed. The central control device 160 Gives the global motion of the running machine 160 as a target movement before and the auxiliary control devices 170 have the task to regulate this target movement. For this purpose, the auxiliary control devices 170 in the same way as the central control device 160 that is, they may have an ECU, a RAM, a ROM, a transceiver, a determiner, and a restriction device, even if it is described in U.S. Pat 2 not shown.

In addition to the aforementioned sensors for the rotation angle and cylinder positions, the detection device has 195 even more sensors for more "sensory perceptions". For example, all pressures of the hydraulic cylinder in the piston and in the annular space are detected by means of a plurality of pressure sensors, a tilt sensor detects a tilt of the fuselage 150 , Force pin in ankle joints of the front and hind legs 130 . 140 Measure uplift forces of the legs, temperature sensors in the control devices as well as in the cooling water of drive devices of the extremities 110 . 120 . 130 . 140 and in the hydraulic oil of the hydraulic cylinders monitor the allowable temperatures and a Lufterkennungssensor in the hydraulic tank for the hydraulic cylinder registers a presence of air in the entire hydraulic system of the running machine 100 and should prevent dry running of hydraulic pumps.

So that the running machine 10 move as naturally as possible, however, is the coordination of the legs or locomotion extremities 130 . 140 in the foreground. Thus, the screaming algorithm described below constitutes the "brain" of the walking machine 100 while walking. With the help of this Schreedinggorithmus and the complex technical implementation is the running machine 100 able to move almost like a giant animal has the running machine 100 a variety of locomotion types, such as a straight line, a crab and a curve. In the straight-line output, the running machine moves 100 moved in a straight line in one direction. In the crab, the running machine moves 100 both in a longitudinal direction and in a transverse direction. When cornering, the running machine leads 100 when moving a turn out. The types of locomotion can be performed at various speeds, such as from the adjuster 190 specified.

Basically, in all types of movement to ensure stable running of the running machine 100 be assured that the projected overall center of gravity in the uprising polygon of the legs 130 . 140 comes to rest. Depending on whether there are just three or four legs 130 . 140 Located on the ground, this riot polygon forms a triangle or quadrilateral.

The locomotion of the running machine 100 the gait "step" is modeled on the horse. This results in a step sequence of the legs 130 . 140 as they are in 3 can be seen. It can be seen that there is always a leg 130 . 140 is in the air, while three legs 130 . 140 always on the ground. Thus, in the case of walking, the uprising polygon is a triangle. To now decide if the running machine 100 in a stable position or not, only the diagonal 1 and 2 of the leg support points are relevant, as in 4 shown. In 4 are the feet 132 . 142 each represented as a square and their distance x1, x2, x3, x4 indicated to the resting state of the feet or legs. The hull 150 the running machine 100 is in 4 shown as a large rectangle.

Stellt man diesen Verlauf der Abstände x der Diagonalen vom Schwerpunkt in einem Diagramm dar, wie in 6 gezeigt, so lässt sich daraus einiges erkennen:

• – Bei den Knotenpunkten erfolgt der Wechsel der Beine 130, 140 diagonal.
• – Bei den Bauchpunkten erfolgt der Wechsel der seine 130, 140 auf derselben Seite
• – Es können immer nur die Beine 130, 140 tragen, welche eine fallende Diagonale ergeben.
• – Zur Überprüfung auf Stabilität muss folglich nur eine fallende Diagonale herangezogen werden.
• – Bei einem Knotenpunkt hebt immer ein Hinterbein 140 ab.
• – Bei einem Bauchpunkt hebt immer ein Vorderbein 130 ab.
• – Die Steigung der fallenden Diagonalen entspricht der Geschwindigkeit der Laufmaschine 100.
• – Nach einem Knotenpunkt trägt die untere Hälfte des Diagramms.
• – Nach einem Bauchpunkt trägt die obere Hälfte des Diagramms.
• – Alle fallenden Geraden (Diagonalen und Beine 130, 140) besitzen stets dieselbe Steigung.

For this purpose, the special case of a straight ahead is considered first. The distance x of the diagonal to the center of gravity SP of the running machine 100 can be easily determined by making the arithmetic mean straight ahead (cf. 5 ):

If one plots this course of the distances x of the diagonal from the center of gravity in a diagram, as in 6 shown, it can be seen a lot from this:

• - At the junctions, the legs are changed 130 . 140 diagonal.
• - At the abdominal points is the change of his 130 . 140 on the same page
• - It can always only the legs 130 . 140 wear, which result in a falling diagonal.
• - To check for stability, therefore, only one falling diagonal must be used.
• - At a node always lifts a hind leg 140 from.
• - At a belly point always raises a front leg 130 from.
• - The slope of the falling diagonal corresponds to the speed of the running machine 100 ,
• - After a node carries the lower half of the diagram.
• - After a belly point carries the upper half of the diagram.
• - All falling lines (diagonals and legs 130 . 140 ) always have the same slope.

It is in 6 good to recognize that when lifting a hind leg 140 the load-bearing area changes from positive to negative. This is because first the rear triangle is bearing and afterwards the front (cf. 7 ).

The cryptographic algorithm takes into account these conditions and ensures that this change is maintained under all possible influences and circumstances.

The dog is the running machine 100 able to move forward and sideways without turning as in 8th illustrated. By the in 8th Sideways movement shown is the calculation of the distance of the diagonal of the center of gravity SP no longer simply on the averaging possible, but must be determined by means of vector calculation. The x and y components can be considered independently of each other. Thus, the algorithm designed for straight-ahead can easily be superimposed in both directions (longitudinal x and transverse y). The speeds of the longitudinal direction x and the transverse direction y can not be varied arbitrarily, but are subject to a certain limit ratio. This limit ratio is given by the angle of the diagonal of the hip joint points to the longitudinal direction x. This is at 33 degrees. Thus, the speed of the lateral movement must not exceed 65% of the speed of the longitudinal movement, as long as the sequence of steps is not changed. For safety reasons, these 65% are not exhausted, but limited to 50%.

When in 9 Curve shown is the running machine 100 able to move on a circular path. This turns the entire running machine 100 With. As a special case, the turning should be noted on the spot where the running machine 100 turns on the spot. Even when cornering has the running machine 100 the same sequence of steps as going straight ahead. Thus, the conditions for stability are identical. However, it is no longer so easy to see which diagonal is the wearer, because by the additional movement in the y-direction and the rotational movement both diagonals can fall. Thus, on the basis of the lifted leg 130 . 140 be decided whether the running machine 100 stable or not.

A big difference of the curve to straight-ahead or straight-ahead are the different step sizes of the legs 130 . 140 , Because the legs 130 . 140 on the outer track have a considerably larger increment than the legs 130 . 140 on the inside track.

Furthermore, however, it must be true that if a hind leg 140 highlights that the center of gravity must be on the supporting diagonal. Thus, there are a number of ways to sweep the supporting diagonal. As the legs 130 . 140 can only move in a particular workspace, the choice of options is limited. If you move the diagonal on the circular path, different position distributions of the legs result 130 . 140 that form this diagonal (cf. 10 ).

At a certain critical radius, in 11 As an example, given as 4, 38 m, the diagonal can hardly be moved, otherwise the working area of the leg 130 . 140 leave. The diagonal of the hip joint points must be selected in order to fulfill the stability condition.

If one chooses the diagonal always congruent with the diagonal of the hip joint points, the choice is independent of the radius. Thus, a radius change can be carried out without problems, because all position distributions are fixed.

The distribution always looks the same. At the front legs 130 always go through two parts before the hip joint point and a part to the hip joint point and in the Rearing 140 this is exactly the opposite (cf. 12 ). Thus, the stability condition is always satisfied.

When walking the running machine 100 The leg curves can be divided in different ways. In principle, a distinction must be made between two required step divisions.

At the in 13A and 13B shown 1: 1 division is the main part of the legs 130 . 140 divided symmetrically to the hip joint (1: 1). That means that the distance when a leg occurs 130 . 140 is just as big as the distance when taking off. This is the maximum working range of the legs 130 . 140 fully exploited. This division is used in crabbing.

At the in 14A and 14B shown 2: 1 division is the main part of the legs 130 . 140 divided symmetrically to the hip joint, but in a ratio of 2: 1. In a front leg 130 There are two parts in front of the hip joint and one part after the hip joint. At the hind leg 140 One part is located in front of the hip joint and two parts after the hip joint. The reason for this division lies in the choice of diagonals when cornering. This division is used when cornering.

• – Er beinhaltet das Losgehen aus der Normalposition.
• – Er beinhaltet das Anhalten in die Normalposition.
• – Ein Geschwindigkeitswechsel ist möglich (schneller, langsamer).
• – Die Taktzeiten sind fest (kann allerdings auch variabel gewählt werden).
• – Er beinhaltet einen Fehlerausgleich beim Auftreten der Beine 130, 140.
• – Der Algorithmus arbeitet rekursiv und benötigt nur die momentanen Positionen.

The screaming algorithm has the following basic properties

• - It includes starting from the normal position.
• - It contains the stop in the normal position.
• - A speed change is possible (faster, slower).
• - The cycle times are fixed (but can also be chosen variably).
• - It includes an error compensation when legs appear 130 . 140 ,
• - The algorithm works recursively and only needs the current positions.

• – Es handelt sich um einen Algorithmus für „Alles”, d. h. ohne Fallunterscheidung für Losgehen, Schreiten, Anhalten und Fehlerausgleich.
• – Es wird nur geringe Rechenkapazität benötigt.
• – Durch eine Vorsetzkurve eines Beines 130, 140 kann zu weites Auftreten verhindert werden, wie später beschrieben

This results in the following advantages:

• - It is an algorithm for "everything", ie without case distinction for going off, walking, stopping and error compensation.
• - Only low computing capacity is needed.
• - Through a Vorsetzkurve a leg 130 . 140 can be prevented from occurring too much, as described later

The following is the screaming algorithm of the running machine 100 described in more detail. The queuing algorithm solves the question of how to set up and lift off the legs 130 . 140 must be chosen so that there is a self-stabilizing algorithm, which always leads again to the stationary solution even in deviations from the ideal points. As a stationary solution is called a gear in which, with constant specification by a user, nothing changes. That means all the progressions of the legs 130 . 140 are periodic. The algorithm thus converges to a periodic solution and does not become unstable when errors occur. For this the algorithm fulfills the stability condition of the running machine 100 , Thus, occurring errors are attenuated, as described later, so that the algorithm converges again with the periodic solution (similar to, for example, a PT2 element). The algorithm is based on the following logical considerations.

If you look at the course of the diagonal and the legs 130 . 140 in 15 more precisely, it can be seen that the actual period of the algorithm is exactly half the period of the leg sequence. Because the sequence of two diagonal legs 130 . 140 is identical, only the indices in the following calculation formulas have to be exchanged. Thus, with a period duration of 4 seconds (s) of the leg sequence, a period duration of the algorithm of 2 seconds (s) results. Thus, it is important in the calculation to determine where the legs 130 . 140 after 2 seconds (s) should be. This one proceeds as follows.

Wählt man nun eine konstante Periodendauer T, so gilt folgende Proportionalität: v ~ L (3) Somit herrscht ein linearer Zusammenhang zwischen der Schrittweite L und der Geschwindigkeit v.According to the invention, the step size L is varied at the speed v, which can also be observed in an animal. Generally there is the connection:

If one chooses a constant period T, then the following proportionality applies: v ~ L (3) Thus, there is a linear relationship between the step size L and the speed v.

Since the period of the algorithm (2 s) is only half the duration of the leg sequence (4 s), the leg sequences only have to be calculated for 2 s. Starting from the position of a front leg 130 is now calculated how the remaining legs 130 . 140 must move the next 2 s, as long as no errors occur. It must first be calculated where the corresponding front leg 130 after 2 s should be. Compared with the current position, the necessary speed v is obtained to "approach" this position. Then occurs an error in the occurrence of the hind leg 140 on, so must be recalculated, like the legs 130 . 140 must be moved so that after the next second of the focus on the Diagonals lies. This principle is repeated every two seconds. Thus, all errors can be elegantly compensated, and the speed v can be easily changed. This is the basic concept of the Schreitalgorithmus, which can be transferred to the crab and the curve. The mathematical concept is now explained in the special case of the straight line output.

(The straight line output)

• – Von der Ausgangsposition rechnet man immer zum nächsten Knotenpunkt.
• – Die Zykluszeit besitzt immer einen festen Wert (z. B. 4 s).
• – Die Schrittweite wird mit der Geschwindigkeit mit verändert.
• – Die Geschwindigkeitsvorgabe des Bedieners wird immer an einem Knotenpunkt übernommen, d. h. T/2 = 2 s.
• – Die Geschwindigkeit zwischen einem Bauchpunkt und einem Knotenpunkt ergibt sich automatisch und kann vom Bediener nicht beeinflusst werden.
• – An einem Bauchpunkt ist nur der nächste Knotenpunkt wichtig.
• – An einem Knotenpunkt wird vom nächsten Knotenpunkt rückwärts gerechnet; entscheidend ist hier das Bein, das am übernächsten Bauchpunkt abheben muss.

The algorithm in words:

• - From the starting position you always calculate to the next node.
• - The cycle time always has a fixed value (eg 4 s).
• - The step size is changed with the speed.
• - The speed setting of the operator is always adopted at a node, ie T / 2 = 2 s.
• - The speed between a belly point and a node is automatic and can not be influenced by the operator.
• - At a belly point, only the next node is important.
• - At a node is calculated from the next node backwards; The decisive factor here is the leg, which must lift off at the next belly point.

16 shows the order according to which the respective points (point 1, point 2, point 3, point 4) are determined.

dabei bedeuten:

L:

Schrittweite

T:

Zykluszeit

v:

Geschwindigkeit

I:

Abstand vom Nullpunkt

The period of a complete walking process is T = 4 s. Since the in 1 shown running machine 100 four legs 130 . 140 Thus, there are 4 states (cases) that can be distinguished and that repeat with the cycle time. 17 shows the four cases Case 1, Case 2, Case 3, and Case 4, which must be distinguished. The following basic formulas are required for the calculation:

where:

L:

increment

T:

cycle time

v:

speed

I:

Distance from the zero point

The four different cases are calculated as follows:

Case 0:

Leg right rear takes off → node

Point 1:

• First, it calculates where the left front leg 130 to be on the next belly point: xlv _BP = - 3/2 · v (6)

Point 2:

• you calculate where the left front leg 130 to be at the next node: xlv _KP = - 3/2 · v + v = - 1/2 · v (7)

Point 3:

• you calculate where the right hind leg 140 to be at the next node: xrh _KP = - 1/2 · v (8)

Point 4:

First of all, calculate the average slope for the next two seconds: m = - 1/2 · (xlv _i - xlv _KP ) (9) then calculate where the right hind leg 140 must set up: xrh _{i + i} = - 1/2 · v + m (10)

Calculation of the remaining legs 130 . 140 : xlv _{i + 1} = xlv _i - m _{i + 1} = XRV XRV _i - m _{i + 1} = XLH XLH _i - m (11)

Case 1:

• right foreleg 130 takes off → belly point → it must be ensured that the falling diagonal goes through 0 (after 1 s)
  

This results in the new values of the legs 130 . 140 : XRV _{i + 1} = 3/2 * v _{i + 1} = XLH XLH _i - m _{i + 1} = xlv xlv _i - m _{i + 1} = XRH XRH _i - m (13)

For cases 2 and 3 only the respective legs need to be 130 . 140 be reversed.

The finished algorithms for the respective cases are given below in summary for the straight-line output.

Case 0:

• xlv _{i + 1} = 1/2 · vxly _i - 1/4 · v xrv _{i + 1} = xrv _i - 1/2 · xlv _i - 1/4 · v xlh _{i + 1} = xlh _i - 1/2 · xlv _i - 1/4 · v xrh _{i + 1} = 1/2 · xlv _i + 3/4 · v = xlv _{i + 1} + v (14)

Case 1:

• xlv _{i + 1} = 1/2 * xlv _i - 1/2 · XRH _i XRV _{i + 1} = 3/2 · v XLH _{i + 1} = XLH _i - 1/2 · xLy _i - 1/2 · XRH _i XRH _{i + 1} = 1/2 · xrh _i - 1/2 · xlv _i (15)

Case 2:

• xlv _{i + 1} = xlv _i - 1/2 · XRV _i - 1/4 x v XRV _{i + 1} = 1/2 * XRV _i - 1/4 x v XLH _{i + 1} = 1/2 * XRV _i + 3 / 4 · v = xrv _{i + 1} + v xrh _i - 1/2 · xrv _i - 1/4 · v (16)

Case 3:

• xlv _{i + 1} = 3/2 · v XRV _{i + 1} = 1/2 * XRV _i - 1/2 · XLH _i XLH _{i + 1} = XLH _i - 1/2 · XRV _i - 1/2 · XLH _i XRH _{i + 1} = xrh _i - 1/2 · xrv _i - 1/2 · xlh _i (17)

(The crab)

The algorithm of the crab is completely identical to the straight line. In crab gear, only the algorithm for x and y direction needs to be calculated. These solutions are then simply superimposed undisturbed. Thus, the straight-line output is a special case of the dog walk.

As already described above, the speed of the transverse movement must not exceed 50% of the speed of the longitudinal movement. These speeds are specified by the user.

(The curve passage)

When cornering, the basic principle of the algorithm is identical, but the mathematical design is considerably more difficult, since the rotation must also be taken into account when cornering.

But in addition, the distances of the legs located on the ground must 130 . 140 stay the same to avoid distortion. In addition, this curve should really be continuously varied from turning on the spot to going straight. Thus, the mathematical use of the numerical value of the radius r and its reciprocal should be avoided, since these values can assume zero to infinity, which can not be mapped on a processor. Therefore, one considers the cornering or the cornering as a superposition of straight-ahead and rotary motion, as in 18 specified.

If one now works in a relative coordinate system, this superposition yields a polygon whose vertices lie on a circular line, as in 19 and 20 shown.

(Total algorithm)

The user can by means of the adjustment 190 choose like the running machine 100 is moved. Depending on the situation, this one can choose whether the running machine 100 the crab or bend. This can be done on a selector switch on the adjuster 190 to adjust. As the step division 1: 1 acts more natural and the legs 130 . 140 less loaded, the algorithm also switches when cornering when falling below a certain transverse movement y in the crab. Only when a certain setpoint value is exceeded does it switch back into the curve.

Thus, two algorithms are implemented, one for crab gear and one for cornering. Basically, the running machine moves 100 after the crab, unless the user turns on the curve. With this curve can then realize any curve radius including a turning on the spot.

For the crab, the algorithm requires only the four basic calculations for calculation. When cornering twice the arctangent must be evaluated, the rest of the calculations are again only the basic arithmetic needed.

The described algorithm already contains all error corrections of the legs 130 . 140 that still guarantee stability. Nevertheless, it is possible that by repeated occurrence of a major error and by additional strongly fluctuating specifications of the user of the work area of a leg 130 . 140 would be exceeded.

To prevent this, this possibility must always be monitored and if necessary be intervened. However, such a problem is relatively unproblematic, because the limitation of the speed of this problem is resolved. Of course, this restriction must be made only as long as the work area is exceeded.

In order to use as little computing capacity as possible, this calculation is done iteratively. This will be the next point of each leg 130 . 140 calculated and compared with the maximum allowable values. If an excess is detected, the shift of the next second into a certain number of sections is linearly decomposed. In 21 For example, as shown in FIG. 9, portions (parts) on the linearized gradient between the starting point A and the end point E are shown. Then, piece by piece, the calculated end point is removed and again checked whether the range is still exceeded. This happens until no exceeding is detected. This number of pieces to be removed until no exceeding occurs is counted. In 21 is given as an example a number of 5 pieces (parts). This number can then be used to scale the speed so that no areas are exceeded. The scaling factor k of the velocity is given in 21 Example shown k = 4 parts / 9 parts = 4/9.

In the case of the straight-line output, this restriction can still be calculated analytically. This is exemplified below.

Kick a leg 130 . 140 Too early, it may happen that another leg 130 . 140 exceeds the maximum step size, as in 22 illustrated.

To prevent this, this must be detected by a if query (if query) in the algorithm.

xlv – diag – v ≥ –0,75 m Bedingung 1 xrh – diag – 2·v ≥ –0,75 m Bedingung 2 (19) Condition in case 1:

xlv - diag - v ≥ -0.75 m Condition 1 xrh - diag - 2 · v ≥ -0.75 m Condition 2 (19)

If you lead the auxiliary sizes p = xlv - diag - v = ½ · (xlv - xrh) - vq = xrh - diag - 2 · v = ½ · (xrh - xlv) - 2 · v (20) the conditions can be formulated as follows: p ≥ /. -0.75 mq ≥ /. -0.75 m (21)

If one of these conditions is not met, the speed in the following node must be reduced.

Calculation of the maximum speed: v ₁ = 1/4 * (xrh - xlv) - 0.375 v ₂ = 1/2 (xlv - xrh) - 0.75 v = min (v ₁ , v ₂ ) (22)

If now the speed is limited to this value, it will exceed the working range of the leg 130 . 140 prevented.

In Case 3, the restriction is completely analogous to Case 1, only with the other two legs 130 . 140 ,

All features of the running machine described above 100 , the control device 200 and the control method can be used individually or in any combination. In particular, the following modifications in any combination are possible.

Even if the running machine 100 in 1 as a dragon with four legs, so two front legs 130 and two hind legs 140 , it is understood that the running machine can also have only two or more than four legs, for example, six, eight or even more legs. Depending on the arrangement with respect to one another, the step sequence of all legs can be calculated with the aid of the above-described scream algorithm analogous to the step sequences described in detail above. In this case, not all existing legs or locomotion extremities have to move with the running machine 1 be used. This can be advantageous, for example, if the running machine 100 for example, has three legs, five legs, seven legs or more legs. But it can also move a six-legged running machine with only four legs or five legs. In the case of an odd number of legs, the third, fifth, etc. leg can be adjusted, for example, to one of the other legs, always simultaneously or also with a time delay.

To an auxiliary control device 170 can be more than a drive device 180 be connected, for example, to be able to move a thigh, lower leg and / or foot of a leg separately.

The in the electrical block diagram of 2 shown electrical system parts of the running machine 100 can all be interconnected via one or more bus systems, which are like the bus system described above 167 are designed.

In particular, the calculation device 161 be designed to first set the target position for the front leg 130 calculated, from whose actual position it starts in the calculation, then the target position for that to the front leg 130 diagonally arranged hind leg 140 calculated, then the target position for the other front leg 140 calculated, and finally the target position for the other front leg 130 diagonally arranged hind leg 140 calculated.

In addition, it is advantageous if the calculation device 161 is arranged to determine the distance between the actual position and the target position to be calculated therefrom on the basis of that of the adjusting device 180 set speed. The adjustment device 180 For example, can be a remote control, which with the central control device 160 the running machine 100 communicated. The communication between the adjuster 180 and the central controller 160 can take place by radio, infrared, Bluetooth or via a wireline.

LIST OF REFERENCE NUMBERS

100

running machine

105

wing

108

eye

110

head

111

neck

112

Joints of the head and neck

120

tail

121

Joints of the tail

130

foreleg

131

Joints of the foreleg

132

Foot of the foreleg

140

hind leg

141

Joints of the hind leg

142

Foot of the hind leg

150

hull

160

Central control device

161

calculator

162

ROME

163

R.A.M.

164

Transmission / reception means

165

determiner

166

restriction means

167

bus system

170

Auxiliary control device

180

driving means

190

adjustment

195

Sensor or detection device

200

control device

Claims (13)

Running machine ( 100 ) with a hull ( 150 ) on which a plurality of extremities ( 110 . 111 . 120 . 130 . 140 ) by means of a plurality of drive devices ( 180 ) are independently movable, wherein the plurality of extremities ( 110 . 111 . 120 . 130 . 140 ) Locomotion extremities ( 130 . 140 ), which are used to move the running machine ( 100 ), with a detection device ( 195 ) for detecting an actual position of the plurality of extremities ( 110 . 111 . 120 . 130 . 140 ), and a control device ( 160 . 170 ) for controlling a movement of the plurality of extremities ( 110 . 111 . 120 . 130 . 140 ), wherein the control device ( 160 ) a calculation device ( 161 ) for calculating a travel of the running machine by means of the locomotion extremities, wherein the calculation device ( 161 ) is designed to be based on the actual position of a locomotion extreme ( 130 . 140 ) and on the basis of the actual position of the locomotion extremities ( 130 . 140 ) calculates the target positions at which the locomotion extremities ( 130 . 140 ) after predetermined periods of time, and wherein the control device ( 160 . 170 ) is designed to accommodate each of the locomotion extremities ( 130 . 140 ) from their actual position in the predetermined time periods to that for the locomotion extremities ( 130 . 140 ) and the predetermined time duration for controlling one of the locomotion extremities ( 130 . 140 ) from their respective actual position to the respectively calculated nominal position for all locomotion extremities ( 130 . 140 ), so that only one increment of the locomotion extremities ( 130 . 140 ) with respect to one of an adjustment device ( 190 ) speed, which is a travel speed of the running machine ( 100 ) by means of the locomotion extremities ( 130 . 140 ) is changeable. Running machine according to claim 1, further comprising a determination device ( 165 ) for determining if a locomotor extremity ( 130 . 140 ) for the locomotion extreme ( 130 . 140 ) has been reached, the calculation device ( 161 ) is designed to set a new target position for the locomotion extremities ( 130 . 140 ), which has not yet been used by the calculation 161 ) have been moved when the determining device ( 165 ) has determined that when a locomotion extremity ( 130 . 140 ) for the locomotion extremities ( 130 . 140 ) has not been reached, and wherein the control device ( 160 ) is designed to express the locomotion extremities ( 130 . 140 ), which has not yet been used by the Calculation device ( 161 ) for these locomotion extremities ( 130 . 140 ) have been moved from their actual positions in the predetermined time periods to those for these locomotion extremities ( 130 . 140 ) newly calculated target position controls. Running machine according to claim 1 or 2, wherein the control device ( 160 ) is designed to first detect the locomotion ( 130 ), from whose actual position it starts in the calculation, to the setpoint position calculated for it, and then to the locomotion extreme ( 130 ) in the direction of movement diagonally behind it arranged locomotion extremity ( 140 ) to the setpoint position calculated therefor, then another locomotion extreme ( 130 ), which are substantially transverse to the direction of movement next to the locomotion ( 130 ), whose actual position is assumed in the calculation, controls to the setpoint position calculated therefor, and lastly to that to the locomotion extreme ( 130 ) in the direction of movement diagonally behind it arranged locomotion extremity ( 140 ) to the calculated target position. A running machine according to claim 3, wherein the predetermined period of time between the beginning of a control of a locomotion extreme ( 130 ) from its actual position to the calculated target position and the beginning of a control of a to this locomotion extreme ( 130 ) diagonally arranged locomotion extremity ( 140 ) from its actual position to the nominal position calculated therefor, is equal to the time duration which exists between the beginning of a control movement extremity ( 140 ) from its actual position to the calculated target position and the beginning of a control of the locomotion to excursion ( 140 ) diagonally in front of it locomotion extremity ( 130 ) from its actual position to the calculated target position. Running machine according to claim 3 or 4, wherein the calculation device ( 161 ) is designed to set the target positions for the locomotion extremities ( 130 . 140 ) for half a period of a cycle of locomotion of the walking machine ( 100 ) calculated in advance, the cycle of locomotion of the running machine ( 100 ) a movement of a locomotion extreme ( 130 ) from its actual position to a next nominal position, a subsequent movement of one to this locomotion extremity ( 130 ) in the direction of movement diagonally behind it arranged locomotion extreme ( 140 ) from its actual position to a next target position, a subsequent movement of a locomotion extreme ( 130 ), which are substantially transverse to the direction of movement next to the locomotion ( 130 ), whose actual position is assumed in the calculation, from its actual position to a next nominal position, and an adjoining movement of this to the locomotion extreme ( 130 ) in the direction of movement diagonally behind it arranged locomotion extreme ( 140 ) from its actual position to a next target position. Running machine according to one of the preceding claims, wherein the calculation device ( 161 ) is equipped to set the target positions for the locomotion extremities ( 130 . 140 ) is calculated on the basis of a speed set by an adjusting device, which determines a traveling speed of the running machine ( 100 ) by means of the locomotion extremities ( 130 . 140 ). Running machine according to claim 6, further comprising a restriction device ( 166 ) for limiting the speed set by an adjusting means, when the determining means determines that the calculated set position for a locomotion extreme ( 130 . 140 ) exceeds a predetermined upper limit. Running machine according to claim 6, further comprising a restriction device ( 166 ) for limiting the use of an adjustment device ( 190 ) speed, if the determining device ( 165 ) determines that one of the locomotion extremities ( 130 . 140 ) occurs too early and thereby a distance between the actual position and the calculated target position for another movement extremity to be subsequently moved ( 130 . 140 ) exceeds a predetermined upper limit. Running machine according to one of the preceding claims, wherein the calculation device ( 161 ) is configured to set the target positions for locomotion extremities ( 130 . 140 ) on the basis of one of a setting device ( 190 calculated type of locomotion of a variety of types of locomotion, the types of locomotion of the running machine ( 100 ) by means of locomotion extremities ( 130 . 140 ) are. Running machine according to one of the preceding claims, wherein each of the plurality of extremities comprises an auxiliary control device ( 170 ) associated with the control device ( 160 ) via a communication line ( 167 ) and the control device ( 160 ) is subordinate such that the control device ( 160 ) to each of the auxiliary control devices ( 170 ) passes on the information needed to control the limb ( 110 . 111 . 120 . 130 . 140 ) to which this auxiliary control device ( 170 ) assigned. Running machine according to one of the preceding claims, wherein the control device ( 160 ) is designed to accommodate each of the locomotion extremities ( 130 . 140 ) from their actual position in the predetermined time periods to that for the locomotion extremities ( 130 . 140 ) calculates the calculated target position in real time. Control device ( 200 ) for controlling a movement of an object ( 100 ), a hull ( 150 ), on which a plurality of extremities ( 110 . 111 . 120 . 130 . 140 ) are independently movable by means of a plurality of drive means, wherein the plurality of extremities ( 110 . 111 . 120 . 130 . 140 ) Locomotion extremities ( 130 . 140 ) required for the movement of the object ( 100 ), with a transmitting / receiving device ( 164 ) for receiving detection signals of a detection device ( 195 ), which is an actual position of the plurality of extremities ( 110 . 111 . 120 . 130 . 140 ) and a calculation device ( 161 ) for calculating a movement of the object ( 100 ) by means of the locomotion extremities ( 130 . 140 ), the calculation device ( 161 ) is designed to be based on the actual position of a locomotion extreme ( 130 . 140 ) and on the basis of the actual position of the locomotion extremities ( 130 . 140 ) calculates the target positions at which the locomotion extremities ( 130 . 140 ) after predetermined periods of time, the control device ( 160 ) is designed to express the locomotion extremities ( 130 . 140 ) from their actual position in the predetermined time periods to that for the locomotion extremities ( 130 . 140 ), wherein the predetermined time duration for controlling one of the locomotion extremities ( 130 . 140 ) from their respective actual position to the respectively calculated nominal position for all locomotion extremities ( 130 . 140 ), so that only one increment of the locomotion extremities ( 130 . 140 ) with respect to one of an adjustment device ( 190 ) speed, which is a travel speed of the running machine ( 100 ) by means of the locomotion extremities ( 130 . 140 ) is changeable. Control method for controlling a movement of an object ( 100 ), a hull ( 150 ), on which a plurality of extremities ( 110 . 111 . 120 . 130 . 140 ) are independently movable by means of a plurality of drive means, wherein the plurality of extremities ( 110 . 111 . 120 . 130 . 140 ) Locomotion extremities ( 130 . 140 ) required for the movement of the object ( 100 ), with the steps of receiving detection signals of a detection device ( 195 ), which detects an actual position of the plurality of extremities, calculating a movement of the object by means of the locomotion extremities ( 130 . 140 ), the calculation being based on the actual position of a locomotion extreme ( 130 . 140 ) and on the basis of the actual position of the locomotion extremities ( 130 . 140 ) the target positions is executed at which the locomotion extremities ( 130 . 140 ) after predetermined periods of time, and controlling the locomotion extremities ( 130 . 140 ) from their actual position to that for the locomotion extremities ( 130 . 140 ) calculated target position in the predetermined time periods, wherein the predetermined time period for controlling one of the locomotion extremities ( 130 . 140 ) from their respective actual position to the respectively calculated nominal position for all locomotion extremities ( 130 . 140 ), so that only one increment of the locomotion extremities ( 130 . 140 ) with respect to one of an adjustment device ( 190 ) speed, which is a travel speed of the running machine ( 100 ) by means of the locomotion extremities ( 130 . 140 ) is changed.

Images