JP2002337076A - Detector for leg type locomotive robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a detector for a leg type locomotive robot, constituted simple in small size, which can simultaneously measure a distance from a contact object and force received after contact. SOLUTION: By devising a method of use of a pressure sensor, a single detector, for judging a contact condition between a machine body and the external field, measures a distance from a contact object by using the pressure sensor, further force received from the object after contact can be measured. The detector can be constituted in small size and in light weight by using the pressure sensor of a sheet shape. By having no physically complicated mechanism, small apprehension of destruction is only required even by arranging on the machine body in a location applied with an impact load.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a detection device for a legged mobile robot, and more particularly to a detection device for measuring a distance between a legged mobile robot and a contact object and a force received after the contact.

More specifically, the present invention relates to a detection device for simultaneously measuring the distance to a contact object and the force received after the contact, and more particularly, to a simple device capable of simultaneously measuring the distance to the contact object and the force received after the contact. The present invention relates to a detection device configured to be small in size.

[0003]

2. Description of the Related Art A mechanical device that performs a motion similar to a human motion by using an electric or magnetic action is called a "robot". The robot is derived from the Slavic word "ROBO"
TA (slave machine) is said to have come from. In Japan, robots began to spread from the late 1960's, but most of them were based on automation of production work in factories.
These were industrial robots such as manipulators and transfer robots for unmanned purposes.

[0004] A stationary type robot such as an arm type robot which is implanted and used in a specific place,
Active only in fixed and local work spaces such as parts assembly and sorting work. On the other hand, the mobile robot has a work space that is not limited, and can move freely on a predetermined route or on a non-route to perform a predetermined or arbitrary human task, or perform a human or dog operation. Alternatively, a wide variety of services that replace other living things can be provided. Among them, legged mobile robots are unstable and difficult to control posture and walking, compared to conventional robots such as crawler type and tire type.However, climbing up and down stairs and ladders, getting over obstacles, It is excellent in that it can realize flexible walking and running motions regardless of the terrain and can coexist in a complex human living space.

[0005] Recently, a pet-type robot that simulates the body mechanism and operation of a four-legged animal such as a dog or a cat, or a body mechanism or motion of an animal such as a human that walks upright on two legs has been modeled. Robots called “humanoids” or “humanoids” (hu
Research and development on legged mobile robots, such as manoid robots, has been progressing, and expectations for their practical use have increased. For example, Sony Corporation announced a humanoid robot "SDR-3X" that can walk on two legs on November 21, 2000.

By the way, an autonomous legged mobile robot is
Generally, various detection devices such as a camera, a microphone, a contact sensor, a pressure sensor, and a temperature sensor are mounted. That is, by inputting environmental information outside the aircraft, adaptively controlling the attitude stability of the aircraft according to changes in the external environment, and dynamically changing the internal state consisting of instinct models, emotion models, etc. Can be.

[0007] For example, a reaction force received from a contact object such as an obstacle on a road surface or a moving route while walking may cause the aircraft to fall. If the aircraft falls, the robot itself will be damaged, and unexpected situations will be caused, such as damage to workers nearby and destruction of collision objects. Therefore, the autonomous mobile robot needs to appropriately and stably control the attitude of the body according to the reaction force received by the sole from the floor surface and the reaction force received from other contact objects. Therefore, it is necessary to measure the distance between the mobile robot and the contact object and the force received from the contact object after the contact.

A distance measuring device for measuring a distance to an object,
A pressure detector that measures the force received from an object in contact is
A variety of things already exist. However, both the distance to the contact object and the force received from the object after contact,
Few devices can be measured simultaneously, ie on a single device.

If both the distance measuring device and the pressure detecting device are mounted on the body of the robot, it is possible to obtain information on a contact object necessary for adaptive control of the body. However, as a result of mounting a large number of devices, the weight and volume of the robot are increased, and the design of circuits and wiring is complicated, and the cost is increased.

[0010]

SUMMARY OF THE INVENTION An object of the present invention is to provide an excellent detection device for a legged mobile robot capable of measuring the distance between a legged mobile robot and a contact object and the force received after the contact. Is to do.

It is a further object of the present invention to provide an excellent detection device for a legged mobile robot capable of simultaneously measuring the distance to a contact object and the force received after the contact.

A further object of the present invention is to provide a detection device for a simple and compact legged mobile robot capable of simultaneously measuring the distance to a contact object and the force received after the contact. is there.

[0013]

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above problems, and has a first aspect in which a distance between a legged mobile robot and a contact object and a force received after the contact are obtained. A leg type characterized by comprising a distance measuring unit for measuring a distance to an object before contact and a reaction force measuring unit for measuring a reaction force received from the object after contact, which is a measuring device for measuring. It is a detection device for mobile robots.

This detection device is disposed, for example, on the sole of a legged mobile robot, and measures the distance of the sole on the free leg side to the floor, or receives the sole from the floor after landing. Can be used to measure reaction force.

According to a second aspect of the present invention, there is provided a detecting device for measuring a distance between a legged mobile robot and a contact object and a force received after the contact, and a load measuring unit for measuring an applied load. During a period in which the measured load in the load measuring unit is equal to or less than a predetermined value, a distance measuring unit that measures a distance to an object before contact, and after the contact from the time when the measured load in the load measuring unit exceeds a predetermined value. A detection device for a legged mobile robot, comprising: a reaction force measuring unit that measures a reaction force received from an object.

Here, the load measuring section is constituted by, for example, a sheet-shaped pressure sensor.

According to the second aspect of the present invention, by devising a method of using the pressure sensor, the pressure sensor is used to determine the contact state between the airframe and the outside world with a single detecting device. The distance to the contact object can be measured, and the force received from the object after contact can be measured.

The detection device according to the second aspect of the present invention can be made compact and lightweight by using a sheet-shaped pressure sensor. Further, since there is no physically complicated mechanism, there is little fear of breakage even if the apparatus is disposed on a portion of the fuselage where an impact load is applied.

According to a third aspect of the present invention, there is provided a detecting device for measuring a distance between a legged mobile robot and a contacting object and a force received after the contacting. A contacting element, a guide portion for guiding the sensor in a direction substantially perpendicular to the surface of the pressure sensor within a predetermined movable range, and one end contacting the pressure sensor, and the other end contacting the sensor. An urging portion for urging in the substantially vertical direction toward the object to be measured and transmitting a reaction force received by the detector to the pressure sensor. Device.

[0020] The detection device having the above-described configuration is capable of measuring a distance to an object before contact by using a period until the detector contacts the object to be measured and is completely buried in the substantially vertical direction. There can be two types of measurement modes: a mode, and a reaction force measurement mode for measuring a reaction force received from an object after contact in a state in which the detector contacts the measurement target and is completely buried in the substantially vertical direction. .

Here, the pressure sensor may include a first pressure detecting unit for measuring a relatively small external force and a second pressure detecting unit for measuring a relatively large external force. In such a case, the distance to the measurement target is measured using the output of the first pressure detection unit in the distance measurement mode, and the output of the second pressure detection unit is measured in the reaction force measurement mode. To measure the reaction force received from the measurement object.

That is, according to the third aspect of the present invention,
By devising how to use the pressure sensor, a single detection device measures the distance to the contact object using a pressure sensor to determine the contact state between the aircraft and the outside world,
Further, after contact, the force received from the object can be measured.

The detection device according to the third aspect of the present invention can be made compact and lightweight by using a sheet-shaped pressure sensor. Further, since there is no physically complicated mechanism, there is little fear of breakage even if the apparatus is disposed on a portion of the fuselage where an impact load is applied.

Still other objects, features and advantages of the present invention are:
It will become apparent from the following more detailed description based on the embodiments of the present invention and the accompanying drawings.

[0025]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS According to the present invention, a distance to a contact object can be measured by using a pressure sensor to determine a contact state with the outside world. Provided is a detection device for a legged mobile robot that can measure a force received from an object.

In the legged mobile robot, a contact state with the outside world is particularly required in a portion where a collision with a contact object easily occurs, such as a sole, a hand, and a head. Therefore, if the distance from the contact object can be detected in advance and the force received from the object after the complete contact can be detected, it is possible to determine the state of contact of the aircraft with the external object.

For example, taking the sole of a legged mobile robot as an example, when the legged mobile robot walks, the sole repeatedly collides with the floor surface each time it walks. If the position of the floor can be grasped in advance, it is possible to reduce the impact at the time of collision with the floor. By arranging a detection device capable of such a measurement at a predetermined position on the sole, which part of the sole starts contacting the floor surface, the condition of the floor surface (e.g., uneven inclination), the posture of the robot itself Can be grasped, leading to stability of walking. Furthermore, after the sole has completely contacted the floor surface, the floor reaction force at each sensor can be measured. Therefore, a ZMP (Zero Momemt Poiont) stable area ^{/ * /} can be obtained based on the measured floor reaction force, and the walking stability can be further improved.

Hereinafter, a detecting device having a function of realizing the above contents will be described in detail.

FIGS. 1 and 2 show the basic structure of a detection apparatus 100 according to this embodiment. FIG. 1 shows a top view of the detection device 100, and FIG. 2 shows its cross-sectional configuration.

The detecting device 100 shown in the figure is constructed by disposing a sheet-shaped pressure sensor 106 on a base 101. As a sheet-like sensor element, for example, a sensor sheet “I-SCAN S-” manufactured by Neuron Seimitsu Co., Ltd.
I-1 "and" BIG-MAT S-B-1 "etc. A sensor sheet of this type periodically applies row and column electrodes in response to the application of pressure to an object. Scans can be used to continuously capture the electrical resistance value at each intersection, or the input information can be converted to planar force information by computer processing.

As a portion that comes into contact with an object, a dog 1
03 is provided. This dog 103 is the cylinder 1
2, and can slide in the vertical direction on the paper of FIG.

Between the dog 103 and the pressure sensor 106,
A compression coil spring 104 and a sensor washer 105 are inserted. The sensor washer 105 is the cylinder 1
2 and can slide in the vertical direction on the paper of FIG.
Is in contact with the detection unit.

The upward movement range of the dog 103 is restricted by the lid 107. That is, dog 103
The movement of is restricted only in the vertical sliding direction,
The movable range is defined by the lid 107 and the sensor washer 105.

The dog 103 is constantly pressed against the contact object by a compression coil spring 104. Conversely, the sensor washer 105 is pressed against the pressure sensor 106 side.

The value detected by the pressure sensor 106 is output from a pressure sensor terminal 106A. This pressure sensor 10
Reference numeral 6 is configured to detect the pressure by changing the resistance according to the pressure applied to the detection unit. Therefore, a value corresponding to the pressure is output to the pressure sensor terminal 106A.

FIG. 3 shows a detecting device 10 according to the present embodiment.
The relationship between 0 and the contact object 108 is shown. As shown in FIG. 3, when the dog 103 is not in contact with the contact object 108, the dog 103 is closed by the compression coil spring 104.
7 Therefore, in this case, the force transmitted to the pressure sensor 106 via the sensor washer 105 is constant, and the output value of the pressure sensor 106 shows a constant value.

Next, the pressure sensor 106 will be described. FIG. 4 shows one configuration example of the pressure sensor 106. As described above, the external force applied to the pressure detection unit 106C is converted into a resistance value according to the magnitude of the pressure by the detection unit 106C, and is output to the output terminal 106A via the wiring unit 106B.

Here, in order to constitute such a pressure detection system, the pressure sensor 106 must satisfy the following conditions.

First, as shown in FIG. 8, when the distance to the contact object is measured (described later), a high rate of change of the resistance value with respect to the force, that is, a high resolution is required.

Further, as shown in FIG. 9, in a state where the force received from the contact object is measured (described later), it is necessary to measure a relatively large force depending on the measurement site. For example, when the detection device 100 is used for the sole, such a sensor is necessary because the weight of the body may be received by a single detection device 100.

When the distance from the contact object is measured, the force actually measured by the pressure sensor is about several hundred g, but when the force received from the contact object is measured, several k
If a force of about g is applied to the pressure sensor 106 of the detection device 100, the detection range of the pressure sensor 106 is wide, and if the resolution is satisfied, the pressure detection system can be configured with only a single pressure sensor 106. Can be configured. However, in practice, there are few pressure sensors that have a wide detection range and satisfy the minute function.

For this reason, the following measures are required.
5 and 6 show an example in which a pressure detection system is configured using two types of pressure sensor elements of different types. For example, two pressure sensors 2 shown in FIG.
06, a relatively small external force having a detection force of about several hundred g is measured by the pressure detection unit 206C, and a relatively large external force having a detection force of about several kg is detected by the pressure inspection unit 206C.
It is configured to measure at F.

Also, as shown in FIG. 6, it is possible to satisfy the above-mentioned required specifications by overlapping two sheet-shaped pressure sensors. In the example shown in the figure, the output value of each pressure sensor is
06A and the output terminal 206D.

FIG. 7 shows another example of the configuration of the detection apparatus 100. In the type shown in the figure, the above-mentioned specification can be satisfied by using a single pressure sensor 306.

The pressure inspection section 306C is responsible for detecting a relatively small external force having an inspection force of about several hundred g. The pressure inspection unit 306F is in charge of detecting a relatively large external force having a detection force of several kg. Then, each detection unit 306C, 20
The output value of 6F is output from output terminal 306A and output terminal 306D, respectively.

In the above description, the case of two pressure detectors has been described. However, the number of pressure detectors need not be limited to two, and the number of detectors can be increased as needed. It is.

Next, a case where the distance from the contact object 108 is actually measured will be described with reference to the drawings.

FIGS. 8 and 9 illustrate the principle of operation of measurement by the detection device 100. FIG. Contact object 10
When the dog 8 comes into contact with the dog 103, the dog 103 slides vertically while being guided by the cylinder 102. As a result, the compression coil spring 104 expands and contracts, and a force is transmitted to the pressure sensor 106 via the sensor washer 105. The output of the pressure sensor 106 can be obtained according to the force transmitted to the pressure sensor 106.

FIG. 10 shows the relationship between the distance from the contact object and the output value of the pressure sensor. Actually, the distance from the contact object can be obtained from this relationship based on the output value of the pressure sensor.

Here, the pressure sensor 106 may employ any of the above-described methods shown in FIGS. 6 and 7 depending on the situation.

Further, by adjusting the compression coil spring 104, it becomes possible to apply a force suitable for each pressure sensor to the pressure sensor 106.

Next, after completely contacting, the contact object 10
A description will be given of a case in which the force received from 8, that is, the reaction force is measured.

As shown in FIG. 9, the dog 103 and the sensor
Washers 105 are in contact. Dog 10 to this state
When 3 is pushed in, the load is transmitted from the contact object 108 to the dog 103 due to the load generated from the compression coil spring 104. Further, the force transmitted to the pressure sensor 106 via the sensor washer 105 becomes dominant.

Therefore, in this case, the force received from the contact object 108 can be detected based on the output value of the pressure sensor 106.

<< Remarks >> *: According to the stability discrimination standard of the legged mobile robot based on ZMP, the sole landing point can be set in advance, and the kinematic constraint condition of the toe according to the road surface shape can be easily considered. There are advantages such as. In addition, using ZMP as a stability determination criterion means that a trajectory, not a force, is treated as a target value in motion control, so that technical feasibility is increased. Note that ZMP
On the concept of ZMP and the application of ZMP to the stability criterion for walking robots, see "LEGGED by Miomir Vukobratovic."
LOCOMOTION ROBOTS "(by Ichiro Kato," Walking Robots and Artificial Feet "(Nikkan Kogyo Shimbun)).

[Supplement] The present invention has been described in detail with reference to the specific embodiments. However, it is obvious that those skilled in the art can modify or substitute the embodiment without departing from the spirit of the present invention. That is, the present invention has been disclosed by way of example, and should not be construed as limiting. In order to determine the gist of the present invention, the claims described at the beginning should be considered.

[0057]

As described above in detail, according to the present invention,
An excellent detection device for a legged mobile robot that can measure the distance between the legged mobile robot and the contact object and the force received after the contact can be provided.

Further, according to the present invention, it is possible to provide an excellent detection device for a legged mobile robot capable of simultaneously measuring the distance to a contact object and the force received after the contact.

Further, according to the present invention, it is possible to provide a detection device for a legged mobile robot, which can simultaneously measure the distance to a contact object and the force received after the contact, and which is configured to be simple and small. it can.

The detection device for a legged mobile robot according to the present invention can be made smaller and lighter than using a sheet-shaped pressure sensor.

Further, since the detecting device for the legged mobile robot according to the present invention uses the pressure sensor, both the distance from the contacting object and the force received from the object after the contacting are measured on the same device. It is possible to measure.

According to the detection device for a legged mobile robot of the present invention, by devising a method of using a pressure sensor, it is possible to use a legged mobile robot without using a normally required high-performance sensor. A detection system necessary for adaptive control of the robot can be constructed.

The detection device for a legged mobile robot according to the present invention does not have a physically complicated mechanism.
Even if it is arranged at a location where an impact load is applied on the fuselage, there is little fear of breakage.

The detection device for a legged mobile robot according to the present invention enables a small and lightweight system by using a sheet-shaped pressure sensor.

Further, since the detection device for the legged mobile robot according to the present invention uses a pressure sensor, it measures both the distance from the contact object and the force received from the contact object with a single device configuration. It is possible to do.

The detection device for a legged mobile robot according to the present invention usually requires a high-performance sensor by devising a method of using a pressure sensor, but does not use a high-performance sensor. This makes it possible to configure the system.

Further, since the detecting device for a legged mobile robot according to the present invention does not have a complicated mechanism, it is hardly broken even when used for a portion to which an impact load is applied.

[Brief description of the drawings]

FIG. 1 is a top view of a detection device according to an embodiment.

FIG. 2 is a diagram showing a cross-sectional configuration of a detection device according to the embodiment.

FIG. 3 shows a detection device 100 and a contact object 1 according to the embodiment.
It is sectional drawing which showed the relationship with 08.

FIG. 4 is a diagram showing one configuration example of a pressure sensor 106.

FIG. 5 is a diagram showing a pressure detection system configured using two types of pressure sensor elements of different types.

FIG. 6 is a diagram showing a pressure detection system configured using two types of pressure sensor elements of different types.

FIG. 7 is a diagram showing a pressure detection system configured using two types of pressure sensor elements of different types.

FIG. 8 is a cross-sectional configuration diagram showing a state where the detection device 100 is measuring a distance from a contact object.

FIG. 9 is a cross-sectional configuration diagram showing a state where the detection device 100 is measuring a force received from a contact object.

FIG. 10 is a graph showing a relationship between an output value of a pressure sensor and a distance from a contact object.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 100 ... Detection device 101 ... Base 100 ... Cylinder 103 ... Dog 104 ... Compression coil spring 105 ... Sensor / washer 106 ... Sheet-shaped pressure sensor 106A ... Pressure sensor terminal 106B ... Wiring part 106C ... Pressure detection part 107 ... Lid 108 ... Contact object

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Claims (8)

[Claims] 1. A detecting device for measuring a distance between a legged mobile robot and a contact object and a force received after the contact, a distance measuring unit for measuring a distance to the object before the contact, and a detecting device for receiving the force from the object after the contact. A reaction force measuring unit for measuring the reaction force,
A detection device for a legged mobile robot, comprising: 2. The detection device for a legged mobile robot according to claim 1, wherein the detection device is provided on a sole of the legged mobile robot. . 3. A detecting device for measuring a distance between a legged mobile robot and a contact object and a force received after the contact, wherein a load measuring unit for measuring an applied load; A distance measuring unit that measures a distance to the object before contact during a period equal to or less than a predetermined value; A detection device for a legged mobile robot, comprising: a force measurement unit. 4. The detection device for a legged mobile robot according to claim 3, wherein the detection device is provided on a sole of the legged mobile robot. 5. The detecting device for a legged mobile robot according to claim 3, wherein said load measuring section is constituted by a sheet-shaped pressure sensor. 6. A detection device for measuring a distance between a legged mobile robot and a contact object and a force received after the contact, wherein a sheet-shaped pressure sensor, a detector contacting an object to be measured, and the detector A guide portion for guiding the surface of the pressure sensor in a direction substantially perpendicular to the surface of the pressure sensor within a predetermined movable range; A biasing unit that urges the detector in the direction and transmits a reaction force received by the detector to the pressure sensor; anda period in which the detector contacts the measurement target and is completely buried in the substantially vertical direction. A distance measurement mode for measuring a distance to an object before contact using the sensor, and measuring a reaction force received from the object after contact in a state where the detector comes into contact with the measurement target and is completely buried in the substantially vertical direction. Reaction force measurement mode Detecting device for a legged mobile robot, characterized in that. 7. The detection device for a legged mobile robot according to claim 6, wherein the detection device is provided on a sole of the legged mobile robot. 8. The pressure sensor includes a first pressure detector for measuring a relatively small external force, and a second pressure detector for measuring a relatively large external force. Measuring the distance to the measurement target using the output of the first pressure detection unit, and measuring the reaction force received from the measurement target using the output of the second pressure detection unit under the reaction force measurement mode. The detection device for a legged mobile robot according to claim 6.