JP2002346958A - Control system and control method for legged mobile robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control the movement of a machine body while considering movement feasibility by decoding a control program described in a given format. SOLUTION: The control program adopts a data format that specifies priority in displacement magnitude and movement of each joint angle of the machine body, for each pose forming a movement. After the joint angles are sequentially driven according to the priority, the stability of the machine body of a legged mobile robot is sequentially computed, and the pose execution is limited between the joint angle of top priority and the joint angle that ensures stability last, so that stability of the machine body in movement can be ensured.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device and a control method for a legged mobile robot composed of a plurality of joint actuators, and more particularly, to a legged type operated in accordance with a control program described in a predetermined format. The present invention relates to a control device and a control method for a mobile robot.

More specifically, the present invention relates to a control device and a control method for a legged mobile robot operating in accordance with a control program of a predetermined format having an appropriate amount of information for a requested operation, and more particularly to a control device of a predetermined format. The present invention relates to a control device and a control method for a legged mobile robot that controls the operation of an airframe while considering the operation feasibility by decoding a control program described in (1).

[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.

[0005] Among them, legged mobile robots are unstable and difficult to control the posture and walking compared to conventional robots such as crawler type and tire type. It is excellent in that it can realize a flexible walking / running operation irrespective of the distinction between terrain and uneven terrain, and can coexist in a complex human living space.

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.

A robot is generally a multi-axis mechanical device including a plurality of joint actuators, and operates according to a predetermined control algorithm. For example, in an intelligent legged mobile robot, various autonomous operations such as posture stabilization control of a body are executed based on a control algorithm. Furthermore, by providing an internal state such as an emotion model or an instinct model, and changing the internal state in response to the external environment, it is possible to express an action that the user does not get bored and easily attaches.

[0008] The algorithm applied to the control of the robot is usually implemented in the form of a program code described in a predetermined format. Conventionally, as a format for describing a robot control algorithm, for example, MIDI (Musica
l Instrument Digital Interface).
That is, a storage medium such as a CD (Compact Disc)
That is, a robot control program file described in the DI format is stored in advance, and the robot controller reads this program from the storage medium and decodes the program to realize the robot body operation.

Here, MIDI is an international standard for interconnecting a synthesizer, a rhythm box, a sequencer, a computer, and the like. Tone, scale, and sound intensity are contained in unit data of 2 to 3 bytes. Data to describe
It has a format. The communication is performed at a transfer speed of 3
It is defined as an asynchronous serial system of 1.25 Kbps (the transfer speed is 38.4 kbps depending on the model).

For example, Japanese Patent Application Laid-Open No. Hei 5-329272 discloses a toy that performs a simulated performance operation in synchronization with audio and video using a MIDI signal (performance information). That is, the toy is a means for demodulating performance information (for example, a MIDI signal) for performing a musical instrument (eg, a MIDI signal) and simulating the performance information (a note-on signal of a specific channel in the MIDI signal and its note signal). It is composed of means for converting into information (conversion means 4) and driving means 5a to 5d which operate according to the pseudo operation information, and performs a pseudo operation (performance operation) according to the demodulated performance information. be able to.

Japanese Patent Application Laid-Open No. 6-182683 discloses a MIDI command that receives and analyzes a music command sent from a MIDI device and converts it into a motion command for controlling the motion of a robot. Is disclosed. That is, M
According to the robot control device based on IDI, it is possible to capture a complicated control movement synchronized with music musically, convert the information into exercise information, and control the operation of the aircraft.

However, MIDI is originally a data format for describing music information, and must be used to decode music information as a control signal for a robot. is there.

(1) The robot operation can be described only to the extent that MIDI can describe it. As described above, MIDI format data basically has only three types of fields, ie, timbre, scale, and sound intensity. Therefore, unless these data fields are used to assign control parameters for the robot, Not
It is difficult to write a complicated operation program.

On the other hand, MIDI has a fixed resolution and the like in the format, and may have an information amount that is not appropriate for the operation required by the described program data. In addition, there is a possibility that communication conditions are insufficient for describing the motion of a multi-axis robot which is a complicated control system.

(2) The operation of the robot is playback, and the operation feasibility is not considered. That is, the robot merely operates each joint faithfully according to the control program described in the predetermined format. For example, if the attitude (pose) defined by the control program is contrary to the attitude stability, the aircraft falls as a result of executing the program.

When the body falls, the robot itself is damaged, and unexpected situations such as damage to workers nearby and destruction of collision objects are caused.

(3) There is no means for recording the operation from the operation of the robot. In the conventional robot controller, the control of the robot is simply controlled by decoding the control in the MIDI format. A method of generating a control signal in a MIDI format or the like based on the operation of the robot has not been studied yet.

[0018]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a control apparatus and a control method for an excellent legged mobile robot which can operate according to a control program described in a predetermined format. is there.

It is a further object of the present invention to provide an excellent control device and method for a legged mobile robot which can operate according to a control program of a predetermined format having an appropriate amount of information for a requested operation. To provide.

A further object of the present invention is to provide a control device for an excellent legged mobile robot capable of decoding a control program described in a predetermined format and controlling the operation of the airframe while considering the operation feasibility. And a control method.

[0021]

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above-mentioned problems, and a first aspect of the present invention is to describe the operation of a legged mobile robot having a plurality of joint angles in a predetermined format. A control device or a control method for controlling according to a described control program, wherein the control program defines a displacement amount and an operation priority for each joint angle with respect to a pose constituting an operation. A control device or a control method for a legged mobile robot, wherein the joint angle is sequentially driven according to the following.

The operation of the legged mobile robot is configured by arranging a plurality of poses in time series. In the first aspect of the present invention, the control program employs a data format that defines a displacement amount and an operation priority for each joint angle of the body for each pose constituting an operation.

Therefore, after sequentially driving the joint angles in accordance with the priority order, the stability of the body of the legged mobile robot is sequentially calculated, and the pose is set from the highest priority order to the joint angle at which the stability is secured. By stopping the execution, the stability of the aircraft during operation can be guaranteed.

Further, by adopting such a data format, a control program having an appropriate amount of information for a requested operation can be easily prepared and edited.

Further, it is possible to set the priority to be executed on the robot body, and to execute the control program while securing the posture stability of the body. By giving priority to each part of the body when the robot expresses motion, not only the motion accuracy but also the visual effect given to the user by the posture (pose) expressed by the robot body is emphasized. Operation control can be performed.

A control device or control method for a legged mobile robot according to a first aspect of the present invention includes a rank adjusting means or a step for rearranging the priorities of motions of respective joint angles described in a control program. Further, it may be provided.

Further, a format conversion means for converting a robot control program described in another data format into a data format for defining a displacement amount and an operation priority for each joint angle with respect to a pose constituting an operation. Alternatively, the method may further include a step.

Further, the operation of the legged mobile robot may be controlled so as to execute the operation of the body according to the control program in synchronization with a transmission tag from an external device for reproducing music or video.

It is common in the art to teach operation to a robot through direct teaching, teaching pendants, and other means. A control device or a control method for a legged mobile robot according to a first aspect of the present invention includes: a measuring unit or a step for measuring an operation of each joint in a teaching operation given to a body of the legged mobile robot; A priority assigning means or step for assigning a priority to each of the measured joint motions; and a data format for defining the displacement amount and the priority of the motion for each joint angle in accordance with the assigned priority. And a format conversion means or step for converting the control program into the control program.

In such a case, the teaching operation for the robot is directly converted into a control program in a data format that defines the displacement amount and the priority of the operation for each joint angle, and is used for the subsequent robot body operation. Can be.

Further, the control device or control method for a legged mobile robot according to the first aspect of the present invention may further include program reading means or steps for reading a control program from a predetermined storage medium.

A control device or method for a legged mobile robot according to a first aspect of the present invention includes a control program inserted as a gap signal in a predetermined storage medium storing music, video, and the like. A program reading means or step for reading may be further provided.

According to a second aspect of the present invention, there is provided a storage medium storing a control program for a legged mobile robot described in a predetermined format, wherein the control program comprises a pose constituting an operation for each joint angle. A storage medium that defines a displacement amount and an operation priority.

A third aspect of the present invention is a storage medium storing a control program for a legged mobile robot described in a predetermined format, wherein the control program is inserted as a gap signal of a payload such as music or video. are doing,
A storage medium characterized by the above.

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.

[0036]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIGS. 1 and 2 show how the legged mobile robot 100 used in the embodiment of the present invention stands upright as viewed from the front and the rear. The legged mobile robot 100 is of a type called “humanoid” or “humanoid”. As described later, the legged mobile robot 100 makes an action plan by interacting with a user based on input of a voice or an image or the like. The robot 100 can make an action plan autonomously without relying on (ie, independent of the user). As shown, the legged mobile robot 100
Is composed of two legs, the left and right legs, which perform legged movement, the trunk, the left and right upper limbs, and the head.

The left and right lower limbs are a thigh, a knee joint,
It is composed of a shin, an ankle, and a foot, and is connected at a substantially lowermost end of the trunk by a hip joint. Each of the left and right upper limbs includes an upper arm, an elbow joint, and a forearm, and is connected by a shoulder joint at left and right side edges above the trunk.
Further, the head is connected to the center of the uppermost end of the trunk by a neck joint.

A control unit which is not visible in FIGS. 1 and 2 is provided in the trunk unit. This control unit includes a controller (main control unit) that processes external inputs from various sensors (described later) and drive control of each joint actuator constituting the legged mobile robot 100, and a power supply circuit and other peripheral devices. It is the case which did. The control unit may include a communication interface and a communication device for remote control.

FIG. 3 schematically shows a configuration of the degree of freedom of a joint included in the legged mobile robot 100 according to the present embodiment. As illustrated, the legged mobile robot 100 includes an upper body including two arms and a head 1, a lower limb including two legs for realizing a moving operation, and a trunk connecting the upper limb and the lower limb. It is composed of

The neck joint that supports the head 1 includes a neck joint yaw axis 2, a neck joint pitch axis 3, and a neck joint roll axis 4.
It has a degree of freedom.

Each of the left and right arms is provided with a shoulder joint pitch axis 8.
, Shoulder roll axis 9, upper arm yaw axis 10, elbow joint pitch axis 11, forearm yaw axis 12, and wrist joint pitch axis 1.
3, a wrist joint roll shaft 14, and a hand 15. The hand 15 is actually an articulated joint including a plurality of fingers.
It is a multi-degree-of-freedom structure. However, the operation itself of the hand 15 is
In the present specification, it is assumed that the robot 100 has zero degrees of freedom because it has little contribution or influence on the posture stability control and the walking motion control of the robot 100. Therefore, each of the left and right arms has seven degrees of freedom.

The trunk has three degrees of freedom: a trunk pitch axis 5, a trunk roll axis 6, and a trunk yaw axis 7.

The left and right legs constituting the lower limb
A hip joint yaw axis 16, a hip joint pitch axis 17, a hip joint roll axis 18, a knee joint pitch axis 19, an ankle joint pitch axis 20, a joint roll axis 21, and a foot (plantar or sole).
22. The foot (sole) 22 of the human body is actually a structure including a multi-jointed and multi-degree-of-freedom sole and fingers, but the sole of the legged mobile robot 100 according to the present embodiment has zero freedom. Degree. Therefore, each of the left and right legs has six degrees of freedom.

To summarize the above, the total of the legged mobile robot 100 according to the present embodiment is 3 + 7 × 2 + 3.
+ 6 × 2 = 32 degrees of freedom. However, the legged mobile robot 100 is not necessarily limited to 32 degrees of freedom. It goes without saying that the degree of freedom, that is, the number of joints, can be appropriately increased or decreased in accordance with design and manufacturing constraints, required specifications, and the like.

The above-described degrees of freedom of the joints of the legged mobile robot 100 are actually realized as active operations by actuators. Due to various demands such as removing excess bulges on the appearance of the device to approximate the human body shape and controlling the posture of an unstable structure called bipedal walking, the joint actuator is small and compact. Preferably, it is lightweight. In this embodiment, a small AC servo actuator of a type directly connected to a gear and of a type in which a servo control system is integrated into a motor unit with a single chip is mounted. Note that a small A that can be applied to a legged robot
The C servo actuator is disclosed, for example, in Japanese Patent Application No. 11-33386 already assigned to the present applicant.

FIG. 4 schematically shows a control system configuration of the legged mobile robot 100 according to this embodiment. As shown in the figure, the system includes a thought control module 200 that dynamically determines emotions and expresses emotions in response to a user input or the like, and a motion control module that controls the whole body cooperative movement of the robot such as driving joint actuators. 300.

The thinking control module 200 is a CPU (Central) for executing arithmetic processing relating to emotion determination and emotion expression.
Processing Unit) 211 and RAM (Random Access M)
emory) 212, ROM (Read Only Memory) 213,
And external storage devices (such as hard disk drives)
This is an independent information processing apparatus configured to perform self-contained processing in a module.

The thinking control module 200 includes a CCD
(Charge Coupled Device) An image input device 251 such as a camera, an audio input device 252 such as a microphone, an audio output device 253 such as a speaker, a LAN (Local Area Network).
(rk: not shown) a communication interface 254 for exchanging data with a system outside the robot 100 via, for example,
Various devices are connected via the bus interface 201.

In the thinking control module 200, the visual data and the voice input device 2 input from the image input device 251 are used.
The current emotions and intentions of the legged mobile robot 100 are determined in accordance with external stimuli, such as auditory data input from the computer 52. Further, the motion control module 30 is configured to execute a motion or an action sequence (behavior) based on a decision, that is, a motion of a limb.
Issue a command for 0.

One movement control module 300 controls the whole body cooperative movement of the robot 100 by using a CPU (Central).
Processing Unit 311 and RAM (Random Access M)
emory) 312, ROM (Read Only Memory) 313,
And external storage devices (such as hard disk drives)
314 is an independent information processing apparatus capable of performing self-contained processing in a module. The external storage device 314 can accumulate, for example, a walking pattern calculated offline, a ZMP target trajectory, and other action plans.

Here, “ZMP (Zero Moment Poin
"t)" is a point on the floor at which the moment due to the floor reaction force during walking becomes zero, and "ZMP trajectory" is, for example, a ZM trajectory during the walking operation of the robot 100.
P means a moving trajectory. According to the stability discrimination standard of the legged mobile robot based on the ZMP, there is an advantage that the landing point of the sole can be set in advance, and the kinematic constraint condition of the toe according to the road surface shape can be easily considered. 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. Miomir Vukobra discusses the concept of ZMP and the application of ZMP to the stability criterion for walking robots.
It is described in Tovic's "LEGGED LOCOMOTION ROBOTS" (Ichiro Kato et al., Walking Robots and Artificial Feet, Nikkan Kogyo Shimbun).

The motion control module 300 includes a joint actuator (see FIG. 3) for realizing each joint degree of freedom distributed over the whole body of the robot 100, a posture sensor 351 for measuring the posture and inclination of the trunk, and left and right. Contact confirmation sensors 352 and 35 for detecting the leaving or landing of the sole of the foot
3. Various devices such as a power control device that manages power such as a battery are connected via the bus interface 301.

The thinking control module 200 and the exercise control module 300 are constructed on a common platform, and bus interfaces 201 and 301 are provided between them.
Are interconnected via

The motion control module 300 controls the whole body cooperative motion by each joint actuator in order to embody the behavior specified by the thought control module 200. That is, the CPU 311 fetches an operation pattern corresponding to the action instructed from the thought control module 200 from the external storage device 314, or internally generates an operation pattern. Then, the CPU 311 sets the foot motion, the ZMP trajectory, the trunk motion, the upper limb motion, the waist horizontal position and the height, etc., according to the specified motion pattern,
A command value instructing an operation according to these setting contents is transferred to each joint actuator.

The CPU 311 has a posture sensor 351.
The posture and inclination of the trunk of the robot 100 are detected by the output signals of
By detecting whether each movable leg is a free leg or a standing leg based on the output signal of 53, the whole body cooperative movement of the legged mobile robot 100 can be adaptively controlled.

Further, the motion control module 300 determines how much the action determined by the thought control module 200 has been performed, ie, the processing status,
The information is returned to the thought control module 200.

In this embodiment, the legged mobile robot 100
Is described according to a predetermined data format described later. The CPU 311 decodes such a control program and reproduces it on the machine. In generating the motion, not only the motion accuracy but also the visual effect given to the user is sufficiently considered. That is,
The priority of realization is given to the operation of each joint actuator, and a motion pattern is generated so as to secure the posture stability of the body.

Such a robot control program is as follows:
For example, programming (editing), debugging, and verification (simulation) of the machine operation are performed on a computer system outside the machine. FIG. 5 shows a computer system 5 capable of processing such a robot control program.
00 is schematically shown. Hereinafter, the computer system 500 will be described with reference to FIG.

A CPU (Central Processing Unit) 501 as a main controller of the system 500 executes various applications under the control of an operating system (OS). The CPU 501 can execute applications such as an editor and a debugger of a control program for controlling the legged mobile robot 100, for example. As shown in FIG.
8 interconnects with other devices (described later).

The memory 502 is a storage device used to store a program code to be executed by the CPU 501 and temporarily store work data being executed. It should be understood that the memory 502 shown in the figure includes both non-volatile and volatile memories.

The display controller 503 sets C
This is a dedicated controller for actually processing a drawing command issued by the PU 501. The drawing data processed by the display controller 503 is once written in, for example, a frame buffer (not shown), and then output to the screen by the display 511.

The input device interface 504 is a device for connecting user input devices such as a keyboard 512 and a mouse 513 to the computer system 500.

Network interface 505
Uses a LAN (Local Area Network) according to a predetermined communication protocol such as Ethernet.
Etc., and even a wide area network such as the Internet.

On the network, a plurality of host terminals (not shown) are connected in a transparent state, and a distributed computing environment is constructed. On the network, distribution of software programs, data contents, and the like can be performed. For example,
Application software such as an editor and a debugger of a control program for controlling the legged mobile robot 100 can be downloaded via a network. Further, a control program edited by an editor or a control program debugged by a debugger can be distributed via a network.

The external device interface 507 is a device for connecting an external device such as a hard disk drive (HDD) 114 or a media drive 515 to the system 500.

The HDD 514 is an external storage device in which a magnetic disk as a storage carrier is fixedly mounted (well-known), and is superior to other external storage devices in terms of storage capacity and data transfer speed. Placing a software program on the HDD 514 in an executable state is referred to as “installing” the program in the system. Usually HD
D514 stores, in a nonvolatile manner, an operating system program code to be executed by the CPU 501, an application program, a device driver, and the like.

For example, application software such as an editor of a control program for controlling the legged mobile robot 100 and a debugger can be installed on the HDD 514. Further, a control program edited by an editor, a control program debugged by a debugger, and the like can be stored in the HDD 514 in a nonvolatile manner.

The media drive 515 stores a CD (Compa
ct Disc), MO (Magneto-Opticaldisc), DVD (Di
It is a device for loading a portable medium such as a digital versatile disc (Gital Versatile Disc) and accessing its data recording surface.

The portable medium mainly backs up software programs, data files, and the like as computer-readable data, and moves them between systems (that is, includes sales, distribution, and distribution).
Used for the purpose. For example, the legged mobile robot 10
Application software such as an editor of a control program for zero control and a debugger can be physically distributed and distributed among a plurality of devices by using these portable media. In addition, a control program edited by an editor, a control program of a predetermined format debugged by a debugger, and the like can be physically distributed and distributed between devices using these portable media.

Note that the computer system 5 shown in FIG.
00 is an example of an IBM personal computer "
PC / AT (Personal Computer / Advanced Technolog
y) ". A computer having another architecture may be applied as the computer system 500 according to the present embodiment.

The present invention proposes a control system for operating a robot in accordance with music, video, and the like.

Conventionally, in order to achieve this purpose, music information and robot control information are stored in a predetermined storage medium in advance using a MIDI format known as a standard for music performance, and are reproduced or decoded. The operation of the robot was realized by decoding (decoding) (described above). That is, the robot control information is described in the same manner as the music information, and by decoding these at the same time, the body operation adapted to the music has been realized.

On the other hand, in the present invention, data and data for describing a control program for the motion of the robot
New formats and protocols have been made easier,
An advanced robot control algorithm based on these rules is provided.

A. Priority of operation and attitude stability of the aircraft
Realized Motion Generation Method When generating motion of a robot, usually only the motion accuracy is regarded as important. On the other hand, the present inventors consider the visual effect given to the user by the posture (pose) expressed by the robot body as an important factor.

In order to realize this visual effect, it is important to determine the motion and posture of the robot on the body. For this reason, in the present invention, it is necessary to determine a part that controls an important operation for each part of the robot, such as an arm, a leg, a torso, and a neck, and set a priority operation. That is, operation control of the robot body is executed under a control algorithm that describes a priority order for each joint operation of the robot having a large number of degrees of freedom.

Next, a condition necessary for reflecting the operation and the stability in the actual operation is stability such as the attitude of the aircraft. Many robots to be controlled require advanced control in consideration of dynamic effects and the like. That is, unless an algorithm that does not cause the aircraft to fall over is introduced, it is impossible to construct a practical system.

When the control program is reflected in the operation of the actual machine, the posture of each part is generated for each priority set first. At this time, the stability is sequentially determined, and if the stability of the posture such as a fall cannot be ensured, the process proceeds to the next motion generation without executing the posture of the subsequent priority. As a result, it is not necessary to execute a dangerous operation or posture having lost stability on the actual machine.

By repeatedly executing such a control flow, the stability of the robot body is ensured while
It is possible to expect an effect capable of expressing a desired motion or posture. In this regard, it should be appreciated that the present invention is significantly different from conventional playback-type robot control algorithms.

A robot is usually a mechanical device having a plurality of degrees of freedom in joints, and controls each joint in real time during operation of the body. The robot performs control at an arbitrary moment based on data indicating the state.
The operation control on the aircraft is performed in a predetermined operation unit (hereafter,
Transmission and control of command values (data) such as joint angles and postures are performed for each “step”.

FIG. 6 conceptually depicts a time-series flow for controlling the robot body operation.

In the present embodiment, the control program for the robot describes the operation of each part of the body according to a predetermined format (described later) for each step. Further, in this control program, the priority of executing the operation is set for each unit for each step. When the control program is executed, the operation of each unit is sequentially generated for each step, and the stability of the machine at the time of execution is determined.

FIG. 7 is a flowchart showing an example of a processing procedure for controlling the operation of each part of the body by the robot control program according to the present embodiment. However, it is assumed that all postures and joint angles of the robot at a certain time are received as one unit.

First, when only one step of the control program is received, the operation of each unit is rearranged in accordance with the priority defined by the control program in the step (step S).
1).

Next, one of the data included in the received step is called according to the priority (step S).
2) A control model is calculated (step S3). Here, the unit of the called data is one posture or
This corresponds to one joint angle for forming a certain posture.

If the extracted data is the last data in the received step (step S4), the process proceeds to the next step data receiving process.

If the extracted data is not the last data, whether or not the aircraft is stable when the operation specified by the data is executed based on the control model calculated in step S3, ie, A stability determination is performed (step S5). The stability determination can be performed using, for example, a ZMP stability determination standard.

If the result of the stability determination is affirmative, the actual control of the target portion defined by the data is performed (step S).
6).

On the other hand, when the last data of the received step has been processed or when the stability determination result is negative, the stability determination process in the received step is terminated and the next step data Proceed to reception processing.

Note that, even if the order in which steps S4 and S5 are executed is changed, the operation of the entire system does not change.

According to the processing procedure shown in FIG. 7, it is possible to generate a control operation from the point at which the stability of the airframe can be confirmed for each step of the read robot control program while considering the priority. it can.

FIG. 8 is a flowchart showing another example of a processing procedure for controlling the operation of each unit of the body by the robot control program according to the present embodiment. In this processing procedure, the priorities are rearranged for a visual effect or the like with respect to a control program received from the outside, and only a portion of the control program which is stable even when the actual device operates is stored on a storage medium. be able to. However, it is assumed that all postures and joint angles of the robot at a certain time are received as one unit.

First, when the control program is received for only one step, the operation of each unit is rearranged in accordance with the priority specified by the control program in the step (step S1).
1).

Next, one of the data included in the received step is called according to the priority (step S1).
2), a control model is calculated (step S13). Here, the unit of the called data is one posture or
This corresponds to one joint angle for forming a certain posture.

If the extracted data is not the last data (step S14), based on the control model calculated in step S13, it is determined whether or not the aircraft is stable when the operation specified by the data is executed. That is, a stability determination is performed (step S15). The stability determination of the airframe can be performed using, for example, a ZMP stability determination standard.

If the result of the stability determination is affirmative, the data is added to the storage medium (step S16). Here, of the data of the previous step remaining in the storage medium, the data is replaced with control data that can ensure stability and stored.

On the other hand, when the processing of the last data of the received step is completed, or when the result of the stability determination is negative, the data is read from the storage medium (step S1).
7), actual control of each part is performed (step S18). Then, the stability determining process in the received step is terminated, and the process proceeds to the next step data receiving process.

[0098] Even if the order in which steps S14 and S15 are executed is changed, the operation of the whole system does not change.

FIG. 9 is a flowchart showing another example of a processing procedure for controlling the operation of each unit of the body by the robot control program according to the present embodiment. In this procedure, the sequence
Control data created on other existing systems, such as data, can be allocated to suit this system. However, it is assumed that all postures and joint angles of the robot at a certain time are received as one unit.

First, when only one step of the control program is received, the operation of each unit is rearranged in accordance with the priority specified by the control program in the same step (step S2).
1). At this time, an operator may be allowed to apply arbitrary data rearrangement to a data group to which no priority is given.

Next, one of the data included in the received step is called according to the priority (step S2).
2), a control model is calculated (step S23). Here, the unit of the called data is one posture or
This corresponds to one joint angle for forming a certain posture.

If the extracted data is not the last data (step S24), based on the control model calculated in step S23, it is determined whether or not the aircraft is stable when the operation specified by the data is executed. That is, the stability of the machine is determined (step S25). The stability determination can be performed using, for example, a ZMP stability determination standard.

If the result of the stability determination is affirmative, the data is added to the storage medium (step S26). Here, of the data of the previous step remaining in the storage medium, the data is replaced with control data that can ensure stability and stored.

On the other hand, when the processing of the last data of the received step is completed or when the result of the stability determination is negative, the data is read from the storage medium and written to an arbitrary medium (step S27). Then, the stability determining process in the received step is terminated, and the process proceeds to the next step data receiving process.

It is to be noted that the operation of the whole system does not change even if the order of executing steps S24 and S25 is changed.

FIG. 10 is a flowchart showing another example of a processing procedure for controlling the operation of each part of the body by the robot control program according to the present embodiment. In this processing procedure, control data sequentially input from the outside by a teaching operation or the like is
After the stability is determined, it can be stored in a recording medium. However, it is assumed that all postures and joint angles of the robot at a certain time are received as one unit.

First, when only one step of the control program is received, the operation of each unit is rearranged in accordance with the priority specified by the control program in the same step (step S3).
1). At this time, an operator may be allowed to apply arbitrary data rearrangement to a data group to which no priority is given.

Next, one of the data included in the received step is called according to the priority (step S3).
2), a control model is calculated (step S33). Here, the unit of the called data is one posture or
This corresponds to one joint angle for forming a certain posture.

If the extracted data is not the last data (step S24), based on the control model calculated in step S33, it is determined whether or not the aircraft is stable when the operation specified by the data is executed. That is, the stability of the machine is determined (step S35). The stability determination can be performed using, for example, a ZMP stability determination standard.

If the result of the stability determination is affirmative, the data is added to the storage medium (step S36). Here, of the data of the previous step remaining in the storage medium, the data is replaced with control data that can ensure stability and stored.

On the other hand, when the last data of the received step has been processed, or when the result of the stability determination is negative, the user is asked whether to input again (step S37). When re-input is performed, the process returns to step S31 or S32, and the above-described processing is performed on the re-input data. If not, the data is read from the storage medium and written to an arbitrary medium (step S38). Then, the stability determining process in the received step is terminated, and the process proceeds to the next step data receiving process.

It should be noted that the operation of the entire system does not change even if the order of executing steps S34 and S35 is changed.

In the present embodiment, in order to make it possible to prioritize the visual effect over the accuracy of the operation itself in the robot body operation such as dance, the programmer of the control program selects it by the conventional programming method. The following control parameters for each part that could not be performed can be selected.

(1) Notation by body coordinates centered on the body (2) Notation by absolute coordinates centered on the ground etc.

B. Control with variable node determination and resolution
When the system real-time control is performed, the amount of information stored in the control program actually becomes a problem. This is because when the amount of information is large, data transfer becomes a bottleneck in real-time control. Therefore, it is practically preferable to arrange so that the information amount of the control program can be appropriately selected. In particular, when a speed-priority operation is required or when a lot of complicated processing is required, the request for information selection becomes more severe.

In the present embodiment, as a data format for describing the control program, as many patterns (nodes) as necessary can be prepared for the joint angles and postures of the respective parts. Here, the maximum value of the number of nodes is considered to be equal to the sensor resolution.

For example, in order to determine the motion or posture of a part such as the arm of a robot, the joint angles are divided into a finite number of steps, and these are set as nodes. A robot control program can be described.

To specifically describe the motion generation, for each part on the body, the identification number of the joint angle (posture) pattern (node) and the priority order assigned to the joint angle at the time of the motion generation are described. Specify a combination.

FIG. 11 shows a conceptual diagram of a robot motion description according to the present embodiment. FIG. 1 illustrates a robot that operates according to music.

In accordance with the musical notation shown in the musical score shown at the top of FIG. 11, the robot expresses each posture as shown at the bottom in chronological order.

The operation notation example in this case is as shown in the lower part. For example, the initial posture (pose) is described as a set of data defining the operation of each part such as left arm wrist bending (01, A), left arm wrist twist (03, C),.
Further, control data for one step (that is, one posture (pause)) is configured in a format in which another signal is added to a data signal defining the operation of each part. In addition, a control program that defines a series of actions (motion) is configured by combining a plurality of control data in a time-series manner using such control data as a unit.

Here, the notation of the movement motion of each part is (joint angle node number, priority). For example, in a notation example (03, A) representing left arm wrist bending, “03” is a node number assigned to a joint angle, and “A” connected to this is a priority.

Further, the other signals attached to the motion operation are a voice signal, an image signal, or data specifying other than the motion related to the robot. For example, a robot control program may be superimposed on a payload of an audio signal or an image signal using a so-called electronic watermarking technique. Further, a robot control program may be inserted using a flyback period in a video signal.

As a node setting method in the robot body, a control system capable of appropriately changing the resolution of each joint according to various purposes can be constructed. As a result, the control program can be given a resolution according to the operation purpose. For example, even a control system that is centered on accuracy or a control system that is centered on speed can correspond to each operation.

C. Generation of transmission tag According to the robot control program according to the present embodiment,
The robot can be controlled to operate according to an external source such as music or video. For example, dancing to music.

The target (source) thus set
It is a necessary condition that the operation of the robot is synchronized with the operation, that is, the reproduction signal, in order to operate the robot in accordance with.

A signal for determining timing (hereinafter, also referred to as a “tag”) is generated from a source that controls music and images, and the control system that performs motion generation on the robot side receives the signal and receives a signal. Achieve visually superior behavior.

The tag signal is a signal used or referred to when controlling the operation of the robot in accordance with the reproduction of a signal reproduced from an existing medium such as a CD or a DVD. Alternatively, tag information can be superimposed on a signal of an existing medium. Alternatively, it is not necessary to use an existing signal or its format to make a special description or the like.

The tag signal can be given to the robot control system by storing it in the medium in advance or by using an existing signal in the medium.

FIG. 12 conceptually shows a system configuration for transmitting a tag signal for synchronizing with music or video and controlling the operation in synchronization with music or video. As shown in the figure, this system is broadly divided into a content reproduction system 1100 for reading and reproducing content such as music and video from a storage medium, and a robot control system 1200 for controlling the robot body operation.

The content reproducing system 1100 is composed of a content reproducing section 1101 for reading out a program / content such as music or video from a storage medium and reproducing it, and an output section 1102 for amplifying and outputting the reproduced signal to the outside.

In this embodiment, the content reproducing unit 110
1 outputs a tag signal for synchronizing with music or video when a program read from a storage medium is reproduced. As the tag signal, an existing signal already written in a storage medium for information such as music or video can be used, or unique information can be recorded as a tag signal in the storage medium.

One robot control system 1200 includes:
A conversion unit 120 that reads a program from a storage medium storing a robot control program and converts the program.
1, a synchronization unit 1202 for synchronizing the execution by the control program with the content reproduction according to the tag signal supplied from the content reproduction system 1100, and the drive for executing the body operation of the robot, that is, the driving of each joint actuator, etc., according to the control program Control unit 1203
It is composed of

In the present embodiment, the control program for the robot includes, for each part on the body, the identification number of the pattern (node) of the joint angle (posture) and the priority assigned to the joint angle when the motion is generated. A data format is provided in which the posture and the motion of the entire robot body are specified by designating the combination of the robots (described above).

The conversion process in the conversion unit 1201 is performed only on a portion where the operational stability of the machine is guaranteed after reading a control program conforming to the data format and performing stability determination according to the priority of each node. To generate a data group consisting of Therefore, the drive unit 1203 can execute only a portion of the control program read from the recording medium, for which the operational stability of the aircraft is guaranteed, in accordance with the video on the aircraft.

However, the conversion processing in conversion section 1201 may be executed after synchronization with content reproduction signal is ensured in synchronization section 1202.

By using a method as shown in FIG.
It is not necessary to describe media information such as music and video and control information of robot operation on the same storage medium.

D. Motion generation description method In order to describe motion generation of a robot, it is general to use a conventional format and decode it (see the section of [Prior Art]).

On the other hand, the present inventors have considered that it is effective to use a unique protocol which makes a description suitable for the motion control of the robot and processes it with another medium. The following methods can be considered as such a description method.

(1) A tag signal (see the preceding item C) is received as an external signal, and is used for timing determination on the robot control system side. (2) Using the gap signal of the storage medium, insert the operation description signal for robot control into it. Alternatively, the signal (payload) of the storage medium is obtained using a technique such as digital watermarking.
A motion description signal for controlling the robot is superimposed on the motion description signal. (3) Only the motion of the robot is generated. (4) All motion generation and other information are described in the motion description signal for robot control. (5) Recording of robot operation (for example, operation teaching)

FIG. 13 conceptually shows the structure of a system employing the first method, that is, a method of determining the timing of robot control based on a tag signal. In this system, a robot is controlled by using other operation information prepared in advance in accordance with reproduction of arbitrary content such as music and video. The illustrated system is broadly divided into a content reproduction system 1100 for reproducing content such as music and video, and a robot control system 1200 for controlling the robot body operation.

In the example shown in the figure, content information such as music and video and independent information such as a robot control program may be stored on the same storage medium.
Such a storage medium is, for example, a CD (Compact Disc)
And a hybrid recording on a recording surface such as a DVD or a digital versatile disc (DVD) and writing respective information to separate tracks or sessions.

The content reproducing system 1100 is composed of a content reproducing section 1101 for reading out a program / content such as music and video from a storage medium and reproducing it, and an output section 1102 for amplifying and externally outputting a reproduced signal.

[0144] The content reproducing unit 1101 outputs a tag signal for synchronizing with music or video when reproducing a program read from a storage medium.

For example, when the storage medium is a CD or DVD, a tag signal can be output by detecting a subcode or the like using digital out.
When the reproduced content is video information or the like, a tag signal can be output by detecting a synchronization signal, a time code, or the like using the S output in the video output signal. Alternatively, unique information can be recorded in a storage medium as a tag signal.

One robot control system 1200 includes:
A conversion unit 120 that reads a program from a storage medium storing a robot control program and converts the program.
1, a synchronizing unit 1202 for synchronizing the execution by the control program with the content reproduction according to the tag signal supplied from the content reproduction system 1100, and the robot body operation, that is, the driving of each joint actuator, etc., according to the converted control program. And a drive control unit 1203 to execute.

In the present embodiment, the control program for the robot includes, for each part on the body, the identification number of the pattern (node) of the joint angle (posture) and the priority assigned to the joint angle when the motion is generated. A data format is provided in which the posture and the motion of the entire robot body are specified by designating the combination of the robots (described above).

The conversion process in the conversion unit 1201 is performed only on a portion where the operational stability of the machine is guaranteed after reading a control program conforming to the data format and performing stability determination according to the priority of each node. To generate a data group consisting of Therefore, the drive unit 1203 can execute only a portion of the control program read from the recording medium, for which the operational stability of the aircraft is guaranteed, in accordance with the video on the aircraft.

However, the conversion processing in conversion section 1201 may be executed after synchronization in synchronization section 1202 with the content reproduction signal is ensured.

FIG. 14 conceptually shows the configuration of the second system, that is, a system for storing a robot control operation description signal in a recording medium using a gap signal in the recording medium. .

This is based on the fact that a reproduction signal of an existing content such as music or video usually includes a gap signal, and the control data of the robot is arranged in that area. . A call signal bit in a storage medium such as a CD or a DVD can be used as the gap signal. In the case of video information and the like, a signal can be superimposed on the payload within a range that does not violate the standard.

The information reading section 1301 reads from the storage medium into which the gap signal has been inserted, the content body such as music and video, and the operation information of the robot inserted as the gap signal.

The content reproducing section 1302 reproduces the read content signal, and the output section 1303 amplifies the reproduced signal and outputs it externally.

The conversion unit 1304 converts the read operation information. Then, the driving unit 1305 executes the body operation of the robot, that is, the driving of each joint actuator and the like according to the converted operation information.

In the present embodiment, the motion information of the robot is
By specifying the combination of the identification number of the pattern (node) of the joint angle (posture) and the priority assigned to the joint angle when the motion is generated for each part on the body, A data format that defines the operation is used (described above).

The conversion process in the conversion unit 1304 is performed only on a portion where the operational stability of the machine is guaranteed after reading a control program conforming to the data format and performing stability determination according to the priority of each node. To generate a data group consisting of Therefore, the drive unit 1305 can execute only a portion of the control program read from the recording medium, on which the operation stability of the machine is guaranteed, on the machine.

The third method, that is, the method for generating only the motion of the robot, can be implemented according to the processing procedure shown in the flow chart form in FIG. 7, and therefore the description is omitted here. Also, the above-described fourth method, that is, a method of describing all other information in the operation description signal for robot control, can be implemented according to the processing procedure shown in a flowchart form in FIG. Here, the description is omitted. These methods assume that the operation of the robot does not cooperate with other information, or that other information is incorporated into the data format according to the present embodiment.

FIG. 15 conceptually shows a configuration of a system for recording an operation given to the robot by the fifth method, that is, operation teaching or the like.

The operation teaching unit 1401 receives the teaching content from the operator by direct teaching to the robot body or by another teaching method using a teaching pendant or the like.

The measuring section 1402 includes an operation teaching section 1401
, For example, the amount of rotational movement of each joint is measured.

The conversion section 1403 converts the measured teaching contents. In the present embodiment, the content of teaching to the robot specifies, for each part on the body, the combination of the identification number of the pattern (node) of the joint angle (posture) and the priority assigned to the joint angle when the motion is generated. Described in a data format of the form For this reason, the operation priority of each node is set in advance, or the priority of the node is set or input sequentially when teaching the operation.

The conversion process in the conversion unit 1403 is performed by reading the teaching contents in a format conforming to the data format according to the present embodiment, and performing stability determination according to the priority of each node. This refers to generating a data group consisting only of guaranteed parts.

The recording unit 1404 records only the portion of the teaching content where the operation stability of the machine is guaranteed on the storage medium.

The processing unit 1405 performs stability determination on the teaching contents, and records the result on the storage medium by the recording unit 1406. The determination of the stability of the teaching content and the recording process on the storage medium are realized by the processing procedure shown in the form of a flowchart in FIG.

By reading the teaching contents from the recording medium and executing the robot body operation, that is, the driving of each joint actuator, it is possible to reproduce the operation taught in a mode in which the stability of the body is ensured.

According to the system as shown in FIG. 15, even when the taught data is recorded, the data format according to the present embodiment is adopted to create the control data which guarantees the stability of the robot. Becomes possible. Alternatively, it is also possible to read the existing control data and edit the operation of the robot so as to guarantee the stability.

FIG. 16 schematically shows a configuration of a system for editing a control program on a robot body.

The reading unit 1501 reads the operation / control data of the robot from, for example, a recording medium. Alternatively, as shown in FIG. 5, the operation / control data input to the computer via the console may be fetched.

The editing unit 1502 edits the input motion / control data into a robot control program in a data format that defines a pose based on a combination of the displacement and the priority for each part.

The data processing unit 1503 checks whether or not the stability of the robot can be ensured by the edited control program. The processing in the data processing unit 1503 is the same as the processing procedure shown in the form of a flowchart in FIG. 10, and a detailed description thereof will be omitted.

In the recording unit 1504, only the portion of the edited control program whose operation stability of the machine is guaranteed is recorded on the storage medium.

FIG. 17 schematically shows the configuration of a comprehensive system for generating a program for controlling the robot body operation. This control program generation system can be constructed by integrating the operation teaching system shown in FIG. 15 and the operation editing system shown in FIG.

The operation taught to the robot is measured and recorded by the measuring / recording unit 1607 as the displacement of each unit.

The measured teaching data is verified by the processing unit 1604 for the stability of the machine body, and only the portion where the stability is ensured is recorded in the recording unit 1603 as a control program in accordance with a predetermined data format. Will be saved. The control program stored in the recording unit 1603 can then be read out and used by the reproduction / control unit 1606 to control the robot body operation.

The operation / control data input from the operation editing unit 1601 and the other information acquisition unit 1605 is verified by the processing unit 1604 on the stability of the machine, and only the portions where the stability is ensured are determined. Is stored in the recording unit 1603 as a control program in accordance with the data format. The control program stored in the recording unit 1603 can then be read out and used by the reproduction / control unit 1606 to control the robot body operation.

According to the present invention, a new control system can be constructed based on individual robot motion control descriptions, as compared with the conventional system using existing formats. Therefore, an operation control description including all the matters described in the present invention can be performed. The following four points can be cited as inventions. That is,

[0177] 1. 1. Action generation method realizing priority and stability 2. Control system with variable node resolution and resolution 3. Generation of transmission tag Motion generation description method

[0178] The following effects can be expected as effects on robot control that can be expected from these matters.

[0179] 1. Operation priority can be set. Therefore, it is possible to function as a control system that easily implements the requested operation.

[0180] 2. Exercise stability can be ensured. Since the priorities are set, even if the operation and posture for ensuring stability are calculated, it is unlikely to greatly deviate from the target operation and posture, and particularly visually superior ones can be generated.

[0181] 3. Adjust to the appropriate amount of information. What you need to control a robot is the accuracy and speed. By thoroughly examining the uses of the robot, it is possible to set an appropriate amount of information while balancing them.

[0182] 4. Working with existing sources Existing sources usually generate some time signal,
Alternatively, there is a description location of a spare ID signal. Therefore,
According to the present invention, since the operation itself is described by its own, it is possible to operate in cooperation with various types of existing sources.

From the above effects, the following effects can be conceived by roughly classifying the actual effects that the user can enjoy.
That is,

1. Look at the behavior that was previously described. 2. The user describes the operation using something like a motion editor. 3. Teaches the robot to an action and stores it.

[0185] and a little more concrete to think, 1. Assignment of Operation Data to Existing Media Robot operation signals can be assigned to gap signals included in media such as CD / video / DVD. Therefore, the robot can operate as a motion player according to the performance.

[0186] 2. Operation flow from existing media ID data
There is already a system for downloading a file, for example, by automatically connecting to a net from identification information (ID) stored in a CD and downloading a profile or music information of a specific artist. Therefore, a system is conceivable in which a motion file is similarly downloaded when the robot recognizes an ID.

[0187] 3. Internet distribution Currently, music and videos are actively uploaded to individuals and professionals on computer networks such as the Internet. Similarly, it is considered that the distribution of the robot operation file can be a new distribution medium for robot operation control.

[0188] 4. Since the robot functions as a moving doll, it is possible to objectively observe not only entertainment but also human movement itself, and there is a possibility that the robot can be used as a tool for transmitting expressions by movement.

[0189] 5. Since it is a system that sets the priority of experiments, development, and research use operations and determines whether stability can be secured, a system that can experimentally demonstrate how much stability can be secured from the selected operation can also be expected. Think.

[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.

The gist of the present invention is not necessarily limited to products called "robots". That is, as long as the mechanical device performs a motion similar to a human motion by using an electric or magnetic action, the present invention similarly applies to a product belonging to another industrial field such as a toy. Can be applied.

In short, 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.

[0193]

As described above in detail, according to the present invention,
An excellent control device and control method for a legged mobile robot that can operate according to a control program described in a predetermined format can be provided.

Further, according to the present invention, there is provided an excellent control device and control method for a legged mobile robot, which can operate according to a control program of a predetermined format having an appropriate amount of information for a requested operation. Can be provided.

Further, according to the present invention, an excellent control device for a legged mobile robot, capable of decoding a control program described in a predetermined format and controlling the operation of the airframe while considering the practicability of the operation. And a control method can be provided.

According to the present invention, the robot motion control can be described separately, and a new control system can be constructed, as compared with the conventional robot control system using an existing data format such as MIDI. it can.

Further, according to the present invention, it is possible to set the priority to be executed on the robot body,
The control program can be executed while securing the attitude stability of the aircraft. By giving priority to each part of the body when the robot expresses motion, not only the motion accuracy but also the visual effect given to the user by the posture (pose) expressed by the robot body is emphasized. Operation control can be performed.

[Brief description of the drawings]

FIG. 1 is a legged mobile robot 10 used for carrying out the present invention.
It is the figure which showed a mode that looked at 0 from the front.

FIG. 2 is a legged mobile robot 10 used in the embodiment of the present invention.
It is the figure which showed a mode that looked at 0 from the back.

FIG. 3 is a diagram schematically illustrating a degree of freedom configuration model included in the legged mobile robot 100 according to the present embodiment.

FIG. 4 is a diagram schematically illustrating a control system configuration of the legged mobile robot 100 according to the present embodiment.

FIG. 5 is a diagram schematically showing a configuration of a computer system 500 capable of realizing various processes of a control program such as programming, debugging, and simulation of a robot control program.

FIG. 6 is a diagram conceptually illustrating a time-series flow for controlling the body operation of the robot.

FIG. 7 is a flowchart illustrating an example of a processing procedure for controlling the operation of each unit of the body by the robot control program according to the present embodiment.

FIG. 8 is a flowchart illustrating another example of a processing procedure for controlling the operation of each unit of the body by the robot control program according to the present embodiment.

FIG. 9 is a flowchart illustrating another example of the processing procedure for controlling the operation of each unit of the body by the robot control program according to the present embodiment.

FIG. 10 is a flowchart showing another example of the processing procedure for controlling the operation of each unit of the body by the robot control program according to the embodiment.

FIG. 11 is a conceptual diagram of a robot motion description according to the present embodiment.

FIG. 12 is a diagram conceptually showing a system configuration for transmitting a tag signal for synchronizing with music or video and controlling operation in synchronization with music or video.

FIG. 13 is a diagram conceptually showing a configuration of a system adopting a method of determining a timing of robot control based on a tag signal.

FIG. 14 is a diagram conceptually illustrating a configuration of a system that stores a robot control operation description signal in a recording medium by using a gap signal in the recording medium or using an electronic watermark or the like.

FIG. 15 is a diagram conceptually showing a configuration of a system for recording an operation given to a robot by operation teaching or the like.

FIG. 16 is a diagram schematically showing a configuration of a system for editing a control program on a robot body.

FIG. 17 is a diagram schematically showing a configuration of a comprehensive system for generating a program for controlling a body operation of a robot.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Head, 2 ... Neck joint yaw axis 3 ... Neck joint pitch axis, 4 ... Neck joint roll axis 5 ... Trunk pitch axis, 6 ... Trunk roll axis 7 ... Trunk yaw axis, 8 ... Shoulder joint pitch axis 9 ... shoulder joint roll axis, 10 ... upper arm yaw axis 11 ... elbow joint pitch axis, 12 ... forearm yaw axis 13 ... wrist joint pitch axis, 14 ... wrist joint roll axis 15 ... hand, 16 ... hip joint yaw axis 17 ... hip joint Pitch axis, 18 ... Hip joint roll axis 19 ... Knee joint pitch axis, 20 ... Ankle joint pitch axis 21 ... Ankle joint roll axis, 22 ... Foot (sole) 51, 52, 53 ... Feature extraction unit 54 ... Comparative recognition processing Unit 55: Input assistance algorithm database 56: Recognized object database, 57: History database 58: Behavior / posture management unit, 59: Motion database 60: Real machine motion processing unit 100: Legged mobile robot 200: Thinking control mode Module 201 Bus interface 211 CPU, 212 RAM, 213 ROM 214 External storage 251 Image input device (CCD camera) 252 Audio input device (microphone) 253 Audio output device (speaker) 254 Communication Interface 300: Motion control module 301: Bus interface 311: CPU, 312: RAM, 313: ROM 314: External storage device, 351: Attitude sensor 352, 353: Ground confirmation sensor 354: Power supply control device 500: Computer system 501 ... CPU, memory 503, display controller 504, input device interface 505, network interface 507, external device interface, 108, bus 511, display, 512 Keyboard, 513 ...
Mouse 514 Hard disk drive 515 Media drive 1100 Content playback system 1101 Content playback unit 1102 Output unit 1200 Robot control system 1201 Conversion unit 1202 Synchronization unit 1203 Drive unit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Osamu Hanagata 6-7-35 Kita-Shinagawa, Shinagawa-ku, Tokyo Inside Sony Corporation (72) Inventor Masaki Fukuchi 6-35, Kita-Shinagawa, Shinagawa-ku, Tokyo Inside Sony Corporation (72) Inventor Jun Jun Yokono 6-35 Kita Shinagawa, Shinagawa-ku, Tokyo Sony Corporation F-term (reference) 3C007 AS36 BS09 BS14 BS27 KS20 KS21 KS29 KS39 KT02 KV18 LS11 LV05 MT14 WA03 WA13 WB04 WB07 WB08 WB19

Claims (18)

[Claims] 1. A control device for controlling the operation of a legged mobile robot having a plurality of joint angles in accordance with a control program described in a predetermined format, wherein the control program is provided for each of the poses constituting the operation for each joint angle. A control device for a legged mobile robot, wherein a displacement amount and a priority of an action are defined, and for each pose, a joint angle is sequentially driven according to the priority. 2. The method according to claim 1, wherein the joint angles are sequentially driven in accordance with the priority order, and then the stability of the body of the legged mobile robot is sequentially calculated. The control device for a legged mobile robot according to claim 1, wherein the execution of the pause is stopped. 3. The control device for a legged mobile robot according to claim 1, further comprising a rank adjusting means for rearranging the priority of the motion of each joint angle described in the control program. . 4. A format conversion means for converting a robot control program described in another data format into a data format which defines a displacement amount and a motion priority for each joint angle for each pose. The control device for a legged mobile robot according to claim 1, wherein: 5. The legged mobile robot according to claim 1, wherein the operation of the body according to the control program is executed in synchronization with a transmission tag from an external device that reproduces music or video. Control device for. 6. A measuring means for measuring the motion of each joint in a teaching motion given to the body of the legged mobile robot, a priority assigning means for assigning a priority to the measured joint motion, 2. The apparatus according to claim 1, further comprising: a format conversion unit configured to convert the teaching motion into a control program in a data format that defines a displacement amount and a motion priority for each joint angle in accordance with the assigned priority. 3. A control device for a legged mobile robot according to claim 1. 7. The control device for a legged mobile robot according to claim 1, further comprising program reading means for reading a control program from a predetermined storage medium. 8. The legged mobile robot according to claim 1, further comprising program reading means for reading a control program inserted as a gap signal into a predetermined storage medium storing music, video, and the like. Control device for. 9. A control method for controlling an operation of a legged mobile robot having a plurality of joint angles in accordance with a control program described in a predetermined format, wherein the control program includes a displacement for each joint angle with respect to a pose constituting the operation. A control method for a legged mobile robot, characterized in that the amount and the operation priority are defined, and for each pose, the joint angle is sequentially driven according to the priority. 10. After the joint angles are sequentially driven in accordance with the priority order, the stability of the body of the legged mobile robot is sequentially calculated, and the joint angle is calculated from the highest priority order to the joint angle at which the stability is secured. The control method for a legged mobile robot according to claim 9, wherein the execution of the pause is stopped. 11. The control method for a legged mobile robot according to claim 9, further comprising an order adjusting step of rearranging the order of priority of the motion of each joint angle described in the control program. . 12. A format conversion step for converting a robot control program described in another data format into a data format that defines a displacement amount and an operation priority for each joint angle for each pose. The control method for a legged mobile robot according to claim 9, wherein: 13. The legged mobile robot according to claim 9, wherein the operation of the body according to the control program is executed in synchronization with a transmission tag from an external device for reproducing music or video. Control method for. 14. A measuring step of measuring the motion of each joint in a teaching motion given to the body of the legged mobile robot, a priority assigning step of assigning a priority to the measured joint motion, 10. A format conversion step of converting a teaching motion into a control program of a data format for defining a displacement amount and a motion priority for each joint angle in accordance with the assigned priority. A control method for a legged mobile robot according to claim 1. 15. The control method for a legged mobile robot according to claim 9, further comprising a program reading step of reading a control program from a predetermined storage medium. 16. The legged mobile robot according to claim 9, further comprising a program reading step of reading a control program inserted as a gap signal in a predetermined storage medium storing music, video, and the like. Control method for. 17. A storage medium storing a control program for a legged mobile robot described in a predetermined format, wherein the control program specifies a displacement amount and a priority order of the motion for each joint angle with respect to a pose constituting the motion. A storage medium characterized by the following. 18. A storage medium storing a control program for a legged mobile robot described in a predetermined format, wherein the control program is inserted as a gap signal of a payload such as music or video. Storage medium.