JP2003019678A - Moving device for legged moving robot, control method for legged moving robot and storage medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize the moving walking speed higher than that of an ordinary legged moving by using a moving device. SOLUTION: The moving device is provided with a support plate supporting four-legs walking legged moving robot at the abdomen part, wheels disposed in the front and rear of the support plate, and a handle mechanism connected to the front wheels. When the legged moving robot is put on the support plate of the moving device, the right and left front legs are placed on the handle mechanism. The right and left rear legs are landed on the floor surface, so that the propulsion force is produced with the movement of kicking up the floor surface backward. The right and left front legs are used to rotate the handle mechanism, whereby the advancing direction of the moving mechanism can be controlled.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile device for a legged mobile robot having at least a body and movable legs, a control method for the legged mobile robot, and a storage medium. The present invention relates to a mobile device for a legged mobile robot that operates autonomously according to changes, a control method for the legged mobile robot, and a storage medium.

More specifically, the present invention relates to a mobile device for a legged mobile robot, a control method for the legged mobile robot, and a storage medium that realize highly entertaining motions and actions similar to those of a real animal. In particular, a mobile device for a legged mobile robot that rides on a mobile device such as a skateboard, and steers the mobile device freely to move it suitably,
The present invention relates to a control method for a legged mobile robot and a storage medium.

[0003]

2. Description of the Related Art A mechanical device that makes a motion similar to a human motion by using an electrical or magnetic action is called a "robot". The origin of the robot is the Slavic word "ROBO".
It is said that it is derived from "TA (slave machine)." In Japan, robots began to be popular since the end of the 1960s, but most of them are automation of production work in factories.
It was an industrial robot such as a manipulator and a transfer robot for the purpose of unmanned operation.

Stationary type robots, such as arm type robots, which are implanted in a specific place and used,
Work only in fixed and local work spaces such as assembly and selection of parts. On the other hand, a mobile robot has a non-limiting work space, and can freely move on a predetermined route or on a non-route to perform a predetermined or arbitrary human work on behalf of a human or a dog. Alternatively, a wide variety of services that replace other life forms can be provided.

Among them, legged mobile robots are unstable and difficult to control posture and walking as compared with conventional robots such as crawler type and tire type robots. However, ascending and descending stairs and ladders and overcoming obstacles It is excellent in that it can realize flexible walking / running movements regardless of whether it is level ground or rough terrain, and can coexist in a human living space with a complicated structure.

[0006] Recently, a pet type robot imitating the body mechanism and movement of a four-legged animal such as a dog or a cat, or a body mechanism and movement of an animal such as a human who walks upright on two legs is modeled. A robot called "humanoid" or "humanoid" designed by
Research and development on legged mobile robots such as manoid robots have progressed, and expectations for their practical application are increasing.

[0007] One of the uses of the legged mobile robot is to substitute various difficult tasks in industrial activities, production activities and the like. For example, various dangerous work such as maintenance work of equipment in nuclear power plant, thermal power plant, petrochemical plant, transportation and assembly work of parts in manufacturing plant, cleaning windows in high-rise buildings, evacuation and rescue at fire sites and others. In addition, a legged mobile robot can substitute for difficult work.

Further, as another application of the legged mobile robot, rather than the above-mentioned work support, it is a life-oriented type, that is, "symbiosis" or "entertainment" with humans.
Can be used. This kind of robot emulates the motion mechanism of a relatively intelligent legged walking animal such as a human being or a dog (pet) and the rich emotional expression using the limbs. In addition to simply faithfully executing a pre-entered motion pattern, it also detects the external environment and transitions internal states (instinct, emotions, etc.), and the other person's words and attitude (“praise”)
It is possible to realize a lively response expression that dynamically responds to “scolding”, “tapping”, etc.).

Conventional toy machines generally do not have the function of changing the internal state. Therefore, the relationship between the user operation and the response motion is fixed, and the motion of the toy cannot be changed according to the user's preference. As a result, the user eventually gets tired of the toy that repeats only the same operation.

On the other hand, the intelligent robot is provided with a behavior model and a learning model caused by a motion, and the motion is determined by changing the model based on external input information such as voice, image, and tactile sense. As a result, autonomous thinking and motion control can be realized. By preparing the emotional model and instinct model by the robot,
It is possible to express autonomous behavior according to the emotions and instincts of the robot itself. Further, the robot is equipped with an image input device and a voice input / output device, and by performing image recognition processing and voice recognition processing, it is possible to realize realistic communication with humans at a higher intellectual level. .

[0011] As one method for enhancing the entertaining property of a legged mobile robot that realizes this kind of autonomous operation, the same behavior as a real animal such as a human being or a pet is expressed on the robot body.

For example, Japanese Patent Application No. 11-314565, which has been assigned to the applicant of the present invention, describes a soccer ball and other ball games, and a predetermined role while receiving external force, for other sports. A legged mobile robot that can participate as a player is disclosed.

Further, in Japanese Patent Application No. 11-323134, which has already been assigned to the present applicant, a sliding unit such as skates is attached to the sole of the foot so that the lower limbs and the whole body can be exercised, thereby A legged mobile robot capable of realizing dynamic and high-speed mobile work such as skating is disclosed.

In this way, by demonstrating a behavior similar to that of a real animal on the robot body, the user can feel a sense of familiarity and a deep attachment to the robot. And, legged mobile robots will be increasingly integrated into human living spaces.

An application in which the legged mobile robot performs a motion or behavior similar to that of a real animal can be conceived other than the above, but a method for realizing this has not been proposed so much.

In the real world, there are human vehicles such as bicycles and cars, but robot vehicles do not yet exist.

For example, in a legged mobile robot, the movable leg itself, which is standard equipment in the machine body, can be defined as the moving means for the robot. However, although the moving work by the movable legs is suitable for the elevating and lowering of stairs and ladders, overcoming obstacles, and the flexible walking motion regardless of whether the ground is rough or rough, the moving speed by the legs is not so high in general.
That is, there is a limit to the moving speed of the legged mobile robot alone.

In addition, when a vehicle for a robot is designed and manufactured by simply changing the scale of a vehicle such as a vehicle on which a human rides, the turning radius during movement is large and it becomes difficult to perform a turning motion in a narrow space. .

[0019]

SUMMARY OF THE INVENTION An object of the present invention is to provide a mobile device for a legged mobile robot, which is an excellent type that operates autonomously in response to changes in the external environment and internal conditions, a control method for the legged mobile robot, Another object is to provide a storage medium.

A further object of the present invention is to control an excellent mobile device for a legged mobile robot and a legged mobile robot capable of realizing highly entertaining motions and actions similar to those of a real animal. A method and a storage medium are provided.

A further object of the present invention is to provide a superior mobile device for a legged mobile robot, which is capable of achieving a higher dynamic walking speed than that during normal leg type movement, by using the mobile device. It is to provide a control method of a mobile robot and a storage medium.

A further object of the present invention is to provide an excellent mobile device for a legged mobile robot, which is capable of realizing a turning motion in a narrow space by reducing the radius of gyration during movement using the mobile device, It is intended to provide a control method of a legged mobile robot and a storage medium.

A further object of the present invention is to provide an excellent mobile device for a legged mobile robot, which is capable of boarding a mobile device such as a skateboard and freely maneuvering the mobile device to move it suitably. It is intended to provide a control method of a legged mobile robot and a storage medium.

[0024]

The present invention has been made in consideration of the above-mentioned problems, and a first side surface thereof is at least a body unit and left and right bodies connected to the body unit. A mobile device for a legged mobile robot having front legs and left and right rear legs, the robot body supporting part for supporting the legged mobile robot in the body unit, and an abbreviation of the robot body supporting part. Front axles rotatably attached at the front end, and left front wheels and right front wheels attached to the left and right ends of the front wheel, respectively.
A rear wheel axle rotatably mounted at substantially the rear end of the robot body support, and a left rear wheel and a right rear wheel respectively mounted on the left and right ends of the rear wheel. A mobile device for a legged mobile robot.

In the mobile device for the legged mobile robot according to the first aspect of the present invention, a handle rotatable integrally with the front wheel axle may be mounted on the robot main body support portion. In such a case, the toes of the left and right front legs of the legged mobile robot boarded on the robot body support can be hooked on the left and right of the handle.

Therefore, according to the first aspect of the present invention, the legged mobile robot places the left and right front legs on the handle mechanism when the legged mobile robot is placed on the support plate of the mobile device. Further, the left and right hind legs land on the floor surface, and a propulsive force can be generated by kicking the floor surface backward. And
It is possible to control the traveling direction of the moving mechanism by rotating the handle mechanism using the left and right front legs and cutting the handle to the left or right side.

In the mobile device for the legged mobile robot according to the first aspect of the present invention, the front wheel rear shaft may be configured to be shorter than the front wheel axle. The right rear wheel and the left rear wheel may be configured such that the front wheel rear shaft is short enough to be accommodated in the footprint of the robot body supporting portion. In such a case, use the rear legs of the legged mobile robot so that the left and right rear legs of the legged mobile robot lowered from the robot body support to the floor do not interfere with the right rear wheel and the left rear wheel. It is possible to preferably realize the driving operation of the mobile device that has been used.

The mobile device for a legged mobile robot according to the first aspect of the present invention further includes front and rear axle connecting links that connect the front wheel axle and the rear wheel axle in a substantially parallel relationship. You may have it.

In such a case, the steering wheel operation by driving the left and right front legs of the legged mobile robot is transmitted to the rear wheel axle via the front wheel axle and the front and rear axle connecting links. Therefore, it is possible to reduce the radius of gyration when the legged mobile robot moves using the mobile device, and realize a turning motion in a narrow space.

The mobile device for the legged mobile robot according to the first aspect of the present invention may further include a handle position holding portion for holding the rotation position of the handle at each predetermined rotation angle. The handle position holding unit latches the handle position each time it rotates by 30 degrees, for example.

In such a case, even if the positioning accuracy of the front legs of the legged mobile robot 1 mounted on the mobile device is not sufficient, the rotational position of the handle for determining the traveling direction of the mobile device is latched every 30 degrees. Therefore, the traveling direction of the mobile device can be accurately steered at each predetermined angle.

The mobile device for a legged mobile robot according to the first aspect of the present invention engages with the bottom surface of the body unit of the mounted legged mobile robot on the top surface of the robot body support portion. A locking portion that holds a relative position with respect to the robot body supporting portion may be provided.

A second aspect of the present invention is a method for controlling a legged mobile robot comprising at least a body unit, left and right front legs and left and right rear legs connected to the body unit, A robot main body support portion supported by the body portion unit, a front wheel axle rotatably attached at a substantially front end portion of the robot main body support portion, and a left front wheel and a right front wheel attached to the left and right ends of the front wheel, respectively. And a rear wheel axle rotatably mounted at substantially the rear end of the robot body supporting section, and a left rear wheel and a right rear wheel respectively mounted on the left and right ends of the rear wheel on a mobile device. When a legged mobile robot boarded, the step of lowering the left and right rear legs from the robot main body support part to the floor surface and the reaction force received from the floor surface via the toes of the left and right rear legs landed on the floor A control method for a legged mobile robot, characterized by comprising a movement control step of controlling the movement of the mobile device, the.

Here, even if the mobile device is provided with a handle that can rotate integrally with the front wheel axle and that can hook left and right front legs of the legged mobile robot left and right. Good. In such a case, the legged mobile robot control method according to the second aspect of the present invention controls the traveling direction of the mobile device by driving the left and right front legs to change the rotational position of the handle. It may further include a traveling direction control step.

In the step of controlling the traveling direction, the handle can be turned to the right by bending the right front leg and pulling it toward the front side and extending the left front leg.

Alternatively, in the step of controlling the traveling direction, the handle can be turned to the left by bending the left front leg and pulling it toward the front side and extending the right front leg.

Further, the movement control step includes a sub-step of lifting the left and right rear legs forward from the robot body supporting portion to the floor surface, and a sub-step of swinging down the left and right rear legs toward the floor surface. , A sub-step of kicking the floor surface backward with each foot after the toes of the right and left hind legs land on the floor surface. In such cases,
The legged mobile robot can move the mobile device forward by executing a movement control step.

Further, the movement control step includes a sub-step of lifting rear left and right rear legs descending from the robot main body supporting portion to the floor, and a sub-step of swinging down the left and right rear legs toward the floor. , A sub-step of kicking the floor surface forward with each foot after the toes of the left and right rear legs have landed on the floor surface. In such cases,
The legged mobile robot can move the mobile device backward by executing a movement control step.

Further, the movement controlling step may include a sub-step in which the left and right rear legs lowered from the robot main body supporting portion to the floor surface are brought into contact with the floor surface to generate a frictional force. In such cases, the legged mobile robot
By executing the movement control step, it is possible to brake the moving device that is moving forward or backward.

Further, the legged mobile robot may include an image recognition section for visually observing the outside world. And
In the movement control step, the movement by the mobile device may be controlled according to a change in the external environment recognized by the image recognition unit. For example, when the image recognition unit finds an obstacle on the moving route of the mobile device, the legged mobile robot autonomously switches the traveling direction of the mobile device so as to avoid the obstacle. be able to.

Further, the legged mobile robot may include a voice input unit for inputting voice. In the movement control step, a voice command from the user input via the voice input unit may be received, and movement of the mobile device may be controlled in accordance with the command.

Further, the legged mobile robot may be provided with a remote controller receiving section by wireless communication. In such a case, in the movement control step, the movement by the mobile device can be controlled according to the remote control from the user received via the remote controller reception unit.

The third aspect of the present invention is to control a legged mobile robot having at least a body unit and left and right front legs and left and right rear legs connected to the body unit on a computer system. A computer-readable storage medium that physically stores computer software written to be executed by the computer software, the computer software comprising: a robot body supporting unit supported by the body unit; A front wheel axle rotatably mounted at substantially the front end of the support portion, a left front wheel and a right front wheel respectively attached to the left and right ends of the front wheel, and a substantially rear end portion of the robot body support portion. The front of the mounted rear wheel axle and the moving equipment consisting of the left rear wheel and the right rear wheel mounted on the left and right ends of the rear wheel, respectively. When the legged mobile robot is on board,
A step of lowering the left and right rear legs from the robot main body support portion to the floor surface, and a movement control step of controlling the movement of the mobile device by a reaction force received from the floor surface via the toes of the left and right rear legs that have landed And a storage medium.

The storage medium according to the third aspect of the present invention is, for example, a medium for providing computer software in a computer-readable format to a general-purpose computer system capable of executing various program codes.
Such media are, for example, CD (Compact Disc) and F
It is a removable and portable storage medium such as a D (Floppy Disk) or an MO (Magneto-Optical disc). Alternatively, it is technically possible to provide computer software to a specific computer system via a transmission medium such as a network (whether the network is wireless or wired).

Such a storage medium defines a structural or functional cooperative relationship between the computer software and the storage medium for realizing a predetermined function of the computer software on the computer system. Is. In other words, by installing the predetermined computer software in the computer system via the storage medium according to the third aspect of the present invention, the cooperative action is exerted on the computer system, and the first aspect of the present invention is achieved. It is possible to obtain the same operational effect as the control method of the legged mobile robot according to the second aspect.

Further objects, features and advantages of the present invention are as follows.
It will be clarified by a more detailed description based on embodiments of the present invention described below and the accompanying drawings.

[0047]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below in detail with reference to the drawings.

A. Configuration of Legged Mobile Robot FIG. 1 shows an external configuration of a legged mobile robot 1 for carrying out the present invention and performing legged walking with four limbs.
As shown in the figure, the robot 1 is a multi-joint type mobile robot configured by modeling the shape and structure of an animal having four limbs.

In particular, the legged mobile robot 1 according to the present embodiment has the aspect of a pet robot designed to imitate the shape and structure of a dog, which is a typical pet animal. For example, in a human living environment. It can coexist with humans and can express motions in response to user operations.

As shown in FIG. 1, the legged mobile robot 1 includes
It is composed of a body unit 2, a head unit 3, a tail 4, and limbs, that is, leg units 6A to 6D.

The fuselage unit 2 includes a control unit (which will be described later: not shown in FIG. 1) for integrally controlling the operation of the body, and a battery 21 (not shown in FIG. 1) which is the main power source of the body. It is housed.

The head unit 3 is arranged substantially at the front upper end of the body unit 2 through a neck joint 7 having degrees of freedom in the roll, pitch and yaw axial directions (shown). Also, the head unit 3 has a CC corresponding to the "eyes" of the dog.
An image recognition unit 15 such as a D (Charge Coupled Device) camera, a microphone 16 corresponding to an “ear”, a speaker 17 corresponding to a “mouth”, a touch sensor 18 corresponding to a tactile sensation, and a plurality of touch sensors 18. An LED indicator 19 and a remote controller receiver 20 for receiving a command transmitted from a user via a remote controller (not shown) are mounted. In addition to these, sensors that form the five senses of the living body may be included.

The tail 4 is swingably attached to a substantially rear upper end of the body unit 2 via a tail joint 8 having roll and pitch axis degrees of freedom.

The leg units 6A and 6B form left and right front legs, respectively, and the leg units 6C and 6D form left and right rear legs, respectively. Each leg unit 6A-6
D is composed of a combination of the thigh units 9A to 9D, the shin units 10A to 10D, and the feet 13A to 13D, and is attached to the front, rear, left, and right corners of the bottom surface of the body unit 2. .

The thigh units 9A to 9D are hip joints 11A to 11D having degrees of freedom of roll, pitch, and yaw axes.
Are connected to the respective predetermined portions of the body unit 2. Further, the thigh units 9A to 9D and the tibial units 10A to 10D are connected by knee joints 12A to 12D having degrees of freedom of roll and pitch axes. In addition, the shin unit 10A to 10D and the foot 13A to
Ankle joint 14A with the freedom of pitch axis during 13D
~ 14D are linked together.

The legged mobile robot 1 configured as shown in the drawing drives the joint actuators in accordance with a command from a control unit, which will be described later. Can be swung or the foot units 6A to 6D can be driven synchronously and cooperatively to realize various body movements such as walking and running.

The degree of freedom of the joint of the legged mobile robot 1 is actually provided by the rotational drive of a joint actuator (not shown) provided for each axis. Moreover, the number of joint degrees of freedom of the legged mobile robot 1 is arbitrary,
It does not limit the scope of the present invention.

FIG. 2 schematically shows the hardware structure of the control unit for controlling the operation of the mobile robot 1.

The head 3 includes a command receiving section 30 including a microphone 16 and a remote controller receiving section 20, an external sensor 31 including an image recognizing section 15 and a touch sensor 18, a speaker 17, and an LED indicator 19. Have

Further, the body unit 2 accommodates the battery 21 as a main power source, and also controls the controller 32 that totally controls the operation of the entire legged mobile robot 1, and detects the remaining capacity of the battery 21. A battery sensor 33 and an internal sensor 35 including a thermal sensor 34 for detecting heat generated inside the machine body are provided.

Further, in each part of the mobile robot 1 (for example, driving joint part), a plurality of actuators 23A to 23N constituting joint degrees of freedom are arranged at respective corresponding parts on the machine body.

The command receiving unit 30 is composed of the remote controller receiving unit 20, the microphone 16 and the like, and gives a command given to the mobile robot 1 by the user, for example, commands such as "walk", "prone" and "follow the ball". Can be received.

The remote controller receiver 20 is a remote controller (not shown) operated by the user.
It receives the command input to, generates a reception signal S1A, and sends it to the controller 32. For example, the command from the remote controller is an infrared data communication (I
rDA: Infrared Data Association) and Bluet
It is transferred using a technique such as short-range wireless data communication such as ooth.

When the user emits a voice according to a desired command, the microphone 16 collects the voice and outputs the voice signal S.
1B is generated and sent to the controller 32.

The touch sensor 18 of the external sensor 31 is
An action from the user to the legged mobile robot 1, for example, an action from the user such as "stroking" or "tapping" is detected. For example, when the user touches the touch sensor 18 to make a desired action, the touch detection signal S2A corresponding to the touch detection signal S2A is generated, and the controller 3 is operated.
Send to 2. In the controller 32, a process of changing an internal state such as an emotion model or a process of controlling a body operation according to the internal state is performed according to the user's action.

As a result of identifying the environment around the legged mobile robot 1, the image recognition unit 15 of the external sensor 31 detects surrounding environment information such as "dark" or "a favorite toy", or the like. Alternatively, the movement of another mobile robot such as "the other robot is running" is detected. The image recognition unit 15 sends to the controller 32 an image signal S2B obtained as a result of capturing a surrounding image. In the controller 32, a process of changing an internal state such as an emotion model or a process of controlling a body operation according to the internal state is performed according to the recognized images.

The internal sensor 35 is for detecting an internal state of the mobile robot 1 itself, for example, an internal state such as "hungry" or "having heat", which means that the remaining capacity of the battery has decreased. The battery sensor 3
3 and a thermal sensor 34.

The battery sensor 33 detects the remaining capacity of the battery 21, which is the main power source of the machine, and sends the resulting battery capacity detection signal S3A to the controller 32. Further, the heat sensor 34 detects heat inside the machine body and outputs a heat detection signal S3B as a result of the heat detection to the controller 3
Send to 2. In the controller 32, a process of changing an internal state such as an emotion model or a process of controlling a body operation according to the internal state is performed according to the outputs of these sensors.

The controller 32 includes the command receiving section 30.
Based on the command signal S1 supplied from the external sensor 31, the external information signal S2 supplied from the external sensor 31, and the internal information signal S3 supplied from the internal sensor 35, each of the actuators 23A to 23N that configures the degree of freedom of the joint of the airframe. Generate control signals S5A to S5N for driving the. And
By sending these to the respective actuators 23A to 23N, the operation of the machine body is comprehensively controlled.

At this time, the controller 32 can generate the audio signal S10 and the light emission signal S11 to be output to the outside, if necessary. Of these, the audio signal S10
To the outside through the speaker 17, and sends the light emission signal S11 to the LED indicator 19 to output a desired light emission (for example, blinking or changing the color).
By performing the above, it is possible to feed back information such as the internal state of the emotion model of the legged mobile robot 1 to the user. For example, it is possible to notify the user of his / her feelings by the light emission output. In addition, LE
An image display unit (not shown) for displaying an image may be provided instead of the D indicator 19. As a result, it is possible to present the user with more accurate and detailed information such as his / her feelings through the desired image display.

The controller 32 can control the operation of the airframe by executing the program code loaded in the standard memory 51. In addition to being preloaded on the machine, this program code can be loaded via the additional memory 52 dynamically mounted on the machine. The expansion memory 52 is, for example, “memory
It is configured as a portable cartridge such as a "stick".

B. The present invention relates to a mobile device for a legged mobile robot, in which the legged mobile robot is mounted on the mobile device , and the robot autonomously steers the mobile device. Is realized. In addition, by using a mobile device, the radius of gyration at the time of movement is reduced to realize a turning motion in a narrow space.

FIG. 3 shows a perspective view of the external structure of a mobile device 100 for a legged mobile robot according to an embodiment of the present invention. 4, 5, and 6 show a rear view, a top view, and a side view of the mobile device 100, respectively.

The mobile device 100 includes a robot main body support plate 101 for supporting the four-legged walking type legged mobile robot 1 as shown in FIG. 1 on the abdomen, and a substantially front end portion of the bottom surface of the robot main body support plate 101. Front axle 1 mounted rotatably
02 and front wheels 103L and 103R respectively attached to the left and right ends of the front wheel 102, a rear wheel axle 104 and a rear wheel axle 104 rotatably attached to the robot body support plate 101 at a substantially rear end portion thereof. Rear wheels 105L and 105 attached to the left and right ends of the vehicle, respectively
It is composed of R and.

A handle post 111 is planted approximately in the center of the front wheel axle 102. The handle post 111 is rotatably supported by the robot body support plate 101, and most of it in the longitudinal direction appears on the robot body support plate 101. A handle 113 is attached to a substantially uppermost end of the handle post 111 by a handle support member 112 in a substantially horizontal shape. More preferably, the handle 113 is fixed to the handle post 111 so that the handle 113 is substantially parallel to the front wheel axle 102 and the left and right lengths thereof are substantially equal.

The rotational operation applied to the handle 113 is transmitted to the front wheel axle 102 via the handle post 111. In the legged mobile robot 1 mounted on the robot body support plate 101, the legs of the left and right front legs 6A and 6B, which are substantially tips, are hooked on the handle 113, as described later. Therefore, the legged mobile robot 1 drives the left and right front legs 6A to 6B to move the handle 1
13 can be steered and the traveling direction of the mobile device 100 can be controlled. In order to make it easy to lock the front ends of the front legs 6A and 6B on the handle 113, the handle 1
Grips may be provided on the left and right of 13.

As can be seen from the top view shown in FIG. 5, the rear wheel axle 104 is shorter than the front wheel axle 102, and the space between the left and right rear wheels 105L and 105R is narrowed to make the robot main body support plate 101 Accommodated in the footprint of. Therefore, the legged mobile robot 1 includes the robot body support plate 1
01, the left and right front legs 6A and 6B are hooked on the handle 113, while the left and right rear legs 6C and 6B are hooked on the handle 113.
Even if D is dropped from the robot body support plate 101 and landed on the floor surface, it does not interfere with the rear wheels 105L and 105R. For example, when the legged mobile robot 1 mounted on the mobile device 100 generates forward propulsive force by kicking the floor surface with the rear legs 6C and 6D (described later), or when the front legs of the rear legs 6C and 6D are substantially moved. The rear wheels 105L and 105R do not interfere with the drive work of the mobile device 100 by the rear legs 6C and 6D, for example, when the foot is pressed against the floor for braking (described later).

Further, the front wheel axle 102 and the front wheel axle 103
Are connected by a front and rear axle connecting ring 106 on the bottom side of the robot body support plate 101, and the handle 1
The steering operation applied to the front axle 102 applied to No. 13 is
Rear wheel axle 1 as it is via front and rear axle connection links 106
04 is transmitted. Also, the front wheel axle 102 and the rear wheel axle 1
04 is always held substantially parallel by the front and rear axle connecting links 106. Therefore, the legged mobile robot 1
When the user rides on the mobile device 100 and moves, the radius of rotation of the mobile device 100 can be made smaller to favorably realize the turning motion in a narrow space.

As described above, the handle post 111 for transmitting the handle 113 to the front wheel shaft is preferably rotatably planted on the robot body support plate 101. As can be seen from the side view shown in FIG. 6, the handle post 111 has an annular handle position holding ring upper plate 121 and a handle position holding ring lower plate 122.
Each of the openings is inserted. The upper surface of the handle position holding ring upper plate 121 is pressed against the handle position holding ring lower plate 122 by the restoring force of the spring 123 inserted in the handle post 111. On the other hand, since the upper limit position of the upper end of the spring 123 is restricted by the spring limit member 124 fitted into the handle post 111, the handle position holding ring upper plate 121 and the handle position holding ring lower plate 122 are always constant. Are pushing each other under pressure.

FIG. 7 shows the handle position holding ring upper plate 1
21 and the handle position holding ring lower plate 122 and its periphery are enlarged and drawn. Further, FIG. 8 shows a side view of the handle position holding ring upper plate 121, the spring 123, and the spring limit 124. Also, FIG. 9 and FIG.
The bottom view and the side view of the handle position holding ring upper board 121 are respectively shown in FIG. Further, FIG. 11 and FIG.
2 shows a side view and a top view of the handle position holding ring lower plate 122, respectively.

As shown in FIG. 9, a small projection 125 is provided on the bottom surface of the handle position holding ring upper plate 121. On the other hand, on the upper surface of the handle position holding ring lower plate 122, the recesses 126A, 126B ... Having a diameter enough to accommodate the small projection 125 are formed on the handle post 1.
They are arranged at intervals of 30 degrees in the rotation direction of 11.

As described above, since the handle position holding ring upper plate 121 is urged downward by the restoring force of the spring 123, the rotation position of the handle post 111, that is, the handle 113 is relative to the robot body support plate 101. Every time it is rotated 30 degrees, the dollar holding ring upper plate 1
The small protrusion 125 on the 21 side is the handle position holding ring lower plate 1
It is buried in one of the recesses 126 on the 22 side. As a result,
A latching action that locks the position of the handle 113 at intervals of 30 degrees can be provided.

Due to such a latch action, the mobile device 1
Front legs 6A and 6B of the legged mobile robot 1 boarding 00
Even if the positioning accuracy of the mobile device 100 is not sufficient, the mobile device 100
The rotational position of the handle 113 that determines the traveling direction of the
Since it is latched every time, the traveling direction of the mobile device 100 can be accurately steered at every predetermined angle.

As can be seen from the top view of FIG. 5 and the side view of FIG. 6, a pair of left and right locking projections 131L and 131R are formed substantially in front of the top surface of the robot body support plate 101. . Further, substantially rearward of the robot body support plate 101, the robot body rear locking plate 13 having a substantially L-shaped cross section is provided.
2 is attached.

On the other hand, as shown in FIG. 13, a recess 2A is formed on the bottom side of the body unit 2 of the legged mobile robot 1 according to this embodiment. Therefore, when the body unit 2 of the legged mobile robot 1 is mounted on the robot body support plate 101 of the mobile device 100, the left and right locking protrusions 131L and 131R contact the side edges of the recess 2A, The front and rear and / or the left and right relative positional relationship between the body unit 2 and the robot body support board 101 can be maintained. Further, the robot main body rear locking plate 132 has a substantially L-shaped cross section, and the L-shaped legs support the body unit 2 of the legged mobile robot 1 at the rear end thereof.
For example, even when the legged mobile robot 1 kicks the floor surface by driving the rear legs 6C and 6D to generate a strong propulsive force, the robot main body rear locking plate 132 does not move the legged mobile robot 1 It is possible to instruct that the body unit 2 of FIG.

More preferably, the rear locking plate 132 of the robot body is supported by a spring 133 on the lower side thereof. By the restoring force of the spring 133, the robot body rear locking plate 132 can be brought into contact with the rear end of the body unit 2. Further, when the mobile device 100 travels on a rough floor surface, the spring 133 can also act as a cushioning material.

C. The basic operation for operating a mobile device has been described so far, including the configuration of the legged mobile robot 1 according to the present embodiment and the configuration of the mobile device 100 on which the legged mobile robot 1 can be boarded and steered. Here, a basic operation for the legged mobile robot 1 to control the mobile device 100 will be described.

The legged mobile robot 1 has a program for processing control information (for operating the mobile device 100).
The code is supplied via additional memory 52, for example a memory stick. Then, by turning on the power with the additional memory 52 inserted in a predetermined portion of the robot body, the program code is loaded on the standard memory 51 and executed by the controller 32. After the power is turned on, the legged mobile robot 1 settles in the standby state according to the initial setting of this program code.

14 and 15 show a side view and a front perspective view in a standby state before the legged mobile robot 1 gets on the mobile device 100 and starts to control the mobile device 100. .

As described above, in this standby state, the edge of the recess 2A formed on the bottom surface of the body unit 2 of the legged mobile robot 1 is left and right projected on the upper surface of the robot body support plate 101. Small protrusion 125L and small protrusion 125
The robot body unit 2 and the robot body support plate 10 are engaged with the robot body unit 2 by engaging with L and locking the rear end edge of the body unit unit 2 by the robot body rear portion locking plate 132.
The position relative to 1 is fixed.

In the standby state, the left and right front legs 6A and 6B of the legged mobile robot 1 are placed on the left and right grip portions of the handle 113. At this time, the front legs 6A and 6B
The protrusion may be provided on the bottom of the foot so as to be hooked on the handle 113 (see FIG. 16). In the standby state, the rotation position of the handle 113 is set so that the front wheel axle 102 faces the direction parallel to the front surface of the mobile device 100. Front legs 6A and 6 in standby state
The position of B or the rotational position of the handle 113 is also referred to as “initial parallel position” below.

In the standby state, the left and right rear legs 6C and 6D of the legged mobile robot 1 are lowered from the robot main body support plate 101, and the toe portions are left on the floor.

The operation of the handle 113 of the mobile device 100 is
This can be performed using the left and right front legs 6A and 6B of the legged mobile robot 1. For example, when turning the handle 113 to the right, as shown in FIG. 17, the right front leg 6A is bent and pulled toward the front side of the aircraft from the initial parallel position (see FIGS. 14 and 15), and The left front leg 6B may be extended so that it extends before the initial parallel position.

On the contrary, when turning the handle 113 to the left side, as shown in FIG. 18, the left front leg 6B is bent to pull it toward the front side of the body from the initial parallel position and the right front leg 6A is extended. Then, it may be extended before the initial parallel position.

When the legged mobile robot 1 wants to move the mobile device 100 forward, first, as shown in FIG. 19, the left and right rear legs 6C which are lowered from the robot body support plate 101.
And 6D forward. Then, as shown in FIG. 20, the left and right rear legs 6C and 6D are swung down toward the floor. After the toes of the left and right rear legs 6C and 6D have landed, as shown in FIG. 21, by kicking the floor surface backward with the toes, the mobile device 100 is repulsed by the reaction.
Generates a driving force that advances the.

At this time, it is not necessary for the left and right rear legs 6C and 6D to kick the floor at the same time, and the left and right legs may be kicked at different timings.

When the floor surface is kicked with a stronger force,
After the left and right rear legs 6C and 6D kick the floor surface,
Lift high backwards, as shown in.

When the legged mobile robot 1 wants to move the mobile device 100 forward to the right front, as shown in FIG. 17, the right front leg 6A is bent so that it is closer to the front side of the body than the initial parallel position. While pulling, extend the left front leg 6B so that it extends further than the initial parallel position.
After cutting 3 to the right (or while turning the handle 113 to the right), kick the floor backward with the left and right rear legs 6C and 6D as shown in FIGS. By performing the operation, it is possible to generate a driving force that advances to the right front by the reaction.

Similarly, the legged mobile robot 1 is used as the mobile device 1.
If you want to move 00 toward the left front,
As shown in, the left front leg 6B is bent to pull it toward the front side of the aircraft from the initial parallel position, and the right front leg 6A is extended to extend before the initial parallel position, so that the handle 113 is moved to the left side. After cutting it (or
While turning the handle 113 to the right), FIGS.
As shown in FIG. 5, by performing the action of kicking the floor surface rearward using the left and right rear legs 6C and 6D, it is possible to generate a driving force that advances to the right front by its reaction.

On the other hand, the legged mobile robot 1 has the mobile device 10
When it is desired to retract 0, first, as shown in FIG. 23, the left and right rear legs 6C and 6D that are lowered from the robot body support plate 101 are lifted rearward. Then, FIG.
As shown in 4, swing left and right rear legs 6C and 6D down toward the floor. After the toes of the left and right rear legs 6C and 6D have landed, as shown in FIG. 25, by further kicking the floor surface forward with the toes, the reaction force generates a driving force for retracting the mobile device 100. be able to.

At this time, it is not necessary to kick the floor surface with the left and right rear legs 6C and 6D at the same time, and the left and right legs may be kicked at different timings.

When the legged mobile robot 1 wants to move the mobile device 100 forward to the right rear, as shown in FIG. 17, the right front leg 6A is bent so that it is closer to the front side of the body than the initial parallel position. While pulling, extend the left front leg 6B so that it extends further than the initial parallel position.
After turning 3 to the right (or while turning the handle 113 to the right), kick the floor surface forward using the left and right rear legs 6C and 6D as shown in FIGS. By performing the operation, it is possible to generate a driving force that moves to the right rear by the reaction.

Similarly, the legged mobile robot 1 is used as a mobile device 1.
If you want to move 00 toward the left rear,
As shown in, the left front leg 6B is bent to pull it toward the front side of the aircraft from the initial parallel position, and the right front leg 6A is extended to extend before the initial parallel position, so that the handle 113 is moved to the left side. After cutting it (or
23 to 24 while turning the handle 113 to the right)
As shown in FIG. 6, by performing the action of kicking the floor surface forward by using the left and right rear legs 6C and 6D, it is possible to generate a driving force that moves to the right rear by its reaction.

As described above, the mobile device 100 moves backward while the vehicle is moving forward (including right front and left front) or backward (backward including right and left). During the period, the legged mobile robot 1
When it is desired to stop, the operation is realized by using the operations of the left and right rear legs 6C and 6D that can be lowered from the robot body support plate 101 to the floor surface.

That is, when the legged mobile robot 1 wants to stop the mobile device 100, as shown in FIG.
The mobile equipment 100 is braked by bringing the toes of the left and right rear legs 6C and 6D into contact with the floor surface to generate a frictional force. At this time, it is not necessary to land the left and right rear legs 6C and 6D on the floor at the same time, and the left and right legs may be landed at different timings.

When it is desired to further stop the mobile device 100 by further increasing the braking force, as shown in FIG. 27, the left and right rear legs 6C and 6D are lowered further to the floor, and not only the toes, Make contact with the floor with the entire sole,
The frictional force should be increased.

As already described with reference to FIG.
The legged mobile robot 1 according to the present embodiment includes an image recognition unit 15 including a CCD camera and the like, and can recognize an obstacle existing in the work space and other changes in the external environment. it can. In addition, the legged mobile robot 1
Is equipped with a voice input device such as a microphone 16 and can perform voice-based input of user commands by performing voice recognition. In addition, the legged mobile robot 1
Since the remote controller receiver 20 is provided,
User commands can be received using infrared communication.

For example, when the legged mobile robot 1 finds an obstacle on the moving route of the mobile device 100 through the image recognition unit 15, it autonomously turns the handle 113 in either the left or right direction. By this, obstacles can be avoided.

Alternatively, the legged mobile robot 1 autonomously turns the handle 113 in either the left or right direction in accordance with an instruction from the user obtained via the microphone 16 to move the mobile device in the direction desired by the user. 100 can be moved.

Alternatively, the legged mobile robot 1 can be operated by the user by autonomously turning the handle 113 in either the right or left direction based on the remote operation from the user obtained via the remote controller receiving section 20. The mobile device 100 can be moved in a desired direction.

D. Control of mobile equipment using voice recognition
Operation FIG. 28 shows a processing procedure for the legged mobile robot 1 to control the operation of the mobile device 100 according to an instruction from the user, using the voice recognition function of the legged mobile robot 1 according to the present embodiment. , In the form of a flow chart. Hereinafter, the control operation of the mobile device 100 by the legged mobile robot 1 using voice recognition will be described in detail with reference to this flowchart.

An additional memory 52 such as a memory stick is inserted into a predetermined portion of the body of the legged mobile robot 1 to install a program for controlling the mobile device 100.
Then, the power of the legged mobile robot 1 is turned on to wait for the input of voice information from the user (step S1).

When an audio signal having a level equal to or higher than the level specified on the control program is input through the microphone 16 for a specified time or longer, the internal audio processing function is activated to start the audio analysis (step S2). ).

When the result of the voice analysis reveals that the word or the sentence registered for voice recognition is input, the process corresponding to the voice recognized word or the sentence is executed in the legged mobile robot 1. Preparations are made to transmit an operation corresponding to the result of the processing to each unit of the machine body (step S3).

On the other hand, as a result of the voice analysis, when it is found that the input voice is not a word or a sentence registered for voice recognition, a voice direction analysis process is performed, and a movement that advances toward the voice direction is performed. Is transmitted to each part of the machine body (step S10).

Then, step S3 or step S10.
Before executing the machine operation prepared in, the obstacle sensor information is analyzed to confirm whether there is an obstacle around the machine (step S4). The obstacle sensor information mainly includes a visual recognition result of the outside world by the image recognition unit 15 including a CCD camera and the like.

If the safety is confirmed as a result of the confirmation processing, the machine operation is prepared and executed. That is, the front leg 6
The steering wheel 113 is steered using A and 6B, that is, the moving direction of the mobile device 100 is controlled, and the rear legs 6C and 6D are driven to kick the road surface to generate a propulsive force (step S6). Move forward or backward in the direction defined by.

On the other hand, due to the presence of obstacles, the mobile device 1
If safety is not confirmed on the movement route on 00 (step S5), the movement route of the mobile device 100 is changed / corrected to the front left or right or the rear left or right by turning the handle 113, and further. The rear legs 6C and 6D are driven to move the mobile device 100 according to the corrected movement route.

After executing the prepared body operation, the mobile device 10
Even when 0 is still moving, the legged mobile robot 1 continues to analyze the change in the outside world by the image recognition unit 15,
Obstacles are found and safety is checked on the travel route (step S7).

If it is not necessary to avoid the obstacle (step S8), the process returns to step S1 to wait for the input of voice information as described above and perform the operation of manipulating the mobile device 100 based on the input voice information. Execute repeatedly.

When it is determined that the obstacle exists in the traveling direction, that is, the moving path of the aircraft, the handle 113 is turned to change the moving path of the mobile device 100 to the left and right front or the left and right rear. By modifying and then driving the rear legs 6C and 6D to move the mobile device 100 according to the modified path of travel, or by operation of the rear legs 6C and 6D as shown in FIGS. The mobile device 100 is braked to avoid a collision with an obstacle (step S9).

The number of kicking operations of the rear legs 6A and 6B for advancing the mobile device 100 is arbitrary. For example, it may be defined by a control program supplied via the additional memory 52 such as a memory stick, or may be switched by a wireless remote control command using a remote controller or the like.

[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 embodiments without departing from the scope of the present invention.

In this embodiment, the authoring system according to the present invention has been described in detail by taking as an example a pet robot that walks on four legs like a dog, but the gist of the present invention is not limited to this. For example, it should be fully understood that the present invention can be similarly applied to a two-legged mobile robot such as a humanoid robot or a mobile robot other than the legged mobile robot.

In this specification, the embodiment in which the present invention is applied to the pet robot has been mainly described.
The gist of the present invention is not necessarily limited to products called “robots”. That is, as long as it is a mechanical device that performs a motion similar to a human motion by using an electric or magnetic action, even if it is a product belonging to another industrial field such as a toy, the present invention is similarly applied. Can be applied.

In short, the present invention has been disclosed in the form of exemplification, and the contents described in this specification should not be construed in a limited manner. To determine the gist of the present invention,
The claims section mentioned at the beginning should be taken into consideration.

[0127]

As described above in detail, according to the present invention,
It is possible to provide a mobile device for a legged mobile robot, which is excellent in a type that autonomously operates according to changes in the external environment or an internal state, a control method for the legged mobile robot, and a storage medium.

Further, according to the present invention, a superior mobile device for a legged mobile robot and a control of the legged mobile robot capable of realizing highly entertaining motions and actions similar to those of a real animal. A method as well as a storage medium can be provided.

Also, according to the present invention, by using a mobile device, a mobile device for an excellent legged mobile robot, which can realize a dynamic walking speed faster than that during legged movement,
A control method for a legged mobile robot and a storage medium can be provided.

Further, according to the present invention, the legged mobile robot is capable of using the mobile equipment to reduce the radius of gyration during movement, thereby enabling the turning motion in a narrow space. A mobile device for a robot, a control method for a legged mobile robot, and a storage medium can be provided.

Further, according to the present invention, the legged mobile robot is an excellent legged mobile robot capable of boarding a mobile device such as a skateboard and freely maneuvering the mobile device to suitably move. It is possible to provide a mobile device for a mobile phone, a method for controlling a legged mobile robot, and a storage medium.

According to the present invention, a legged mobile robot autonomously controls a mobile device, thereby expanding the entertainment business of the robot. Further, it is possible to give a work form other than the legged movement to the legged mobile robot to expand the frame of the application. In addition, a proposal for kickboard customization as an example of a mobile device for a legged mobile robot enables a new business to be sent out.

[Brief description of drawings]

FIG. 1 is a diagram showing an external configuration of a legged mobile robot 1 for performing legged walking with four limbs used for implementing the present invention.

FIG. 2 is a diagram schematically showing a hardware configuration of a control unit that controls the operation of the legged mobile robot 1.

FIG. 3 is a legged mobile robot 1 according to an embodiment of the present invention.
FIG. 3 is a perspective view of an external configuration of a mobile device 100 for mobile use.

FIG. 4 is a legged mobile robot 1 according to an embodiment of the present invention.
FIG. 3 is a rear view of the mobile device 100 for mobile use.

FIG. 5 is a legged mobile robot 1 according to an embodiment of the present invention.
1 is a top view of a mobile device 100 for mobile use.

FIG. 6 is a legged mobile robot 1 according to an embodiment of the present invention.
FIG. 3 is a side view of a mobile device 100 for use with a mobile phone.

FIG. 7 is an enlarged side view of a handle position holding ring upper plate 121, a handle position holding ring lower plate 122, and the vicinity thereof.

FIG. 8: Handle position holding ring upper plate 121 and spring 12
3 is a side view of 3 and a spring limit 124. FIG.

9 is a bottom view of the handle position holding ring upper plate 121. FIG.

FIG. 10 is a side view of a handle position holding ring upper plate 121.

FIG. 11 is a bottom view of the handle position holding ring lower plate 123.

FIG. 12 is a side view of a handle position holding ring lower plate 123.

FIG. 13 is a diagram showing a structure of a bottom surface of a body unit 2 of the legged mobile robot 1.

FIG. 14 is a side view in a standby state before the legged mobile robot 1 gets on the mobile device 100 and starts controlling the mobile device 100.

FIG. 15 is a front perspective view in a standby state before the legged mobile robot 1 gets on the mobile device 100 and starts controlling the mobile device 100.

FIG. 16 is a diagram showing a state of being hooked on the handle 113 by using the protrusions provided on the soles of the front legs 6A and 6B.

FIG. 17: The right front leg 6A is bent to pull it toward the front side of the aircraft from the initial parallel position, and the left front leg 6B is extended to extend forward from the initial parallel position.
It is the figure which showed the mode that 13 was cut to the right.

FIG. 18: Handle the steering wheel 1 by bending the left front leg 6B and pulling it to the front side of the aircraft from the initial parallel position, and extending the right front leg 6A to extend it to the front parallel position.
It is the figure which showed the mode that 13 was cut | disconnected on the left side.

FIG. 19 is a diagram for explaining an operation of the legged mobile robot 1 for moving the mobile device 100 forward.

FIG. 20 is a diagram for explaining an operation of the legged mobile robot 1 for moving the mobile device 100 forward.

FIG. 21 is a diagram for explaining an operation of the legged mobile robot 1 for moving the mobile device 100 forward.

FIG. 22 is a diagram for explaining an operation of the legged mobile robot 1 for moving the mobile device 100 forward.

FIG. 23 is a diagram for explaining the operation of the legged mobile robot 1 for retracting the mobile device 100.

FIG. 24 is a diagram for explaining the operation of the legged mobile robot 1 for retracting the mobile device 100.

FIG. 25 is a diagram for explaining the operation of the legged mobile robot 1 for retracting the mobile device 100.

FIG. 26 shows the legged mobile robot 1 with left and right rear legs 6C and 6;
FIG. 8 is a diagram for explaining an operation for stopping the mobile device 100 during the moving period by using D.

FIG. 27 shows the legged mobile robot 1 with left and right rear legs 6C and 6
FIG. 8 is a diagram for explaining an operation for stopping the mobile device 100 during the moving period by using D.

FIG. 28 shows a processing procedure for the legged mobile robot 1 to control the operation of the mobile device 100 according to an instruction from the user, using the voice recognition function of the legged mobile robot 1 according to the present embodiment. It is a flowchart.

[Explanation of symbols]

1. Legged mobile robot 2 ... Body unit 3 head unit 4 ... tail 6A to 6D ... Leg unit 7. Neck joint 8 ... Tail joint 9A-9D ... Thigh unit 10A to 10D ... shin unit 11A-11D ... Hip joint 12A-12D ... knee joint 13A-13D ... foot 14A-14B ... ankle joint 15 ... Camera (image recognition unit) 16 ... Microphone 17 ... speaker 18 ... Touch sensor 19 ... LED indicator 20 ... Remote controller receiver 21 ... Battery 23 ... Actuator 30 ... Command receiving unit 31 ... External sensor 32 ... Controller 33 ... Battery sensor 34 ... Thermal sensor 35 ... Internal sensor 100 ... Mobile equipment 101 ... Robot main body support plate 102 ... front axle 103 ... front wheel 104 ... rear axle 105 ... rear wheel 106 ... Front and rear axle connection links 111 ... Handle post 112 ... Handle support member 113 ... Handle 121 ... Handle position holding ring upper plate 122 ... Handle position holding ring Lower plate 123 ... Spring 124 ... Spring limit member 125 ... small projection 131 ... Locking protrusion 132 ... Robot body rear locking plate 133 ... Spring

Continued front page    F-term (reference) 2C150 CA01 CA02 CA04 DA05 DA06                       DA24 DA26 DA27 DA28 DF03                       DF04 DF06 DF33 EB01 EC03                       ED22 ED42 ED52 EF07 EF16                       EF23 EF28 EF29 EF33 EF36                 3C007 AS36 CS08 JS07 MT14 WA01                       WA04 WA14 WA16 WB19 WB21                       WC18

Claims (20)

[Claims] 1. A mobile device for a legged mobile robot comprising at least a torso unit and left and right front legs and left and right rear legs connected to the torso unit, the legged mobile robot comprising: A robot body support portion supported by the body portion unit, a front wheel axle rotatably attached at a substantially front end portion of the robot body support portion, and a left front wheel and a right portion attached to left and right ends of the front wheel, respectively. A front wheel, a rear wheel axle rotatably mounted at a substantially rear end portion of the robot body support, and a left rear wheel and a right rear wheel respectively mounted on both left and right ends of the rear wheel. A mobile device for a legged mobile robot characterized by. 2. A handle, which is rotatable integrally with the front wheel axle, is mounted on the robot body supporting portion, and the toes of the left and right front legs of a legged mobile robot mounted on the robot body supporting portion are handled by the handle. The mobile device for a legged mobile robot according to claim 1, wherein the mobile device can be hung on the left and right of the mobile device. 3. The mobile device for a legged mobile robot according to claim 1, wherein the front wheel rear axle is configured to be shorter than the front wheel axle. 4. A leg which is configured such that the rear axle of the front wheel is short enough to accommodate the right rear wheel and the left rear wheel in the footprint of the robot body supporting portion and is lowered from the robot body supporting portion to the floor surface. The mobile device for the legged mobile robot according to claim 1, wherein the left and right rear legs of the mobile robot do not interfere with the right rear wheel and the left rear wheel. 5. The legged mobile robot according to claim 1, further comprising front and rear axle connecting links that connect the front wheel axle and the rear wheel axle in a substantially parallel relationship. Mobile equipment. 6. A front and rear axle connecting link that connects the front wheel axle and the rear wheel axle in a substantially parallel relationship is further provided, and handle operation by driving the left and right front legs of the mounted legged mobile robot, The mobile device for a legged mobile robot according to claim 2, wherein the mobile device is transmitted to the rear wheel axle via the front wheel axle and the front and rear axle connection links. 7. The mobile device for a legged mobile robot according to claim 2, further comprising a handle position holding unit that holds a rotation position of the handle at each predetermined rotation angle. 8. A lock portion is provided on an upper surface of the robot main body support portion to engage with a bottom surface of a body portion unit of the mounted legged mobile robot and hold a relative position with respect to the robot main body support portion. The mobile device for a legged mobile robot according to claim 1, wherein the mobile device is a mobile device. 9. A control method for a legged mobile robot comprising at least a body unit and left and right front legs and left and right rear legs connected to the body unit, wherein the robot is supported by the body unit. A main body supporting portion, a front wheel axle rotatably attached at a substantially front end portion of the robot main body supporting portion, left front wheels and right front wheels attached to both left and right ends of the front wheel, and the robot main body supporting portion When the legged mobile robot is mounted on a mobile device consisting of a rear wheel axle rotatably mounted at the rear end and left rear wheels and right rear wheels respectively mounted on the left and right ends of the rear wheel. , The step of lowering the left and right rear legs from the robot body supporting portion to the floor surface, and the movement of the mobile device is controlled by the reaction force received from the floor surface via the toes of the left and right rear legs that have landed on the floor. Control method for a legged mobile robot, characterized by comprising: a turning control step. 10. The mobile device is provided with a handle that is rotatable integrally with the front wheel axle and that allows the left and right front legs of the legged mobile robot to be hooked left and right. 10. The legged mobile robot according to claim 9, further comprising a traveling direction control step of controlling the traveling direction of the mobile device by driving each of the left and right front legs to change the rotational position of the handle. Control method. 11. In the step of controlling the traveling direction, the right front leg is bent and pulled toward the front side, and the left front leg is extended to turn the handle to the right.
The method for controlling a legged mobile robot according to claim 10, wherein. 12. In the step of controlling the traveling direction, the left front leg is bent and pulled toward the front side, and the right front leg is extended to turn the handle to the left side.
The method for controlling a legged mobile robot according to claim 10, wherein. 13. The movement control step includes a sub-step of lifting forward the left and right rear legs descending from the robot body supporting portion to the floor surface, and a sub-step of swinging down the left and right rear legs toward the floor surface. A sub-step of kicking the floor surface backward with each foot after the toes of the left and right rear legs land on the floor surface, and the mobile device is advanced forward. Item 10. A method for controlling a legged mobile robot according to Item 9. 14. The movement control step includes a sub-step of lifting rear left and right rear legs descending from the robot main body support to the floor, and a sub-step of swinging down the left and right rear legs toward the floor. A substep of kicking the floor surface forward with each foot after the toes of the left and right rear legs have landed on the floor surface, and the mobile device is retracted rearward. Item 10. A method for controlling a legged mobile robot according to Item 9. 15. The movement control step includes a sub-step in which the left and right rear legs lowered from the robot main body support portion to the floor surface are brought into contact with the floor surface to generate a frictional force, and the mobile device is braked. The control method for a legged mobile robot according to claim 9, wherein. 16. The legged mobile robot includes an image recognition unit for visually observing the outside world, and in the movement control step, movement by the mobile device is performed according to a change in an external environment recognized by the image recognition unit. The method for controlling a legged mobile robot according to claim 9, wherein 17. The legged mobile robot includes a voice input unit for inputting voice, and in the movement control step, movement by the mobile device is performed in response to a voice command from the user input via the voice input unit. The method for controlling a legged mobile robot according to claim 9, wherein 18. The legged mobile robot comprises a remote controller receiver by wireless communication, and in the movement control step, the remote controller receiver is responsive to remote control from a user received via the remote controller receiver. Control movement by mobile device,
The method for controlling a legged mobile robot according to claim 9, wherein. 19. A computer described to execute a control of a legged mobile robot having at least a torso unit and left and right front legs and left and right rear legs connected to the torso unit on a computer system. A storage medium that physically stores software in a computer-readable format, wherein the computer software is rotated by a robot body supporting portion supported by the body portion unit and a substantially front end portion of the robot body supporting portion. Rotatably mounted front wheel axle, left front wheel and right front wheel respectively mounted on the left and right ends of the front wheel, and a rear wheel axle rotatably mounted at substantially the rear end of the robot body support and the rear The legged mobile robot boarded on a mobile device consisting of a left rear wheel and a right rear wheel attached to both left and right ends of the wheel. Control the movement of the mobile device by the step of lowering the left and right rear legs from the robot body support to the floor surface and the reaction force received from the floor surface via the toes of the left and right rear legs that landed. And a movement control step for controlling the movement of the storage medium. 20. The mobile device is provided with a handle that is rotatable integrally with the front wheel axle and that can hook left and right front legs of the legged mobile robot left and right. 20. The computer software further comprises a traveling direction control step of controlling the traveling direction of the mobile device by driving the front legs of each of the left and right to change the rotational position of the handle.
The storage medium described in.