JP2003136440A5 - Mobile robot - Google Patents
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- JP2003136440A5 JP2003136440A5 JP2001329422A JP2001329422A JP2003136440A5 JP 2003136440 A5 JP2003136440 A5 JP 2003136440A5 JP 2001329422 A JP2001329422 A JP 2001329422A JP 2001329422 A JP2001329422 A JP 2001329422A JP 2003136440 A5 JP2003136440 A5 JP 2003136440A5
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Description
【０００１】
【発明の属する技術分野】
本発明は、移動ロボットの関節装置に係り、特にロボットが移動停止しているとき、又は歩行中においても脚部関節部を所望の姿勢に保持するとき、或いは階段を下りるときのように関節部の運動方向が重力の作用する方向と一致するときに必要な消費エネルギーを節約できる移動ロボットに関する。
[0001]
[Technical field to which the invention belongs]
The present invention relates to a joint device of a mobile robot, and particularly when the robot is stopped moving, or when the leg joint is held in a desired posture even while walking, or when the joint is down a staircase. It relates to a mobile robot which can save energy consumption required when the direction of movement coincides with the direction in which the gravity acts.
本発明は上記のような点に着目してなされたもので、移動ロボットの関節部に制動力を発生できる摩擦制動手段を設け、この摩擦制動手段を移動ロボットが使命を遂行するとき適宜作動させることにより、移動ロボットの使命遂行中の消費エネルギーを削減することができる移動ロボットを提供することを目的とする。 The present invention has been made by paying attention to the above points. A friction braking means capable of generating a braking force is provided at a joint portion of a mobile robot, and the friction braking means is appropriately operated when the mobile robot carries out its mission. By doing so, it is an object of the present invention to provide a mobile robot capable of reducing energy consumption during the execution of the mission of the mobile robot.
【００４０】
【課題を解決するための手段】
本発明は上記の目的を達成するため、次のような手段により移動ロボットを構成する。
0040
[Means for solving problems]
In order to achieve the above object, the present invention constitutes a mobile robot by the following means.
請求項２に対応する発明は、請求項１に対応する発明の移動ロボットにおいて、前記制御手段は、２つのリンク間に相対運動が予定されていないときに前記摩擦制動手段を制動状態に制御するように構成される。 Invention corresponding to claim 2, Oite the mobile robot of the present invention corresponding to claim 1, wherein said control means, said friction braking means when the relative movement is not scheduled between two links to the braking state Configured to control.
請求項３に対応する発明は、請求項１に対応する発明の移動ロボットにおいて、前記制御手段は、２つのリンクの相対運動方向がモータトルクによる運動方向と逆のときに前記摩擦制動手段を制動状態に制御するように構成される。 Invention Oite the mobile robot of the present invention corresponding to claim 1, wherein the control means, said friction brake means relative movement direction of the two links when the exercise direction opposite the motor torque corresponding to claim 3 Is configured to control the braking state.
請求項４に対応する発明は、請求項３に対応する発明の移動ロボットにおいて、前記制御手段は、前記摩擦制動手段の制動力を可変に制御できるように構成される。 Invention corresponding to claim 4, Oite the mobile robot of the present invention corresponding to claim 3, wherein the control means is configured to variably control the braking force of the friction brake means.
請求項５に対応する発明は、第１のリンクと第２のリンクの２つのリンクをモータにより相対運動可能に結合した関節部を少なくとも一つ有する移動ロボットにおいて、前記２つのリンク間を架橋可能に設けられ当該リンクの相対運動に制御可能な相対運動制約力を与える摩擦制動手段と、前記移動ロボットの関節を所望の関節角度に保持することが必要な時期に前記摩擦制動手段を制御動作させて前記相対運動制約力を発生させる制御手段とを備える。 The invention corresponding to claim 5 is capable of bridging between the two links in a mobile robot having at least one joint portion in which two links, a first link and a second link, are connected so as to be relatively movable by a motor. The friction braking means provided in the above to give a controllable relative motion constraint force to the relative motion of the link, and the friction braking means are operated at a time when it is necessary to hold the joint of the mobile robot at a desired joint angle. The control means for generating the relative motion constraint force is provided.
請求項７に対応する発明は、請求項２、請求項５、請求項６のいずれかの項に記載の移動ロボットにおいて、前記摩擦制動手段が制動状態にあるとき、前記モータに供給されるエネルギーを減少又は停止させるエネルギー供給制御手段を備える。 Invention corresponding to claim 7, claim 2, claim 5, Oite the mobile robot according to any one of claims 6, wherein when the friction braking means is in the braking state, is supplied to the motor It is provided with an energy supply control means for reducing or stopping the energy supply.
請求項８に対応する発明は、請求項７記載の移動ロボットにおいて、前記エネルギー供給制御手段は、前記制御手段により前記制動手段が制動制御された後、前記モータへのエネルギー供給を減少又は停止制御するように構成される。 Invention corresponding to claim 8, Oite the mobile robot according to claim 7, wherein the energy supply control means, after the braking means is a braking control by the control unit, reducing the energy supply to the motor or It is configured to stop and control.
請求項９に対応する発明は、第１のリンクと第２のリンクの２つのリンクをモータにより相対運動可能に結合した関節部を少なくとも一つ有する移動ロボットにおいて、前記２つのリンク間を架橋可能に設けられ当該リンクの相対運動に制御可能な相対運動制約力を与える摩擦制動手段と、前記移動ロボットの歩行の１周期（１本の脚が離床した後着地し、再度離床するまでの期間）の中に少なくとも１回は前記相対運動制約力を発生させるように前記摩擦制動手段の制動力を可変に制御する制御手段とを備える。 The invention corresponding to claim 9 is capable of bridging between the two links in a mobile robot having at least one joint portion in which two links, a first link and a second link, are connected so as to be relatively movable by a motor. Friction braking means that gives a controllable relative motion constraint force to the relative motion of the link, and one cycle of walking of the mobile robot (the period from when one leg gets out of bed to when it lands and then gets out of bed again). The inside includes a control means for variably controlling the braking force of the friction braking means so as to generate the relative motion constraint force at least once.
請求項１０に対応する発明は、請求項９に対応する発明の移動ロボットにおいて、前記移動ロボットは、股関節と膝関節及び足関節の順に直列にリンクで結合された３関節からなる脚を少なくとも１本有しており、前記足関節の下端に足部リンクを結合するものであって、前記関節部が当該３関節の内の膝関節及び足関節の少なくとも一方である。 Invention corresponding to claim 10, Oite the mobile robot of the present invention corresponding to claim 9, wherein the mobile robot, the leg consisting of hip and knee joints, and third joint coupled with the link in series in the order of the ankle joint It has at least one, and connects the foot link to the lower end of the ankle joint, and the joint portion is at least one of the knee joint and the ankle joint among the three joints.
請求項１１に対応する発明は、請求項９に対応する発明の移動ロボットにおいて、前記移動ロボットは、人間と同じように股関節部、膝関節部、足関節部の３関節部と、これらを結ぶ大腿リンク、脛リンクとを含む構造の脚を少なくとも２本備え、且つこれら脚を交互に動かして歩行するものであり、前記制御手段は、前記一つの脚が遊脚期から立脚期に移る着地時に当該脚の３関節部のうち少なくとも１つの関節部に設けた前記摩擦制動手段に前記相対運動制約力を発生させるように制御するものである。 Invention corresponding to claim 11, Oite the mobile robot of the present invention corresponding to claim 9, wherein the mobile robot is just as hip human knee joint, a third joint portion of the ankle portion, these It is provided with at least two legs having a structure including a thigh link and a shin link connecting the joints, and these legs are alternately moved to walk. At the time of landing, the friction braking means provided in at least one of the three joints of the leg is controlled to generate the relative motion constraint force.
請求項１２に対応する発明は、請求項９に対応する発明の移動ロボットにおいて、前記移動ロボットは、人間と同じように股関節部、膝関節部、足関節部の３関節部と、これらを結ぶ大腿リンク、脛リンクとを含む構造の脚を少なくとも２本備え、且つこれら脚を交互に動かして歩行するものであり、前記制御手段は、前記ロボットが階段を降りるときに立脚期にある脚の３関節部のうち少なくとも１つの関節部に設けた前記摩擦制動手段に前記相対運動制約力を発生させるように制御するものである。 Invention corresponding to claim 12, Oite the mobile robot of the present invention corresponding to claim 9, wherein the mobile robot is just as hip human knee joint, a third joint portion of the ankle portion, these It is provided with at least two legs having a structure including a thigh link and a shin link connecting the joints, and these legs are alternately moved to walk, and the control means is in the stance phase when the robot descends a staircase. The friction braking means provided in at least one of the three joints of the leg is controlled so as to generate the relative motion constraint force.
以上は右脚側の各関節部に設けられている制動装置であるが、左脚側の各関節部に設けられている制動装置についても上記と同じ空気圧制御系統が形成されている。 The above is a brake device provided on each joint of the right leg side are formed the same pneumatic control system as described above also braking device provided on each joint of the left leg side.
ここで、
これは制動装置の作動遅れが多少あるからであり、このようにすることで起立姿勢のときに制動をかけた関節が完全に制動解除になる。その後、ステップＳ４１６に進み、
This is because there is some delay in the operation of the braking device, and by doing so, the joints that have been braked in the standing posture are completely released from braking. After that, the process proceeds to step S416.
【０１３８】
【発明の効果】
以上述べたように本発明による移動ロボットによれば、ロボットの関節部に制御可能な制動力を発生できる制動装置を設け、移動ロボットの関節を所望の関節角度に保持するに必要な時期に制動装置に制動指令を与えて制動力を制御するようにしたので、ロボットが歩行を行うときに消費するエネルギーを節減することができる。
[0138]
【Effect of the invention】
As described above, according to the mobile robot according to the present invention, a braking device capable of generating a controllable braking force is provided at the joint portion of the robot, and braking is performed at a time required to hold the joint of the mobile robot at a desired joint angle. Since the braking force is controlled by giving a braking command to the device, the energy consumed when the robot walks can be reduced.
Claims (12)
前記２つのリンク間を架橋して前記相対運動に制動力を発生し得る摩擦制動手段と、この摩擦制動手段を制動状態または解除状態に選択的に制御し得る制御手段とを備えたことを特徴とする移動ロボット。Oite the first link and the second at least the mobile robot to one chromatic two relative movable bound joint by a motor link of the link,
Friction braking means capable of bridging the two links to generate a braking force in the relative motion, and control means capable of selectively controlling the friction braking means in a braking state or a release state. A mobile robot .
前記制御手段は、２つのリンク間に相対運動が予定されていないときに前記摩擦制動手段を制動状態に制御するように構成されたことを特徴とする移動ロボット。Oite the mobile robot according to claim 1,
The mobile robot according to claim 1, wherein the control means is configured to control the friction braking means to a braking state when no relative motion is planned between the two links.
前記制御手段は、２つのリンクの相対運動方向がモータトルクによる運動方向と逆のときに前記摩擦制動手段を制動状態に制御するように構成されたことを特徴とする移動ロボット。Oite the mobile robot according to claim 1,
The mobile robot according to claim 1, wherein the control means is configured to control the friction braking means in a braking state when a relative motion direction of the two links is opposite to a motion direction by a motor torque.
前記制御手段は、前記摩擦制動手段の制動力を可変に制御できるように構成されたことを特徴とする移動ロボット。Oite the mobile robot according to claim 3,
The mobile robot characterized in that the control means is configured to variably control the braking force of the friction braking means.
前記２つのリンク間を架橋可能に設けられ当該リンクの相対運動に制御可能な相対運動制約力を与える摩擦制動手段と、
前記移動ロボットの関節を所望の関節角度に保持することが必要な時期に前記摩擦制動手段を制御動作させて前記相対運動制約力を発生させる制御手段とを備えたことを特徴とする移動ロボット。In a mobile robot having at least one joint part in which two links of a first link and a second link are connected by a motor so as to be capable of relative movement,
Friction braking means provided between the two links so as to be capable of bridging, and providing a relative motion restriction force that can be controlled to the relative motion of the links;
Mobile robot is characterized in that a control means for generating the relative motion constraint force said friction braking means is controlled operation is time required to hold the joint of the robot to the desired joint angle.
前記関節に対応する部位に設けられ該関節の動きを抑えるような摩擦力を発生する摩擦制動手段と、
前記ロボットが直進歩行状態にあるときに少なくとも１歩は前記関節に制動を加えるように前記摩擦制動手段を制御する制御手段とを備えたことを特徴とする移動ロボット。Oite the mobile robot having joints for performing at least two legs and turning for moving by moving alternately by the motor,
Friction braking means that is provided in a portion corresponding to the joint and generates a frictional force to suppress movement of the joint;
A mobile robot comprising: control means for controlling the friction braking means so as to apply braking to the joint at least one step when the robot is in a straight advance state.
前記摩擦制動手段が制動状態にあるとき、前記モータに供給されるエネルギーを減少又は停止させるエネルギー供給制御手段を備えたことを特徴とする移動ロボット。Claim 2, claim 5, Oite the mobile robot according to any one of claims 6,
A mobile robot comprising energy supply control means for reducing or stopping energy supplied to the motor when the friction braking means is in a braking state.
前記エネルギー供給制御手段は、前記制御手段により前記制動手段が制動制御された後、前記モータへのエネルギー供給を減少又は停止制御するように構成されたことを特徴とする移動ロボット。Oite the mobile robot according to claim 7,
The mobile robot according to claim 1, wherein the energy supply control means is configured to reduce or stop the supply of energy to the motor after the braking means is brake controlled by the control means.
前記２つのリンク間を架橋可能に設けられ当該リンクの相対運動に制御可能な相対運動制約力を与える摩擦制動手段と、前記歩行ロボットの歩行の１周期（１本の脚が離床した後着地し、再度離床するまでの期間）の中に少なくとも１回は前記相対運動制約力を発生させるように前記摩擦制動手段の制動力を可変に制御する制御手段とを備えたことを特徴とする移動ロボット。In a mobile robot having at least one joint part in which two links of a first link and a second link are connected by a motor so as to be capable of relative movement,
Friction braking means provided between the two links so as to be capable of bridging and giving a controllable relative motion restriction force to the relative motion of the link, and one cycle of walking of the walking robot (landing after one leg leaves the floor) the mobile robot at least once in the period) until liftoff again, characterized in that a control means for variably controlling the braking force of the friction brake means to generate the relative motion constraint force .
前記移動ロボットは、股関節と膝関節及び足関節の順に直列にリンクで結合された３関節からなる脚を少なくとも１本有しており、前記足関節の下端に足部リンクを結合するものであって、前記関節部が当該３関節の内の膝関節及び足関節の少なくとも一方であることを特徴とする移動ロボット。The mobile robot according to claim 9, wherein
The mobile robot has at least one leg having three joints connected in series in the order of a hip joint, a knee joint, and an ankle joint, and connects a foot link to a lower end of the ankle joint. The mobile robot is characterized in that the joint portion is at least one of a knee joint and an ankle joint among the three joints.
前記移動ロボットは、人間と同じように股関節部、膝関節部、足関節部の３関節部と、これらを結ぶ大腿リンク、脛リンクとを含む構造の脚を少なくとも２本備え、且つこれら脚を交互に動かして歩行するものであり、前記制御手段は、前記一つの脚が遊脚期から立脚期に移る着地時に当該脚の３関節部のうち少なくとも１つの関節部に設けた前記摩擦制動手段に前記相対運動制約力を発生させるように制御することを特徴とする移動ロボット。The mobile robot according to claim 9, wherein
The mobile robot includes at least two legs having a structure including a hip joint part, a knee joint part, and an ankle joint part, and a thigh link and a shin link that connect these parts, as in humans. The control means is the friction braking means provided at at least one joint part among the three joint parts of the leg when the one leg is landed from the swinging stage to the standing stage. The mobile robot is controlled so as to generate the relative motion restriction force.
前記移動ロボットは、人間と同じように股関節部、膝関節部、足関節部の３関節部と、これらを結ぶ大腿リンク、脛リンクとを含む構造の脚を少なくとも２本備え、且つこれら脚を交互に動かして歩行するものであり、前記制御手段は、前記ロボットが階段を降りるときに立脚期にある脚の３関節部のうち少なくとも１つの関節部に設けた前記摩擦制動手段に前記相対運動制約力を発生させるように制御することを特徴とする移動ロボット。The mobile robot according to claim 9, wherein
The mobile robot includes at least two legs having a structure including a hip joint part, a knee joint part, and an ankle joint part, and a thigh link and a shin link that connect these parts, as in humans. The control means is configured to walk relative to the friction braking means provided at at least one joint portion of the three joint portions of the leg in the stance phase when the robot goes down the stairs. A mobile robot characterized by controlling to generate a constraint force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001329422A JP2003136440A (en) | 2001-10-26 | 2001-10-26 | Brake control device of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001329422A JP2003136440A (en) | 2001-10-26 | 2001-10-26 | Brake control device of mobile robot |
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| Publication Number | Publication Date |
|---|---|
| JP2003136440A JP2003136440A (en) | 2003-05-14 |
| JP2003136440A5 true JP2003136440A5 (en) | 2005-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| JP2001329422A Pending JP2003136440A (en) | 2001-10-26 | 2001-10-26 | Brake control device of mobile robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4667780B2 (en) * | 2004-07-20 | 2011-04-13 | 川崎重工業株式会社 | Transfer robot |
| JP4501601B2 (en) * | 2004-09-03 | 2010-07-14 | トヨタ自動車株式会社 | Legged robot, its control method, gait data creation device and creation method |
| JP4570924B2 (en) * | 2004-09-17 | 2010-10-27 | 三菱電機株式会社 | Walking robot |
| US8401702B2 (en) | 2008-06-06 | 2013-03-19 | Panasonic Corporation | Robot, and control apparatus, control method, and control program for robot |
| JP5618290B2 (en) * | 2010-07-14 | 2014-11-05 | トヨタ自動車株式会社 | Robot equipment |
| JP6402318B2 (en) * | 2016-07-26 | 2018-10-10 | Ｇｒｏｏｖｅ Ｘ株式会社 | Articulated robot |
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2001
- 2001-10-26 JP JP2001329422A patent/JP2003136440A/en active Pending
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