JP2004034169A - Leg type moving robot device, and moving control method for leg type moving robot device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a leg type moving robot device improved in mobility in changing directions and moving straight or in a translational state, in ability to get over a step, and in the power of expression. <P>SOLUTION: On grounding side tips of leg units 3A, 3B, 3C, and 3D, wheels 4A, 4B, 4C, and 4D rotatable around shafts 7A, 7B, 7C, and 7D are installed. The respective wheels 4A, 4B, 4C, and 4D receive rotation driving forces of motors 5A, 5B, 5C, and 5D as rotation driving means to rotate. <P>COPYRIGHT: (C)2004,JPO

Description

【００９３】
なお、各認識結果や出力セマンティクスコンバータモジュール６８からの通知が各情動のパラメータ値の変動量△Ｅ［ｔ］にどの程度の影響を与えるかは予め決められており、例えば「叩かれた」といった認識結果は「怒り」の情動のパラメータ値の変動量△Ｅ［ｔ］に大きな影響を与え、「撫でられた」といった認識結果は「喜び」の情動のパラメータ値の変動量△Ｅ［ｔ］に大きな影響を与えるようになっている。
【００９４】
ここで、出力セマンティクスコンバータモジュール６８からの通知とは、いわゆる行動のフィードバック情報（行動完了情報）であり、行動の出現結果の情報であり、感情モデル７３は、このような情報によっても感情を変化させる。これは、例えば、「吠える」といった行動により怒りの感情レベルが下がるといったようなことである。なお、出力セマンティクスコンバータモジュール６８からの通知は、上述した学習モジュール７２にも入力されており、学習モジュール７２は、その通知に基づいて行動モデル７０_１〜７０_ｎの対応する遷移確率を変更する。
【００９５】
なお、行動結果のフィードバックは、行動切換モジュレータ７１の出力（感情が付加された行動）によりなされるものであってもよい。
【００９６】
一方、本能モデル７４は、「運動欲（ｅｘｅｒｃｉｓｅ）」、「愛情欲（ａｆｆｅｃｔｉｏｎ）」、「食欲（ａｐｐｅｔｉｔｅ）」及び「好奇心（ｃｕｒｉｏｓｉｔｙ）」の互いに独立した４つの欲求について、これら欲求ごとにその欲求の強さを表すパラメータを保持している。そして、本能モデル７４は、これらの欲求のパラメータ値を、それぞれ入力セマンティクスコンバータモジュール５９から与えられる認識結果や、経過時間及び行動切換モジュール７１からの通知などに基づいて周期的に更新する。
【００９７】
具体的には、本能モデル７４は、「運動欲」、「愛情欲」及び「好奇心」については、認識結果、経過時間及び出力セマンティクスコンバータモジュール６８からの通知などに基づいて所定の演算式により算出されるそのときのその欲求の変動量をΔＩ［ｋ］、現在のその欲求のパラメータ値をＩ［ｋ］、その欲求の感度を表す係数ｋ_ｉとして、所定周期で（２）式を用いて次の周期におけるその欲求のパラメータ値Ｉ［ｋ＋１］を算出し、この演算結果を現在のその欲求のパラメータ値Ｉ［ｋ］と置き換えるようにしてその欲求のパラメータ値を更新する。また、本能モデル７４は、これと同様にして「食欲」を除く各欲求のパラメータ値を更新する。
【００９８】
【数２】

【００９９】
なお、認識結果及び出力セマンティクスコンバータモジュール６８からの通知などが各欲求のパラメータ値の変動量△Ｉ［ｋ］にどの程度の影響を与えるかは予め決められており、例えば出力セマンティクスコンバータモジュール６８からの通知は、「疲れ」のパラメータ値の変動量△Ｉ［ｋ］に大きな影響を与えるようになっている。
【０１００】
なお、このロボット装置１においては、各情動及び各欲求（本能）のパラメータ値がそれぞれ０から１００までの範囲で変動するように規制されており、また係数ｋ_ｅ、ｋ_ｉの値も各情動及び各欲求ごとに個別に設定されている。
【０１０１】
一方、ミドル・ウェア・レイヤ４０の出力セマンティクスコンバータモジュール６８は、図２４に示すように、上述のようにしてアプリケーション・レイヤ４１の行動切換モジュール７１から与えられる「前進」、「喜ぶ」、「鳴く」又は「トラッキング（ボールを追いかける）」といった抽象的な行動コマンドを出力系６９の対応する信号処理モジュール６１〜６７に与える。
【０１０２】
そしてこれら信号処理モジュール６１〜６７は、行動コマンドが与えられると当該行動コマンドに基づいて、その行動を行うために対応するアクチュエータ２５_１〜２５_ｎ（図５）に与えるべきサーボ指令値や、スピーカ２４（図５）から出力する音の音声データ及び又は「目」のＬＥＤに与える駆動データを生成し、これらのデータをロボティック・サーバ・オブジェクト３２のバーチャル・ロボット３３及び信号処理回路１４（図５）を順次介して対応するアクチュエータ２５_１〜２５_ｎ又はスピーカ２４又はＬＥＤに順次送出する。
【０１０３】
以上に説明した、ミドル・ウェア・レイヤ４０と、アプリケーション・レイヤ４１と、バーチャルロボット３３により、本発明の実施の形態の脚式移動ロボット装置１が実行する移動制御プログラムが構築される。
【０１０４】
ミドル・ウェア・レイヤ４０内の認識系６０の騒音検出用、温度検出用、明るさ検出用、音階認識用、距離検出用、姿勢検出用、タッチセンサ用、動き検出用及び色認識用の各信号処理モジュール５０〜５８は、処理結果を入力セマンティクスコンバータモジュール５９に与える。
【０１０５】
入力セマンティクスコンバータモジュール５９は、これら各信号処理モジュール５０〜５８から与えられる処理結果に基づいて、「うるさい」、「暑い」、「明るい」、「ボールを検出した」、「転倒を検出した」、「撫でられた」、「叩かれた」、「ドミソの音階が聞こえた」、「動く物体を検出した」又は「障害物を検出した」などの自己及び周囲の状況（内部状況及び外部状況）や、使用者からの指令及び働きかけを認識し、認識結果をアプリケーション・レイヤ４１（図２４）に出力する。
【０１０６】
行動モデルライブラリ７０は、入力セマンティクスコンバータモジュール５９から認識結果が与えられたときに、必要に応じて感情モデル７３に保持されている対応する情動のパラメータ値や、本能モデル７４に保持されている対応する欲求のパラメータ値を参照しながら続く行動をそれぞれ決定し、決定結果を行動切換モジュール７１に出力する。具体的に、各行動モデル７０_１〜７０_ｎは、入力セマンティクスコンバータモジュール５９から認識結果が与えられたときなどに、対応するノードＮＯＤＥ_０〜ＮＯＤＥ_ｎの状態遷移表を利用して確率的に次の行動を決定し、決定結果を行動切換モジュール７１に出力する。
【０１０７】
行動切換モジュール７１は、行動モデルライブラリ７０の各行動モデル７０_１〜７０_ｎからそれぞれ出力される行動のうち、予め定められた優先順位の高い行動モデル７０_１〜７０_ｎから出力された行動を選択し、当該行動を実行すべき旨のコマンド（行動コマンド又は動作・表現実行指定）をミドル・ウェア・レイヤ４０の出力セマンティクスコンバータモジュール６８に送出する。
【０１０８】
出力セマンティクスコンバータモジュール６８は、行動制御システム１００の動作・表現実行管理部１０３に相当する。アプリケーション・レイヤ４１の行動切換モジュール７１から与えられる「前進」、「喜ぶ」、「鳴く」又は「トラッキング（ボールを追いかける）」といった前記動作・表現実行指令を、前記制御指令に分解して出力系６９の対応する信号処理モジュール６１〜６７に与える。
【０１０９】
これら信号処理モジュール６１〜６７は、前記動作・表現実行指令から分解された制御指令に基づいて、その行動を行うために対応するアクチュエータ２５_１〜２５_ｎ（図５）に与えるべきサーボ指令値や、スピーカ２４（図５）から出力する音の音声データ及び又は「目」のＬＥＤに与える駆動データを生成し、これらのデータをロボティック・サーバ・オブジェクト３２のバーチャル・ロボット３３及び信号処理回路１４（図５）を順次介して対応するアクチュエータ２５_１〜２５_ｎ又はスピーカ２４又はＬＥＤに順次送出する。
【０１１０】
次に、本発明が適用できるいくつかの他の実施の形態について説明する。
【０１１１】
先ず、第２の実施の形態について説明する。この第２の実施の形態は、図２９に示す脚式移動ロボット装置２２０である。バッテリーから電力の供給を受けたサーボモータにより駆動される４本の脚部を自在に駆動しての歩行移動と、それら４本の脚部に備えられた４つの車輪による車輪移動と、さらに歩行移動と車輪移動を組み合わせたハイブリッド移動を行う。
【０１１２】
４本の脚部ユニット、すなわち左前脚部ユニット、右前脚部ユニット、左後脚部ユニット、左後脚部ユニットは、胴体部に対して連結部２２１Ａ、２２１Ｂ、２２１Ｃ、２２１Ｄで連結している。そして、前記４本の脚部ユニットは、連結部２２１Ａ、２２１Ｂ、２２１Ｃ、２２１Ｄにより、胴体部の長手方向に前後する自由度を有している。また、各脚部ユニットはその上部と下部とを、連結部２２２Ａ、２２２Ｂ、２２２Ｃ、２２２Ｄにより連結している。この連結部２２２Ａ、２２２Ｂ、２２２Ｃ、２２２Ｄは、胴体部を接地面に対して上下することのできる自由度を有している。また、前記４本の脚部ユニットの接地面側先端には車輪２２４Ａ、２２４Ｂ、２２４Ｃ、２２４Ｄが取りつけられている。これら、車輪２２４Ａ、２２４Ｂ、２２４Ｃ、２２４Ｄは、プラスチック材でも、ゴム材等でもよく、特に材料は問わない。各車輪２２４Ａ，２２４Ｂ，２２４Ｃ，２２４Ｄは、回転駆動手段である４つのモータの回転駆動力をそれぞれ受け取り、それぞれ回転する。さらに、各脚部ユニットにおいて、連結部２２２Ａ〜２２２Ｄと車輪２２４Ａ〜２２４Ｄとの間には、図示した矢印Ｌ（左回り）、Ｒ（右回り）方向に、サーボモータであるアクチュエータによって回転される回転部２２３Ａ〜２２３Ｄが備えられている。
【０１１３】
この脚式移動ロボット装置２２０は、連結部２２１Ａ〜２２１Ｄをアクチュエータによって駆動することによって歩行移動を行うことができる。また、車輪２２４Ａ〜２２４Ｄを各モータにより回転駆動することによって車輪移動を行うことができる。この車輪移動の最中、連結部２２２Ａ〜２２２Ｄにより、胴体部を接地面に対して上下することができる。また、回転部２２３Ａ〜２２３Ｄを、各車輪２２４Ａ〜２２４Ｄのステアリング機構として使うことができる。
【０１１４】
したがって、この脚式移動ロボット装置２２０によれば、歩行移動はもちろん、前後方向、左右方向への直線移動や、その場での旋回、左右回転移動も可能である。
【０１１５】
さらに、車輪移動に際しては、連結部２２２Ａ〜２２２Ｄにより、胴体部を接地面に対して上下することができるので、胴体部の高さに障害物を発見したときは胴体部を持ち上げて障害物を跨ぐことができる。また、連結部２２２Ａ〜２２２Ｄをアクティブサスペンションとして働かせ、路面に凹凸があってもその高さの違いを吸収し、ロボット装置本体の姿勢を水平に保つことが可能となる。斜面を移動するときには、胴体部を水平面に対して平行に保って移動することができる。
【０１１６】
また、この脚式移動ロボット装置２２０にあっても、歩行移動と車輪移動とを組み合わせることにより、前述したような、フォワード加速移動、バック加速移動、後ろに歩きながら車輪を前に回転させる移動、前に歩きながら車輪を後ろに回転させる移動、脚部ユニットは歩行しているように動いているが移動はしていないというようなハイブリッド移動も可能である。
【０１１７】
次に、第３の実施の形態について説明する。この第３の実施の形態は、図３０に示す脚式移動ロボット装置２２５である。バッテリーから電力の供給を受けたモータによって駆動される、４本の脚部に備えられた４つの車輪による車輪移動を行うことができる。この車輪移動の際には、脚部ユニットの動きと車輪移動を組み合わせたユニークな動きをすることができる。
【０１１８】
４本の脚部ユニット、すなわち左前脚部ユニット、右前脚部ユニット、左後脚部ユニット、左後脚部ユニットは、接地面に対して逆Ｌ字型に形成されている。これらの４本の脚部ユニットは、胴体部に対して連結部２２６Ａ、２２６Ｂ、２２６Ｃ、２２６Ｄで連結している。そして、前記４本の脚部ユニットは、連結部２２６Ａ、２２６Ｂ、２２６Ｃ、２２６Ｄにより、胴体部を接地面に対して上下に位置させることができる。また、前記４本の脚部ユニットの接地面側先端には車輪２２８Ａ、２２８Ｂ、２２８Ｃ、２２８Ｄが取りつけられている。これら、車輪２２８Ａ、２２８Ｂ、２２８Ｃ、２２８Ｄは、プラスチック材でも、ゴム材等でもよく、特に材料は問わない。各車輪２２８Ａ，２２８Ｂ，２２８Ｃ，２２８Ｄは、回転駆動手段である４つのモータの回転駆動力をそれぞれ受け取り、それぞれ回転する。さらに、各脚部ユニットにおいて、車輪２２８Ａ〜２２８Ｄの上には、図示した矢印Ｌ（左回り）、Ｒ（右回り）方向に、サーボモータであるアクチュエータによって回転される回転部２２７Ａ〜２２７Ｄが備えられている。
【０１１９】
この脚式移動ロボット装置２２５は、車輪２２８Ａ〜２２８Ｄを各モータにより回転駆動することによって車輪移動を行うことができる。この車輪移動の最中、連結部２２６Ａ〜２２６Ｄにより、胴体部を接地面に対して上下することができる。また、回転部２２７Ａ〜２２７Ｄを、各車輪２２８Ａ〜２２８Ｄのステアリング機構として使うことができる。
【０１２０】
したがって、この脚式移動ロボット装置２２５によれば、前後方向、左右方向への直線移動や、その場での旋回、左右回転移動も可能である。
【０１２１】
さらに、車輪移動に際しては、連結部２２６Ａ〜２２６Ｄにより、胴体部を接地面に対して上下することができるので、胴体部の高さに障害物を発見したときは胴体部を持ち上げて障害物を跨ぐことができる。また、連結部２２６Ａ〜２２６Ｄをアクティブサスペンションとして働かせ、路面に凹凸があってもその高さの違いを吸収し、ロボット装置本体の姿勢を水平に保つことが可能となる。斜面を移動するときには、胴体部を水平面に対して平行に保って移動することができる。
【０１２２】
次に、第４の実施の形態について説明する。この第４の実施の形態は、図３１の（ａ）に示す脚式移動ロボット装置２３０である。
【０１２３】
この脚式移動ロボット装置２３０は、バッテリーから電力の供給を受けたサーボモータによって駆動される４本の脚部を自在に駆動しての歩行移動と、前記４本の脚部の内の後ろ側の２本の脚部に備えられた二つの駆動輪と，前側の２本の脚部に備えられた二つの従動輪とによる車輪移動と、さらに歩行移動と車輪移動を組み合わせたハイブリッド移動を行う。
【０１２４】
４本の脚部ユニット、すなわち左前脚部ユニット、右前脚部ユニット、左後脚部ユニット、左後脚部ユニットは、胴体部に対して連結部２３１Ａ、２３１Ｂ、２３１Ｃ、２３１Ｄで連結している。また、各脚部ユニットは、上部と下部とをアクチュエータによって駆動される連結部２３３Ａ、２３３Ｂ、２３３Ｃ、２３３Ｄによって連結している。したがって、これらの連結部２３１Ａ〜２３１Ｄ、２３３Ａ〜２３３Ｄを用いることにより、脚式移動ロボット装置２３０は歩行移動を行うことができる。
【０１２５】
また、４本の脚部ユニットの接地面側先端には、車輪２３４Ａ〜２３４Ｄが取りつけられている。この内、後ろ側の左脚部ユニットと右脚部ユニットに取付けられている車輪２３４Ｃと２３４Ｄは、図示しないそれぞれ近傍に取りつけられたモータからの駆動力によって回転駆動される駆動輪となる。前側の左脚部ユニットと右脚部ユニットに取付けられている車輪２３４Ａと２３４Ｂは従動輪となる。さらに前側の左脚部ユニットと右脚部ユニットの連結部２３１Ａ、２３１Ｂと、連結部２３３Ａと２３３Ｂとの間には、前記従動輪２３４Ａと２３４Ｂを図中の矢印Ｌ、Ｒ方向に回転させるためのステアリング機構である回転部２３２Ａ、２３２Ｂが設けられている。
【０１２６】
したがって、４つの脚部ユニットが接地状態にあれば、後ろの左右の脚部ユニットの先端に取りつけられた駆動輪２３４Ｃ、２３４Ｄによる駆動にて、前進、後進の直線移動が可能となる。また、回転部２３２Ａ、２３２Ｂのステアリング機構により前の左右脚部ユニットの下部が進む方向に向けられるので、脚式移動ロボット装置２３０は例えば左又は右方向への回転、旋回が可能となる。
【０１２７】
さらに、この脚式移動ロボット装置２３０は、尻尾の先にも従動輪となる車輪３５が取りつけられているので、後ろの左右脚部ユニットにて立ち上がったときには、図３１の（ｂ）に示すように、車輪３５が従動輪となったいわゆるお座り状態での車輪移動が可能となる。
【０１２８】
もちろん、この脚式移動ロボット装置２３０においても、歩行移動と車輪移動とを組み合わせることにより、前述したような、フォワード加速移動、バック加速移動、後ろに歩きながら車輪を前に回転させる移動、前に歩きながら車輪を後ろに回転させる移動、脚部ユニットは歩行しているように動いているが移動はしていないというようなハイブリッド移動も可能である。
【０１２９】
次に、第５の実施の形態について説明する。この第５の実施の形態は、図３２に示す脚式移動ロボット装置２４０である。
【０１３０】
この脚式移動ロボット装置２４０は、バッテリーから電力の供給を受けたサーボモータによって駆動される４本の脚部を自在に駆動しての歩行移動と、前記４本の脚部の内の後ろ側の２本の脚部に備えられた二つの駆動輪と，前側の２本の脚部に備えられた二つの従動輪とによる車輪移動を行う。
【０１３１】
ただし、この脚式移動ロボット装置４０は、前記二つの駆動輪２４４Ｃ、２４４Ｄと二つの従動輪２４４Ａ、２４４Ｂとをこれまでに説明した実施の形態のように接地側先端に取りつけているのでなく、４つの脚部ユニットの上部と下部とを連結している連結部２４３Ａ〜２４３Ｄの直ぐ下に取りつけている。
【０１３２】
以下、詳細に説明する。４本の脚部ユニット、すなわち左前脚部ユニット、右前脚部ユニット、左後脚部ユニット、左後脚部ユニットは、胴体部に対して２自由度を持つ連結部２４１Ａ、２４１Ｂ、２４１Ｃ、２４１Ｄで連結している。また、各脚部ユニットは、上部と下部とを１自由度を持つ連結部２４３Ａ、２４３Ｂ、２４３Ｃ、２４３Ｄによって連結している。したがって、これらの連結部２４１Ａ〜２４１Ｄ、２４３Ａ〜２４３Ｄを用いることにより、脚式移動ロボット装置２４０は自由度３を有する歩行移動を行うことができる。
【０１３３】
また、４本の脚部ユニットの上部と下部との連結部２４３Ａ〜２４３Ｄの近傍には、車輪２４４Ａ〜２４４Ｄが取りつけられている。この内、後ろ側の左脚部ユニットと右脚部ユニットに取付けられている車輪２４４Ｃと２４４Ｄは、図示しないそれぞれ近傍に取りつけられたモータからの駆動力によって回転駆動される駆動輪となる。前側の左脚部ユニットと右脚部ユニットに取付けられている車輪２４４Ａと２４４Ｂは従動輪となる。
【０１３４】
したがって、脚式移動ロボット装置２４０は、足先を用いた歩行移動と、脚部を曲げた状態での車輪移動ができる。特に、この脚式移動ロボット装置２４０は、足先に車輪を付けていないので、その足先にセンサや、ハンドリング機構を配置することができる。
【０１３５】
なお、これまで説明した第１の実施の形態から第５の実施の形態までの各脚式移動ロボット装置においては、駆動輪となる車輪は、近傍に取りつけられたモータによって他の車輪と同じ回転数にて回転駆動するだけでさまざまな移動が可能となっている。つまり、前述したコントロール部による各モータ毎の回転数の制御は行わなくてもよい。
【０１３６】
もちろん、各車輪の回転数を、例えばエンコーダや、タコジェネレータなどで測定しながら、各モータ毎に回転駆動力を制御することにより、より細やかな車輪移動のための制御を行うことも可能である。
【０１３７】
また、前記各実施の形態は、全て４足移動ロボット装置であったが、本発明は２足歩行ロボット装置に適用されてもよい。
【０１３８】
また、前記移動制御プログラムは、脚式移動ロボット装置１等の外部状況や、内部状況、あるいはユーザによるコマンドに応じて自律的に実行されるという内容の説明を行ったが、もちろん、オペレータによる遠隔操作にて実行されてもよい。
【０１３９】
また、自律的に実行するときには、接地面の状態を判断して一番適切な移動を行う。
【０１４０】
また、被写体に近づきながらカメラによる撮影が指示されたときには、胴体部ユニットや、頭部ユニットが縦、横にぶれたりすることがない、車輪移動を自律的に判断することも可能である。
【０１４１】
また、斜面を移動するときにも、前記サスペンション機構を適用して、胴体部を水平に保つように移動を制御することも可能である。
【０１４２】
また、前記各実施の形態では、自由度は３又は２として説明したが、連結部の多いロボット装置であれば、さらに自由度が多くなるので、本発明を適用することにより、さらに機動性を向上し、表現力を高めることができる。
【０１４３】
【発明の効果】
本発明に係る脚式移動ロボット装置は、複数の自由度の範囲内で少なくとも二つの脚部を動かし、また左右一対の車輪を二つの駆動手段に駆動させるので、少なくとも二つの脚部による歩行移動と、少なくとも二つの脚部にそれぞれ取りつけられる車輪による車輪移動と、歩行移動と車輪移動とのハイブリッド移動とを行うことができるので、方向転換や、直進／並進移動するときの機動性を高め、かつ段差乗り越えを可能とし、さらに表現力を高めることができる。
【０１４４】
本発明に係る脚式移動ロボット装置の移動制御方法は、複数の自由度の範囲内で少なくとも二つの脚部を動かし、また左右一対の車輪を二つの駆動手段に駆動させるので、少なくとも二つの脚部による歩行移動と、少なくとも二つの脚部にそれぞれ取りつけられる車輪による車輪移動と、歩行移動と車輪移動とのハイブリッド移動とを行うことができるので、方向転換や、直進／並進移動するときの機動性を高め、かつ段差乗り越えを可能とし、さらに表現力を高めることができる。
【図面の簡単な説明】
【図１】第１の実施の形態の脚式移動ロボット装置の外観斜視図である。
【図２】第１の実施の形態の脚式移動ロボット装置の要部を露出した外観斜視図である。
【図３】第１の実施の形態の脚式移動ロボット装置の要部の拡大分解図である。
【図４】車輪の形状を説明するための図である。
【図５】脚式移動ロボット装置の回路構成を示すブロック図である。
【図６】脚式移動ロボット装置の直線的な前進又は後進移動を説明するための斜視図である。
【図７】脚式移動ロボット装置の直線的な前進又は後進移動を説明するための平面図である。
【図８】脚式移動ロボット装置の左右への直線的移動を説明するための平面図である。
【図９】脚式移動ロボット装置の左右への直線的移動を説明するための斜視図である。
【図１０】脚式移動ロボット装置のその場での旋回移動を説明するための斜視図である。
【図１１】脚式移動ロボット装置のその場での旋回移動を説明するための側面図である。
【図１２】脚式移動ロボット装置のその場での旋回移動を説明するための平面図である。
【図１３】脚式移動ロボット装置のある点を中心とした左回転移動を説明するための斜視図である。
【図１４】脚式移動ロボット装置のある点を中心とした左回転移動を説明するための背面図である。
【図１５】脚式移動ロボット装置のある点を中心とした左回転移動を説明するための平面図である。
【図１６】脚式移動ロボット装置のある点を中心とした右回転移動を説明するための斜視図である。
【図１７】脚式移動ロボット装置のある点を中心とした右回転移動を説明するための背面図である。
【図１８】脚式移動ロボット装置のある点を中心とした右回転移動を説明するための平面図である。
【図１９】脚式移動ロボット装置の左回転移動を説明するための斜視図である。
【図２０】脚式移動ロボット装置の左回転移動を説明するための平面図である。
【図２１】脚式移動ロボット装置の右回転移動を説明するための斜視図である。
【図２２】脚式移動ロボット装置の右回転移動を説明するための平面図である。
【図２３】脚式移動ロボット装置のソフトウェア構成を示すブロック図である。
【図２４】脚式移動ロボット装置のソフトウェア構成におけるミドル・ウェア・レイヤの構成を示すブロック図である。
【図２５】脚式移動ロボット装置のソフトウェア構成におけるアプリケーション・レイヤの構成を示すブロック図である。
【図２６】同アプリケーション・レイヤの行動モデルライブラリの構成を示すブロック図である。
【図２７】脚式移動ロボット装置の行動決定のための情報となる有限確率オートマトンを説明するために使用した図である。
【図２８】有限確率オートマトンの各ノードに用意された状態遷移表を示す図である。
【図２９】本発明の第２の実施の形態の脚式移動ロボット装置の概略図である。
【図３０】本発明の第３の実施の形態の脚式移動ロボット装置の概略図である。
【図３１】本発明の第４の実施の形態の脚式移動ロボット装置の概略図である。
【図３２】本発明の第５の実施の形態の脚式移動ロボット装置の概略図である。
【図３３】従来の４足移動ロボット装置の斜視図である。
【図３４】従来の車輪型移動装置の斜視図である。
【符号の説明】
１　脚式移動ロボット装置、２　胴体部、３Ａ，３Ｂ，３Ｃ，３Ｄ　脚部ユニット、４Ａ，４Ｂ，４Ｃ，４Ｄ　車輪、５Ａ，５Ｂ，５Ｃ，５Ｄ　モータ、９Ａ，９Ｂ，９Ｃ，９Ｄ　連結部（肘関節に相当）、１１Ａ，１１Ｂ，１１Ｃ，１１Ｄ　連結部（肩、股関節に相当）[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a legged mobile robot device that walks with at least two legs and a movement control method of the legged mobile robot device.
[0002]
[Prior art]
A mechanical device that performs a motion resembling a human motion using an electric or magnetic action is called a “robot”. It is said that the robot is derived from the Slavic word "ROBOTA (slave machine)". In Japan, robots began to spread from the late 1960's, but most of them were industrial robots (industrial robots) such as manipulators and transfer robots for the purpose of automation and unmanned production work in factories. Met.
[0003]
Recently, pet-type robots that mimic the body mechanism and behavior of four-legged animals such as dogs, cats, and bears, or the body mechanism and behavior of animals that perform bipedal walking, such as humans and monkeys, have been modeled. Research and development on the structure of a legged mobile robot such as the "humanoid" or "humanoid" robot and stable walking control thereof have been progressing, and expectations for its practical use have been increasing. These legged mobile robots are unstable compared to crawler type robots, making posture control and walking control difficult.However, they are excellent in that they can realize flexible walking and running operations such as climbing stairs and climbing over obstacles. I have.
[0004]
A stationary robot, such as an arm-type robot, which is implanted and used in a specific place, operates only in a fixed and local work space such as assembling and sorting parts. On the other hand, the mobile robot has a work space that is not limited, and can freely move on a predetermined route or on a non-route to perform a predetermined or arbitrary human work, or perform a human or dog operation. Alternatively, various services that replace other living things can be provided.
[0005]
One of the uses of the legged mobile robot is to perform various difficult tasks in industrial activities and production activities. For example, maintenance work in nuclear power plants, thermal power plants, petrochemical plants, transport and assembly of parts in manufacturing factories, cleaning in high-rise buildings, rescue in fire spots and other dangerous and difficult work, etc. .
[0006]
Another use of the legged mobile robot is not the work support described above, but a life-based use, that is, a use in "symbiosis" or "entertainment" with humans. This type of robot faithfully reproduces the movement mechanism of a relatively intelligent legged moving animal such as a human, dog (pet), or bear and rich emotional expression using limbs. In addition, it does not simply execute a pre-input motion pattern faithfully, but also dynamically responds to words and attitudes received from the user (or another robot) (such as "praise", "scratch", and "slap"). It is also required to realize a corresponding and lively response expression.
[0007]
As such a legged mobile robot, a robot having a leg mechanism as shown in FIG. 33 is known. The robot device 1 is a four-legged walking type legged mobile robot. Leg units 3A, 3B, 3C, and 3D are connected to the front, rear, left, and right of the body unit 2, respectively, and at the front end of the body unit 2. The head unit 44 is connected.
[0008]
When only the moving mechanism is considered, a mechanism such as an automobile having a moving mechanism using wheels as shown in FIG. 34 can be considered. The moving mechanism in the automobile 250 moves the vehicle body so as to cut the front / back or left / right curve on the ground surface by rotating and driving four wheels 252A, 252B, 252C, 252D attached to the vehicle body 251.
[0009]
[Problems to be solved by the invention]
By the way, the leg mechanism of the legged mobile robot shown in FIG. 33 is for walking, and when changing directions or performing straight / translational movements, a connection portion between each leg and the body, and other parts. Since the movement of the actuator of the connecting portion must be controlled, quick operation is difficult, and there is a problem in terms of mobility.
[0010]
When only the moving mechanism using wheels as shown in FIG. 34 is attached to the robot, depending on the height of the step when climbing over the step, it is impossible to get over, or only the wheels are moved without moving the legs. May cause poor expression.
[0011]
SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has a legged mobile robot capable of improving mobility when changing directions and moving straight / translationally, moving over a step, and further improving expression. The purpose is to provide a device.
[0012]
In addition, the present invention has been made in view of the above-mentioned circumstances, and has a leg type capable of improving mobility when changing directions and moving straight / translationally, moving over a step, and further enhancing expressive power. An object of the present invention is to provide a control method for a mobile robot device.
[0013]
[Means for Solving the Problems]
In order to solve the above problem, the legged mobile robot device according to the present invention includes at least two legs that are connected to the body with a plurality of degrees of freedom and are used for movement; Wheels respectively attached to the two legs, two driving means for directly rotating the left and right pair of the wheels, respectively, and moving the at least two legs within the plurality of degrees of freedom, Control means for controlling the movement of the body and the leg by driving the pair of left and right wheels by the two driving means.
[0014]
By adopting such a configuration, the legged mobile robot device moves at least two legs within a plurality of degrees of freedom and drives a pair of left and right wheels by two driving means, so that at least two The walking movement by the legs, the wheel movement by the wheels attached to the at least two legs, and the hybrid movement of the walking movement and the wheel movement can be performed.
[0015]
According to another aspect of the present invention, there is provided a movement control method for a legged mobile robot device, wherein at least two legs used for movement are connected to a body with a plurality of degrees of freedom. And a wheel attached to each of the at least two legs, and two driving means for directly rotating a pair of left and right of the wheels, respectively. A first step of moving the at least two legs within the plurality of degrees of freedom, and controlling the movement of the body and the legs by driving the pair of left and right wheels by the two driving means. And a second step of performing the above.
[0016]
According to such a movement control method of a legged mobile robot device, at least two legs are moved within a plurality of degrees of freedom, and a pair of left and right wheels are driven by two driving means. The walking movement by the legs, the wheel movement by the wheels attached to the at least two legs, and the hybrid movement of the walking movement and the wheel movement can be performed.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. First, the first embodiment is a legged mobile robot device 1 shown in FIG. 1 having four legs driven by a servomotor supplied with power from a battery. For example, it is used as an entertainment robot device.
[0018]
In the legged mobile robot device 1, leg units 3A, 3B, 3C, and 3D are connected to the front, rear, left, and right of the body unit 2, respectively, and a head unit 44 is connected to the front end of the body unit 2. It is configured.
[0019]
Each of the leg units 3A, 3B, 3C, 3D has, for example, three degrees of freedom. Taking the leg unit 3A as an example, as shown in FIG. 2, the upper part 10A on the body part 2 side rotates in the front-rear direction with respect to the body part 2 at the connection part 11A with the body part 2. Also, it rotates so as to open the legs with respect to the body 2. Further, the lower portion 8A with respect to the upper portion 10A rotates in the front-rear direction at a connecting portion 9A with the upper portion 10A. Therefore, the leg unit 3A has three degrees of freedom. The same applies to the other leg units 3B, 3C, 3D, and the upper portions 10B, 10C, 10D rotate in the front-rear direction with respect to the body unit 2 at the connecting portions 11B, 11C, 11D with the body 2. Also, it rotates so as to open the legs with respect to the body unit 2. The lower portions 8B, 8C, and 8D with respect to the upper portions 10B, 10C, and 10D rotate in the front-rear direction at connecting portions 9B, 9C, and 9D with the upper portions 10B, 10C, and 10D.
[0020]
Further, wheels 4A, 4B, 4C, 4D that rotate about axes 7A, 7B, 7C, 7D are attached to the tips of the leg units 3A, 3B, 3C, 3D on the grounding surface side. These wheels may be made of any material such as a plastic material and a rubber material. The wheels 4A, 4B, 4C, 4D receive the rotational driving force of the motors 5A, 5B, 5C, 5D, respectively, and rotate, respectively.
[0021]
At the tip of each of the leg units 3A to 3D on the side of the ground surface, for example, behind the wheels 4A, 4B, 4C, and 4D in the vertical direction, the legs are placed on the ground surface by contact with the ground surface. A heel portion that can be fixed to the heel portion may be provided. Of course, in order for the heel to contact the tread, it is necessary to use the three degrees of freedom provided for each leg so that the tread at the tip of the tread on the tread is not the wheel but the heel. .
[0022]
Further, the legged mobile robot device 1 can control the number of rotations of the motors 5A, 5B, 5C, 5D. For example, if the rotation speeds are made equal in a state where the directions of the wheels 4A, 4B, 4C, 4D are the same, the robot device 1 moves straight. If the number of rotations of each of the motors 5A, 5B, 5C, 5D is changed, it is possible to make a turn. Of course, the power supply from the battery to the motors 5A, 5B, 5C, 5D is controlled by the control unit, and the switching between the forward and reverse rotation directions is also possible.
[0023]
FIG. 3 is an enlarged view of a lower portion 8A connected to an upper portion 10A of the leg unit 3A via a connecting portion 9A, and an enlarged exploded view of a mounting portion of the wheel 4A. A wheel mounting portion 6A is provided at the end of the lower portion 8A, and the motor 5A is fixed to the motor mounting portion provided there. Further, an axle 7A passed through the wheel 4A is passed through a bearing hole provided at the tip of the wheel mounting portion 6A so that the wheel is rotated by a motor.
[0024]
For example, as shown in FIGS. 4A, 4B, and 4C, the wheel 4A has a shape in which the radius of rotation from the center of the wheel changes depending on the positions L1, L2, and L3 that touch the ground. Become. If the motor 5A is rotationally driven at the same speed, the radius of rotation at L2 is smaller than that at the ground contact position L1, so that the moving speed of only the leg unit 3A due to the rotation of the wheel at the ground contact position L2 is: It becomes slower than the moving speed at the contact position L1. Further, the moving speed of only the leg unit 3A due to the rotation of the wheel at the contact position L3 is faster than the moving speed at the contact position L2 because the radius of rotation is larger than that of the contact position L2. The wheels 4B to 4D have the same shape and have the same function. The details of the movement control using each wheel and each leg will be described later.
[0025]
As shown in FIG. 5, the body unit 2 includes a CPU 110, a dynamic random access memory (DRAM) 111, a flash ROM (Read Only Memory) 112, a PC (Personal Computer) card interface circuit 113, and a signal processing circuit 114. A control unit 116 formed by being mutually connected via a bus 115 and a battery 117 as a power source of the robot apparatus 1 are housed. Of course, the battery 117 is a power source for the motors 5A, 5B, 5C, 5D.
[0026]
The torso unit 2 also stores an angular velocity sensor 118 and an acceleration sensor 119 for detecting the acceleration of the direction and movement of the legged mobile robot device 1.
[0027]
In addition, the head unit 44 includes a CMOS camera 20 for capturing an image of an external situation and detecting surrounding brightness, and a touch sensor for detecting a physical action from a user such as tilting the camera back and forth. 21, a distance sensor for measuring a distance to an object located in front, a microphone for collecting external sounds, a speaker for outputting various sounds, and a head unit 44 capable of being stored. The headlight 25 and the LED (Light Emitting Diode) (not shown) corresponding to the “eyes” of the robot apparatus 1 are arranged at predetermined positions. In the robot apparatus 1, a plurality of touch sensors are arranged at predetermined positions of the body unit 2 and the head unit 44 in addition to the touch sensor 21. For example, when the user strokes the touch sensor attached to the head, the internal situation that the head sensor is stroked is evaluated.
[0028]
Furthermore, the joints (connecting portions) of the leg units 3A to 3D, the connecting portions of the leg units 3A to 3D and the body unit 2, and the connecting portions of the head unit 44 and the body unit 2 and the like. Are provided with actuators and potentiometers corresponding to the above-described degrees of freedom. For example, the actuator 26 ₁ ~ 26 _n Has a servomotor as a component. By driving the servomotor, the leg units 3A to 3D are controlled, and transition to a target posture or operation is made. Of course, the walking operation is also performed by the free movement of the leg units 3A to 3D with respect to the ground surface controlled by the drive of the servomotor. In particular, in the robot apparatus 1, each leg unit is moved within a range of three degrees of freedom for each leg unit by each actuator of the leg units 3A to 3D, and the ground position of each wheel 4A to 4D is set, for example. It can be changed as shown in FIG.
[0029]
The angular velocity sensor 118, the acceleration sensor 119, the touch sensor 21, the distance sensor 22, the microphone 23, the speaker 24, and each potentiometer 27 ₁ ~ 27 _n And various sensors such as headlights 25, LEDs and actuators 26 ₁ ~ 26 _n Are the corresponding hubs 28 ₁ ~ 28 _n And the CMOS camera 20 and the battery 117 are directly connected to the signal processing circuit 114, respectively.
[0030]
The signal processing circuit 114 sequentially captures sensor data, image data, and audio data supplied from the above-described sensors, and sequentially stores them at predetermined positions in the DRAM 111 via the internal bus 115. Further, the signal processing circuit 114 sequentially fetches the battery remaining amount data indicating the battery remaining amount supplied from the battery 117 and stores the data in a predetermined position in the DRAM 111.
[0031]
The sensor data, image data, audio data, and remaining battery data stored in the DRAM 111 in this manner are used when the CPU 110 subsequently controls the operation of the legged mobile robot device 1.
[0032]
In practice, when the power of the legged mobile robot device 1 is turned on, the CPU 110 stores the behavior control program stored in the memory card 29 or the flash ROM 112 loaded in the memory card slot (not shown) of the body unit 2, A movement control program, which is a specific example of the movement control method of the legged mobile robot apparatus of the present invention, is read out directly or directly through the memory card interface circuit 113 and stored in the DRAM 111. The CPU 110 executes these control programs using the DRAM 111 as a work area. Then, the legged mobile robot device autonomously selects an action according to the external environment around the state of the ground surface, an obstacle, or the like, a command from the user, or the internal environment, and performs the operation of the selected action or the like. An operation based on the meaning of the expression or an execution instruction of the expression is generated, and for example, the movement of the module of the head unit or the leg unit is controlled. Alternatively, a command is sent to the CPU 110 by wire or wirelessly from an external PC or the like, and the head and legs are similarly controlled.
Further, the CPU 110 determines the status of itself and the surroundings, the presence or absence of an instruction from the user and the action based on each sensor data, image data, audio data, and remaining battery data sequentially stored in the DRAM 111 from the signal processing circuit 114. Judge.
[0033]
Therefore, the legged mobile robot device 1 executes the action control program and the movement control program by the CPU 110 to swing the head unit 44 up and down, left and right, walk by the leg unit, and move the wheels by the wheels. , And hybrid movement of walking movement and wheel movement can be performed. In particular, the walking movement, the wheel movement, and the hybrid movement are performed by the actuator 26 which requires the connecting portion. ₁ ~ 26 _n This is performed by driving the motors 5A to 5B to drive the leg units 3A to 3D and the wheels 4A to 4D.
[0034]
Also, at this time, the CPU 110 generates audio data as necessary, and supplies the generated audio data to the speaker 24 as an audio signal via the signal processing circuit 114, thereby outputting an audio based on the audio signal to the outside, Turn on, turn off or blink the LED. In addition, as described later, the CPU 110 uses the CMOS camera 20 to detect the surrounding brightness, and turns on the headlights 25 according to the detection result.
[0035]
In this way, the legged mobile robot device 1 can autonomously act in accordance with its own and surrounding conditions (internal and external conditions), and instructions and actions from the user.
[0036]
In particular, the legged mobile robot device 1 can switch between the walking movement, the wheel movement, and the hybrid movement in accordance with an internal situation and an external situation, or an instruction and an action from a user. For example, in response to a command “come early here” by the user, a quick move is performed by moving the wheels. When it is necessary to go up the stairs, perform a walking movement. In addition, a hybrid movement is performed for a command of “dancing” or a command of “turning”.
[0037]
Next, various movements of the legged mobile robot device 1 according to the first embodiment will be described.
[0038]
The legged mobile robot device 1 performs a walking movement using only the leg units 3A to 3D. Also, by changing the position where each wheel contacts the contact surface with three degrees of freedom of each of the leg units 3A to 3D, the radius of rotation from the center of each wheel is changed or each wheel 4A to 4D is not changed. Is used to move the wheels. Further, the legged mobile robot device 1 performs a hybrid movement combining the walking movement and the wheel movement.
[0039]
First, walking movement will be briefly described. The walking movement is an operation using the four leg units 3A to 3D conventionally performed. The position control is performed using the potentiometers corresponding to the degrees of freedom described above, which are provided at the joints (connections) of the leg units 3A to 3D and at the connection portions of the leg units 3A to 3D and the body unit 2. This is achieved by freely moving the four-leg units 3A to 3D with respect to the grounding surface by an actuator constituting the servomotor.
[0040]
To move freely here means, for example, a forward walking movement, for example, the left front leg 4A is moved forward, and immediately thereafter, the opposing right rear leg 4D is moved forward, and then the right front leg 4B is moved forward. This is to move the four leg units based on the walking movement of a model animal such as a dog or a cat such that the opposing left leg 4C is moved forward immediately thereafter. At the time of this forward walking movement, the wheels 4A to 4D are not driven to rotate by the motors 5A to 5D, and do not rotate even if they come into contact with the ground contact surface.
[0041]
In the case of reverse movement by freely moving the four-leg units 3A to 3D with respect to the ground contact surface, for example, the left rear leg 4C is moved backward, and the opposing right front leg 4B is moved immediately thereafter. The right rear leg 4D is advanced backward, and the left front leg 4A which is opposite immediately thereafter is advanced backward. Also at this time, the wheels 4A to 4D are not driven to rotate by the motors 5A to 5D, so that they do not rotate even if they come into contact with the ground contact surface.
[0042]
In the forward walking movement, if the moving distance of the right and left front and rear legs 4B and 4D is larger than the moving distance of the left and right front and rear legs 4A and 4C, the vehicle can bend to the left and move forward. At this time, if the difference between the movement distance of the left and right legs 4A and 4C and the movement distance of the right and left legs 4B and 4D is increased, the direction can be changed to the left more quickly. When turning right and moving forward, the moving distance of the left and right front and rear legs 4A and 4C may be longer than the moving distance of the right and left front and rear legs 4B and 4D. Also in the backward progression movement, if the rotation of the servo motor of the connecting part is reversed, and each leg is similarly moved in the opposite direction to the normal rotation, it can turn left or right while moving backward. .
[0043]
Next, the wheel movement will be described.
First, linear forward or backward movement using wheels will be described. As shown in FIGS. 6 and 7, the four leg units 3A to 3D are extended slightly obliquely toward the contact surface so as to be symmetrical when viewed from directly above, and the contact positions of the wheels 4A to 4D are determined. Each of the wheels 4A to 4D linearly moves forward or backward so that the radius of rotation from the center becomes equal. In this case, if the rotation speeds of the motors 5A to 5D are all equal, the legged mobile robot device 1 moves linearly on the grounding surface as shown by arrows in FIGS. The forward and backward movements are based on reversing the rotation directions of the motors 5A to 5D. If the angles of the sides of the four leg units 3A to 3D are widened or narrowed, the robot device can move forward and backward by changing the body height. Further, since the ground contact portion of the tire changes, the moving speed of the robot can be changed even if the rotation speed of the motor is the same.
[0044]
Next, linear movement to the left and right using wheels will be described. 8 and 9, the upper portions 10A to 10D of the four leg units 3A to 3D are opened in parallel to the ground plane so as to be symmetrical when viewed from directly above, and the lower portions 8A to 8D are bent inward. And the wheels 4A to 4D are moved linearly in the left-right direction as indicated by arrows in the figure so that the directions of the wheels 4A to 4D are perpendicular to the longitudinal direction of the body unit 2. In order to orient the wheels 4A to 4D, the wheels 4A to 4D are perpendicular to the longitudinal direction of the body unit 2 due to the two degrees of freedom of the connecting portions 11A to 11B between each leg unit and the body. The upper portions 10A to 10D are bent in parallel to the ground plane as described above, and the lower portions 8A to 8D are bent with one degree of freedom of the connecting portions 9A to 9D between the upper and lower portions of each leg unit. Of course, the actuators of the connecting parts 11A to 11D and the connecting parts 9A to 9D are moved based on the position data from the potentiometer. Also in this case, it is possible to perform a left or right linear movement by reversing the rotation direction of the motors 5A to 5D.
[0045]
Next, an on-the-fly turning movement using wheels will be described. The front leg units 3A and 3B are bent so as to form a "C-shape" in the longitudinal direction of the body unit 2 (when the head unit 44 side is forward) as shown in FIGS. The wheels 4A and 4B are closed at 45 degrees with respect to the longitudinal direction of the body unit 2. Also, as shown in FIGS. 10 to 12, the rear leg units 3C and 3D are formed so as to have a “reverse C-shape” with respect to the longitudinal direction of the body unit 2 (when the head side is forward). Bending so that the wheels 4C and 4D open at 45 degrees with respect to the longitudinal direction of the body unit 2. Needless to say, the connection portions 11A to 11D and the connection portions 9A to 9D are moved by the actuator based on the position data from the potentiometer. In this case, if the left front leg unit 3A and the rear leg unit 3C are rotated forward by the motors 5A and 5C, and the right front leg unit 3B and the rear leg unit 3D are rotated backward by the motors 5B and 5D, the vehicle turns right. When the left front leg unit 3A is rotated in reverse by the motors 5A and 5C, and the right front leg unit 3B and rear leg unit 3D are rotated in the forward direction by 5B and 5D, the vehicle turns left.
[0046]
Next, a description will be given of a left rotation movement using a wheel with a certain location as a rotation center. As shown in FIGS. 13 to 15, the upper part 11A of the left front leg unit 3A, the elbow as a human being is attached to the torso unit 2 so that the sides are fastened, and the lower part 8A is further folded to ground the wheel 4A. Let it. The wheel 4A is used as the center of rotation. In this state, it lifted without anywhere including wheels 4C left hind leg unit 3C is brought into contact with the ground surface. In addition, the right front leg unit 3B is located on one side of the “C” shape with respect to the longitudinal direction of the body unit 2 (when the head unit 44 side is the front), and the direction of the wheel is the rotation center of the wheel 4A. And the rear leg unit 3D is bent so that the rear leg unit 3D is on one side of the above-mentioned "reverse C-shape" and the direction of the wheel is tangential to the rotation center of the wheel 4A. In this state, when the right front leg unit 3B and the rear leg unit 3D are rotated forward by the motors 5B and 5D, the left front leg unit 3A is rotated centered on the left front leg unit 3A in the direction indicated by the arrow in the drawing. In this movement, it is possible to change the radius of rotation by changing the rotation center and the point of rotation.
[0047]
Next, a description will be given of a right rotation movement about a certain place as a rotation center using wheels. As shown in FIGS. 16 to 18, the upper part 11B of the right front leg unit 3B is attached to the body unit 2 so that the sides are tightened, and the lower part 8B is folded down to ground the wheels 4B. The wheel 4B is used as the center of rotation. In this state, the right rear leg unit 3D is lifted as described above. Further, the left front leg unit 3A is located on one side of the "C" shape in the longitudinal direction of the body unit 2 (when the head unit 44 side is the front), and the wheel is positioned with respect to the rotation center of the wheel 4B. And the rear leg unit 3C is bent so that the rear leg unit 3C is on one side of the above-mentioned "inverted C-shape" and the wheel direction is tangential to the rotation center of the wheel 4B. In this state, when the left front leg unit 3A and the rear leg unit 3C are rotated forward by the motors 5A and 5C, the right front leg unit 3B is rotated rightward in the direction of the arrow in the figure around the center C.
[0048]
Next, the left rotation movement using the wheel will be described. As shown in FIGS. 19 and 20, the right front leg unit 3B and the rear leg unit 3D extend from the body unit 2 almost vertically to the ground contact surface, and the left front leg unit 3A and the rear leg unit 3C are connected to the body. Open slightly from the unit unit 2 toward the ground surface to make ground contact. Then, the wheels 4B and 4D of the right front leg unit 3B and the rear leg unit 3D are substantially vertically grounded on the ground as shown in FIG. On the other hand, the wheels 4A and 4C of the left front leg unit 3A and the rear leg unit 3C are grounded at the ground position L2 as shown mutatis mutandis in FIG. As can be understood from these facts, the wheels 4A and 4C of the left front leg unit 3A and the rear leg unit 3C have a larger radius of rotation than the wheels 4B and 4D of the right front leg unit 3B and the rear leg unit 3D. Becomes shorter. Since the motors 5A to 5D rotate the wheels 4A to 4D at the same rotation speed, the right wheel 4B and the wheel 4D having a long turning radius are closer to the ground surface than the left wheels 4A and 4C having the short turning radius. You will move faster. At this time, the direction of each wheel is tangential to the center of rotation of the turn. In this way, as shown in FIGS. 19 and 20, the legged mobile robot device 1 makes a left rotation as shown by the arrow in the figure.
[0049]
Next, clockwise rotation using wheels will be described. As shown in FIGS. 21 and 22, the left front leg unit 3A and the rear leg unit 3C are extended from the body unit 2 almost vertically to the ground contact surface, and the right front leg unit 3B and the rear leg unit 3D are connected to the body. Open slightly from the unit unit 2 toward the ground surface to make ground contact. Then, the wheels 4A and 4C of the left front leg unit 3A and the rear leg unit 3C are substantially vertically grounded on the ground as shown in FIG. 4A. On the other hand, the wheels 4B and 4D of the right front leg unit 3B and the rear leg unit 3D are grounded at the ground position L2 as shown mutatis mutandis in FIG. As can be seen from these facts, the turning radius of the wheels 4B and 4D of the right front leg unit 3B and the rear leg unit 3D is larger than the turning radius of the wheels 4A and 4C of the left front leg unit 3A and the rear leg unit 3C. Becomes shorter. Since the motors 5A to 5D rotate the wheels 4A to 4D at the same rotation speed, the right wheel 4A and the wheel 4C having a long turning radius are more grounded than the left wheel BA and the wheel 4D having a short turning radius. You will move faster. At this time, the direction of each wheel is tangential to the center of rotation of the turn. In this way, as shown in FIGS. 21 and 22, the legged mobile robot device 1 performs a right rotation movement as shown by an arrow in the figure.
[0050]
In the left and right rotational movements using these wheels, the contact positions of the left leg and the right leg are changed within the range of the degree of freedom of each connecting portion, and the left wheels 4A and 4C and the right wheels 4B and 4D are changed. If the position difference with respect to the ground contact surface is changed so as to be large, it is possible to rotate left and right while changing the turning radius.
[0051]
The above is the description of the wheel movement. In the linear forward or backward movement using the wheel and the linear movement to the left and right using the wheel, each leg unit 3A to 3D is opened. It can also be done while. When the legs are opened, the turning radius of the wheels may be shorter than that shown in FIGS. 6 and 7 or FIGS. 8 and 9 depending on the contact position of the wheels 4A to 4D, so that the moving speed is low. Become.
[0052]
In addition, the turning movement on the spot using wheels, the left and right rotation movement about a certain place as the center of rotation, and the left and right rotation movement do not particularly have a steering mechanism attached to the wheel itself, and the degree of freedom of each leg is limited. This is achieved by the steering mechanism used and the steering mechanism by changing the contact position of the tire.
[0053]
Next, hybrid movement will be described. As described above, this hybrid movement is a combination of the walking movement and the wheel movement. Here, the illustration is omitted.
[0054]
First, the forward acceleration movement will be described. If the wheels are rotated forward while walking forward by walking movement, the legged mobile robot device 1 performs a so-called forward acceleration movement in which the legged mobile robot device 1 accelerates and moves forward with respect to the ground contact surface.
[0055]
Next, the back acceleration movement will be described. Contrary to the forward acceleration movement, if the wheel is rotated backward while walking backward by walking movement, the legged mobile robot device 1 performs a so-called back acceleration movement in which the legged mobile robot device 1 accelerates and moves backward with respect to the ground contact surface.
[0056]
Next, a description will be given of a movement of rotating the wheels forward while walking backward. Rotate the wheels forward while walking backward by walking. At this time, if the speed of moving the wheel forward is faster than the speed of walking backward, the leg units 3A to 3D move as if walking backward, but actually move forward.
[0057]
Next, a description will be given of a movement of rotating the wheel backward while walking forward. The wheel is rotated backward while walking forward by walking movement. At this time, if the speed of the rearward wheel movement is faster than the forward walking speed, the leg units 3A to 3D move as if walking forward but actually move backward.
[0058]
Next, a description will be given of a movement in which the leg unit moves as if walking, but does not move. When the wheels are rotated in the opposite direction to the direction of walking while walking forward and backward by walking movement, and the speed is adjusted, the walking movement appears to be performed, but the movement does not actually move.
[0059]
Further, when the vehicle is walking straight, turning the wheel only to the right or left side enables a left turn or a right turn. If the wheel is moved only on one side while turning and walking, a sharper turn is possible.
[0060]
By combining these walking movements, wheel movements, and hybrid movements, the legged mobile robot device 1 can quickly move to a target position by exhibiting mobility. Also, the expressive power can be moved richly.
[0061]
Further, in the wheel movement, the leg units 3A to 3D can freely change the height of the body unit 2 from the grounding surface when moving straight forward and backward or moving straight left and right. This further increases maneuverability.
[0062]
In addition, in the wheel movement, the leg units 3A to 3D can freely change the height of the body unit 2 from the ground contact surface even when rotating right and left on the spot.
[0063]
Further, by using walking movement and wheel movement properly, for example, on a flat ground, it is possible to move at high speed by wheel movement, and at a step portion, it is possible to move over a step by walking movement, so that mobility can be further improved.
[0064]
In addition, as described above, in wheel movement or hybrid movement, by changing the contact position of the tire, the moving speed can be changed without changing the rotation speed of the wheel, and the drive control unit of each wheel can be simplified. Can be Similarly, by changing the contact positions of the left and right tires, the moving speed can be changed, and a left or right turn can be made.
[0065]
Further, in the wheel movement, the inner wheel difference generated when turning can be eliminated by lifting the wheels using the walking mechanism.
[0066]
Next, the software configuration of the legged mobile robot device 1 will be described with reference to FIGS. The software configuration of the legged mobile robot device 1 is as shown in FIG. In FIG. 23, the device driver layer 30 is located at the lowest layer of the movement control program, and includes a device driver set 31 including a plurality of device drivers. In this case, each device driver is an object permitted to directly access hardware used in a normal computer, such as the CMOS camera 20 (FIG. 5) and a timer, and receives an interrupt from the corresponding hardware. Perform processing.
[0067]
The robotic server object 32 is located above the device driver layer 30 and, for example, includes the various sensors and actuators 25 described above. ₁ ~ 25 _n A virtual robot 33, which is a group of software that provides an interface for accessing hardware such as a software, a power manager 34, which is a group of software that manages switching of power supplies, and software that manages various other device drivers It is composed of a group of device driver managers 35 and a designed robot 36 which is a software group for managing the mechanism of the legged mobile robot apparatus 1.
[0068]
The manager object 37 includes an object manager 38 and a service manager 39. The object manager 38 is a software group that manages activation and termination of each software group included in the robotic server object 32, the middleware layer 40, and the application layer 41, and the service manager 39 includes: This is a group of software for managing the connection of each object based on the connection information between the objects described in the connection file stored in the memory card 29 (FIG. 5).
[0069]
The middleware layer 40 is located on the upper layer of the robotic server object 32 and includes a group of software that provides basic functions of the robot apparatus 1 such as image processing and sound processing.
[0070]
Further, the application layer 41 is located above the middleware layer 40, and determines the behavior of the robot device 1 based on the processing result processed by each software group constituting the middleware layer 40. It consists of a group of software for performing
[0071]
The specific software configurations of the middleware layer 40 and the application layer 41 are shown in FIGS. 24 and 25, respectively.
[0072]
As shown in FIG. 24, the middle wear layer 40 includes noise detection, temperature detection, brightness detection, scale recognition, distance detection, posture detection, touch sensor, motion detection, and color recognition. A recognition system 60 having signal processing modules 50 to 58 for input and an input semantics converter module 59, and an output semantics converter module 68 and for attitude management, tracking, motion reproduction, walking, falling recovery, and light lighting. And an output system 69 having signal processing modules 61 to 67 for sound reproduction.
[0073]
Each of the signal processing modules 50 to 58 of the recognition system 60 converts each of the sensor data, image data, and sound data read from the DRAM 111 (FIG. 5) by the virtual robot 33 of the robotic server object 32. The data is fetched and subjected to predetermined processing based on the data, and the processing result is provided to the input semantics converter module 59. Here, for example, the virtual robot 33 is configured as a part that exchanges or converts signals according to a predetermined communication protocol.
[0074]
The input semantics converter module 59 determines “noisy”, “hot”, “bright”, “detected ball”, “detected fall”, Self and surrounding conditions such as “stroke”, “hit”, “hearing the scale of domiso”, “detecting a moving object” or “detecting an obstacle” (internal and external conditions) Also, it recognizes commands and actions from the user and outputs the recognition result to the application layer 41 (FIG. 24).
[0075]
As shown in FIG. 25, the application layer 41 includes five modules: a behavior model library 70, a behavior switching module 71, a learning module 72, an emotion model 73, and an instinct model 74.
[0076]
As shown in FIG. 26, the behavior model library 70 includes “when the battery level is low”, “returns to fall”, “when avoids obstacles”, “when expressing emotions”, Are respectively associated with several pre-selected condition items such as "when a ₁ ~ 70 _n Is provided. Of course, action models such as “walk”, “wheel”, and “hybrid” are also provided.
[0077]
And these behavior models 70 ₁ ~ 70 _n And so on, when the recognition result is given from the input semantics converter module 59 or when a certain period of time has passed since the last recognition result was given, etc. The subsequent actions are determined with reference to the corresponding emotion parameter values held and the corresponding desire parameter values held in the instinct model 74, and the determination result is output to the action switching module 71.
[0078]
In this embodiment, each behavior model 70 ₁ ~ 70 _n Is a one node (state) NODE as shown in FIG. ₀ ~ NODE _n From any other node NODE ₀ ~ NODE _n To each node NODE ₀ ~ NODE _n Arc ARC connecting between ₁ ~ ARC _n Transition probability P set for ₁ ~ P _n An algorithm called finite stochastic automaton, which determines stochastically based on, is used.
[0079]
Specifically, each behavior model 70 ₁ ~ 70 _n Is their own behavior model 70 ₁ ~ 70 _n NODE that forms ₀ ~ NODE _n Corresponding to each of these nodes NODE ₀ ~ NODE _n Each has a state transition table 80 as shown in FIG.
[0080]
In this state transition table 80, the node NODE ₀ ~ NODE _n , Input events (recognition results) as transition conditions are listed in order of priority in the column of “input event name”, and further conditions for the transition condition are described in corresponding rows in the columns of “data name” and “data range”. Have been.
[0081]
Therefore, the node NODE represented by the state transition table 80 of FIG. ₁₀₀ In the above, when the recognition result of “detection of ball (BALL)” is given, the “size” of the ball given together with the recognition result is in the range of “0 to 1000”, When a recognition result of “obstacle detected (OBSTACLE)” is given, the other node that the “distance” to the obstacle given together with the recognition result is in the range of “0 to 100”. This is the condition for transitioning to.
[0082]
Also, this node NODE ₁₀₀ Then, even when there is no input of the recognition result, the behavior model 70 ₁ ~ 70 _n Of the parameter values of each emotion and each desire held in the emotion model 73 and the instinct model 74 that are periodically referred to by the user, “joy”, “surprise” or “surprise” held in the emotion model 73 When any parameter value of “Sadness” is in the range of “50 to 100”, transition to another node can be made.
[0083]
In the state transition table 80, the row of “transition destination node” in the column of “transition probability to another node” indicates that node NODE. ₀ ~ NODE _n The node names that can be transitioned from are listed, and other nodes NODE that can transition when all the conditions described in the columns of “input event name”, “data value”, and “data range” are met ₀ ~ NODE _n To the corresponding node in the column “Transition probability to another node”, and the node NODE ₀ ~ NODE _n The action to be output when transitioning to is described in the row of “output action” in the column of “transition probability to another node”. Note that the sum of the probabilities of each row in the column of “transition probability to another node” is 100 [%].
[0084]
Therefore, the node NODE represented by the state transition table 80 of FIG. ₁₀₀ Then, for example, when "the ball is detected (BALL)" and a recognition result indicating that the "SIZE (size)" of the ball is in the range of "0 to 1000" is given, "30 [%]" With the probability of "node NODE ₁₂₀ (Node 120) ", and the action of" ACTION1 "is output at that time.
[0085]
Each behavior model 70 ₁ ~ 70 _n Is a node NODE described as such a state transition table 80. ₀ ~ NODE _n Are connected so that when a recognition result is given from the input semantics converter module 59, the corresponding node NODE ₀ ~ NODE _n The next action is stochastically determined using the state transition table, and the determination result is output to the action switching module 71.
[0086]
The behavior switching module 71 shown in FIG. ₁ ~ 70 _n Out of the actions respectively output from the action models 70 having a predetermined high priority. ₁ ~ 70 _n An action output from such as is selected, and a command to execute the action (hereinafter referred to as an action command) is sent to the output semantics converter module 68 of the middleware layer 40. In this embodiment, the behavior model 70 shown at the bottom in FIG. ₁ ~ 70 _n The higher the priority, the higher the priority.
[0087]
Further, the behavior switching module 71 notifies the learning module 72, the emotion model 73, and the instinct model 74 that the behavior is completed, based on the behavior completion information provided from the output semantics converter module 68 after the behavior is completed.
[0088]
On the other hand, the learning module 72 inputs the recognition result of the teaching received from the user, such as “hit” or “stroke”, among the recognition results given from the input semantics converter module 59.
[0089]
Then, based on the recognition result and the notification from the action switching module 71, the learning module 72 lowers the probability of occurrence of the action when "beaten (scolded)" and "strokes (praised)". )), The corresponding behavior model 70 in the behavior model library 70 so as to increase the probability of occurrence of the behavior. ₁ ~ 70 _n Change the corresponding transition probability of.
[0090]
On the other hand, the emotion model 73 is a sum of “joy”, “sadness”, “anger”, “surprise”, “disgust”, and “fear”. For the six emotions, a parameter indicating the intensity of the emotion is held for each emotion. Then, the emotion model 73 converts the parameter values of each of these emotions into specific recognition results such as “hit” and “stroke” given from the input semantics converter module 59 and the elapsed time and action switching module 71. It is updated periodically based on the notification from.
[0091]
Specifically, the emotion model 73 is calculated by a predetermined arithmetic expression based on the recognition result given from the input semantics converter module 59, the behavior of the robot device 1 at that time, the elapsed time since the last update, and the like.変 動 E [t] is the variation amount of the emotion at that time, E [t] is the current parameter value of the emotion, and k is a coefficient representing the sensitivity of the emotion. _e Then, the parameter value E [t + 1] of the emotion in the next cycle is calculated by Expression (1), and the parameter value of the emotion is updated by replacing the parameter value E [t] with the current parameter value E [t] of the emotion. . The emotion model 73 updates the parameter values of all emotions in the same manner.
[0092]
(Equation 1)

[0093]
The degree to which each recognition result and the notification from the output semantics converter module 68 affect the variation ΔE [t] of the parameter value of each emotion is determined in advance, for example, “hit”. The recognition result has a great influence on the variation ΔE [t] of the parameter value of the emotion of “anger”, and the recognition result such as “stroke” indicates the variation ΔE [t] of the parameter value of the emotion of “joy”. Has become a major influence.
[0094]
Here, the notification from the output semantics converter module 68 is so-called action feedback information (action completion information), information on the appearance result of the action, and the emotion model 73 changes the emotion by such information. Let it. This is, for example, a behavior such as "barking" that lowers the emotional level of anger. Note that the notification from the output semantics converter module 68 is also input to the learning module 72 described above, and the learning module 72 performs the action model 70 based on the notification. ₁ ~ 70 _n Change the corresponding transition probability of.
[0095]
The feedback of the action result may be made by the output of the action switching modulator 71 (the action to which the emotion is added).
[0096]
On the other hand, the instinct model 74 has four independent desires, “exercise”, “affection”, “appetite”, and “curiosity”, which are independent of each other. It holds a parameter indicating the strength of the desire. Then, the instinct model 74 periodically updates these desire parameter values based on the recognition result given from the input semantics converter module 59, the elapsed time, the notification from the action switching module 71, and the like.
[0097]
More specifically, the instinct model 74 calculates a predetermined arithmetic expression based on the recognition result, the elapsed time, the notification from the output semantics converter module 68, and the like for “exercise desire”, “affection desire”, and “curiosity”. ΔI [k] is the variation of the desire at that time, I [k] is the current parameter value of the desire, and a coefficient k representing the sensitivity of the desire. _i The parameter value I [k + 1] of the desire in the next cycle is calculated using the equation (2) in a predetermined cycle, and the calculation result is replaced with the current parameter value I [k] of the desire. Update the parameter value of desire. Similarly, the instinct model 74 updates the parameter values of each desire except “appetite”.
[0098]
(Equation 2)

[0099]
Note that the degree to which the recognition result and the notification from the output semantics converter module 68 affect the variation ΔI [k] of the parameter value of each desire is determined in advance. Has a large effect on the variation ΔI [k] of the parameter value of “fatigue”.
[0100]
In the robot device 1, the parameter values of each emotion and each desire (instinct) are regulated so as to fluctuate from 0 to 100, respectively, and the coefficient k _e , K _i Is also set individually for each emotion and each desire.
[0101]
On the other hand, as shown in FIG. 24, the output semantics converter module 68 of the middleware layer 40 provides “forward”, “pleasure”, and “ring” provided from the action switching module 71 of the application layer 41 as described above. ”Or“ tracking (follow the ball) ”to the corresponding signal processing modules 61 to 67 of the output system 69.
[0102]
When the action command is given, the signal processing modules 61 to 67 execute the corresponding actuator 25 for performing the action based on the action command. ₁ ~ 25 _n A servo command value to be given to (FIG. 5), audio data of a sound outputted from the speaker 24 (FIG. 5) and / or drive data to be given to the LED of the "eye" are generated, and these data are transferred to the robotic server object. 32 virtual robots 33 and the corresponding actuators 25 sequentially via the signal processing circuit 14 (FIG. 5). ₁ ~ 25 _n Alternatively, the signal is sequentially transmitted to the speaker 24 or the LED.
[0103]
The movement control program executed by the legged mobile robot device 1 according to the embodiment of the present invention is configured by the middleware layer 40, the application layer 41, and the virtual robot 33 described above.
[0104]
For noise detection, temperature detection, brightness detection, scale recognition, distance detection, posture detection, touch sensor, motion detection, and color recognition of the recognition system 60 in the middleware layer 40 The signal processing modules 50 to 58 give the processing results to the input semantics converter module 59.
[0105]
The input semantics converter module 59 determines “noisy”, “hot”, “bright”, “detected ball”, “detected fall”, Self and surrounding conditions such as “stroke”, “hit”, “hearing the scale of domiso”, “detecting a moving object” or “detecting an obstacle” (internal and external conditions) Also, it recognizes commands and actions from the user and outputs the recognition result to the application layer 41 (FIG. 24).
[0106]
When the recognition result is given from the input semantics converter module 59, the behavior model library 70 stores the parameter values of the corresponding emotions held in the emotion model 73 and the correspondence values held in the instinct model 74 as necessary. The following actions are determined with reference to the parameter value of the desire to perform, and the determination result is output to the action switching module 71. Specifically, each behavior model 70 ₁ ~ 70 _n Corresponds to a node NODE when a recognition result is given from the input semantics converter module 59 or the like. ₀ ~ NODE _n The next action is determined stochastically by using the state transition table, and the determination result is output to the action switching module 71.
[0107]
The behavior switching module 71 is configured to execute each behavior model 70 in the behavior model library 70. ₁ ~ 70 _n Out of the actions respectively output from the action models 70 having a predetermined high priority. ₁ ~ 70 _n Is selected, and a command (action command or action / expression execution designation) to execute the action is sent to the output semantics converter module 68 of the middleware layer 40.
[0108]
The output semantics converter module 68 corresponds to the operation / expression execution management unit 103 of the behavior control system 100. The operation / expression execution command such as “forward”, “pleasure”, “sound” or “tracking (following the ball)” given from the action switching module 71 of the application layer 41 is decomposed into the control command and output system. 69 to the corresponding signal processing modules 61-67.
[0109]
These signal processing modules 61 to 67 are provided with a corresponding actuator 25 for performing the action based on the control command decomposed from the operation / expression execution command. ₁ ~ 25 _n A servo command value to be given to (FIG. 5), audio data of a sound outputted from the speaker 24 (FIG. 5) and / or drive data to be given to the LED of the "eye" are generated, and these data are transferred to the robotic server object. 32 virtual robots 33 and the corresponding actuators 25 sequentially via the signal processing circuit 14 (FIG. 5). ₁ ~ 25 _n Alternatively, the signal is sequentially transmitted to the speaker 24 or the LED.
[0110]
Next, some other embodiments to which the present invention can be applied will be described.
[0111]
First, a second embodiment will be described. This second embodiment is a legged mobile robot device 220 shown in FIG. Walking movement by freely driving four legs driven by a servo motor supplied with power from a battery, wheel movement by four wheels provided on the four legs, and further walking Performs hybrid movement combining movement and wheel movement.
[0112]
The four leg units, that is, the left front leg unit, the right front leg unit, the left rear leg unit, and the left rear leg unit are connected to the body by connecting portions 221A, 221B, 221C, and 221D. . The four leg units have degrees of freedom to move back and forth in the longitudinal direction of the body by the connecting parts 221A, 221B, 221C and 221D. Each leg unit has its upper and lower parts connected by connecting parts 222A, 222B, 222C and 222D. The connecting portions 222A, 222B, 222C, and 222D have a degree of freedom that allows the body to move up and down with respect to the grounding surface. Wheels 224A, 224B, 224C, and 224D are attached to tips of the four leg units on the grounding surface side. These wheels 224A, 224B, 224C, and 224D may be made of a plastic material, a rubber material, or the like, and the material is not particularly limited. Each of the wheels 224A, 224B, 224C, and 224D receives the rotational driving force of the four motors serving as the rotational driving means, and rotates. Further, in each leg unit, between the connecting portions 222A to 222D and the wheels 224A to 224D, the actuator is a servomotor that rotates in the directions of the arrows L (clockwise) and R (clockwise) as illustrated. Rotating parts 223A to 223D are provided.
[0113]
The legged mobile robot device 220 can perform a walking movement by driving the connecting portions 221A to 221D with actuators. The wheels can be moved by rotating the wheels 224A to 224D with the respective motors. During this wheel movement, the body part can be moved up and down with respect to the ground contact surface by the connecting parts 222A to 222D. In addition, the rotating units 223A to 223D can be used as steering mechanisms for the wheels 224A to 224D.
[0114]
Therefore, according to the legged mobile robot device 220, it is possible to perform not only a walking movement but also a linear movement in the front-rear direction and the left-right direction, a turning on the spot, and a right-left rotation movement.
[0115]
Further, when moving the wheels, the connecting portions 222A to 222D can move the body portion up and down with respect to the ground contact surface. Therefore, when an obstacle is found at the height of the body portion, the body portion is lifted to remove the obstacle. You can straddle. In addition, the connecting portions 222A to 222D work as an active suspension, so that even if there is unevenness on the road surface, the difference in height can be absorbed and the posture of the robot apparatus main body can be kept horizontal. When moving on a slope, the body can be moved while being kept parallel to the horizontal plane.
[0116]
In addition, even in this legged mobile robot device 220, by combining walking movement and wheel movement, as described above, forward acceleration movement, back acceleration movement, movement of rotating wheels forward while walking backward, A hybrid movement in which the wheels are rotated backward while walking forward, and the leg unit is moving as if walking, but not moving, is also possible.
[0117]
Next, a third embodiment will be described. This third embodiment is a legged mobile robot device 225 shown in FIG. The wheels can be moved by four wheels provided on four legs driven by a motor supplied with power from a battery. At the time of the wheel movement, a unique movement combining the movement of the leg unit and the wheel movement can be performed.
[0118]
The four leg units, that is, the left fore leg unit, the right fore leg unit, the left hind leg unit, and the left hind leg unit are formed in an inverted L-shape with respect to the ground surface. These four leg units are connected to the body by connecting portions 226A, 226B, 226C, and 226D. In the four leg units, the body can be positioned up and down with respect to the ground contact surface by the connecting portions 226A, 226B, 226C, and 226D. Wheels 228A, 228B, 228C, and 228D are attached to tips of the four leg units on the grounding surface side. These wheels 228A, 228B, 228C and 228D may be made of a plastic material, a rubber material or the like, and the material is not particularly limited. Each of the wheels 228A, 228B, 228C, and 228D receives the rotational driving force of the four motors serving as the rotational driving means, and rotates. Further, in each leg unit, on wheels 228A to 228D, rotating units 227A to 227D that are rotated by actuators serving as servo motors are provided in the directions of arrows L (clockwise) and R (clockwise) as shown. Have been.
[0119]
The legged mobile robot device 225 can move wheels by rotating and driving the wheels 228A to 228D by respective motors. During this wheel movement, the body portion can be moved up and down with respect to the ground contact surface by the connecting portions 226A to 226D. In addition, the rotating units 227A to 227D can be used as steering mechanisms for the wheels 228A to 228D.
[0120]
Therefore, according to the legged mobile robot device 225, linear movement in the front-back direction and left-right direction, turning on the spot, and left-right rotation movement are also possible.
[0121]
Furthermore, when moving the wheels, the connecting portions 226A to 226D can raise and lower the torso portion with respect to the grounding surface. Therefore, when an obstacle is found at the height of the torso portion, the torso portion is lifted to remove the obstacle. You can straddle. In addition, the connecting portions 226A to 226D function as an active suspension, so that even if there is unevenness on the road surface, the difference in the height can be absorbed and the posture of the robot apparatus main body can be kept horizontal. When moving on a slope, the body can be moved while being kept parallel to the horizontal plane.
[0122]
Next, a fourth embodiment will be described. The fourth embodiment is a legged mobile robot device 230 shown in FIG.
[0123]
The legged mobile robot device 230 has a walking movement by freely driving four legs driven by a servo motor supplied with electric power from a battery, and a rear side of the four legs. Wheel movement by two drive wheels provided on the two legs and two driven wheels provided on the two front legs, and hybrid movement combining walking movement and wheel movement. .
[0124]
The four leg units, that is, the left fore leg unit, the right fore leg unit, the left hind leg unit, and the left hind leg unit are connected to the body by connecting parts 231A, 231B, 231C, and 231D. . Each leg unit has its upper and lower parts connected by connecting parts 233A, 233B, 233C and 233D driven by an actuator. Therefore, the legged mobile robot device 230 can perform a walking movement by using these connecting portions 231A to 231D and 233A to 233D.
[0125]
Also, wheels 234A to 234D are attached to the tips of the four leg units on the grounding surface side. Of these, the wheels 234C and 234D attached to the rear left leg unit and the right leg unit are drive wheels that are rotationally driven by the driving force from motors (not shown) mounted near each other. The wheels 234A and 234B attached to the front left leg unit and the right leg unit are driven wheels. Further, between the connecting portions 231A and 231B of the front left leg unit and the right leg unit and between the connecting portions 233A and 233B, the driven wheels 234A and 234B are rotated in the directions of arrows L and R in the drawing. Rotating parts 232A and 232B, which are the steering mechanisms of the first embodiment, are provided.
[0126]
Therefore, when the four leg units are in the ground contact state, the forward and backward linear movements can be performed by driving the driving wheels 234C and 234D attached to the front ends of the rear left and right leg units. In addition, since the lower portions of the front left and right leg units are directed in the forward direction by the steering mechanism of the rotating units 232A and 232B, the legged mobile robot device 230 can rotate and turn left or right, for example.
[0127]
Further, in the legged mobile robot device 230, since the wheels 35 to be driven wheels are attached to the tip of the tail, as shown in FIG. In addition, the wheels can be moved in a so-called sitting state in which the wheels 35 are driven wheels.
[0128]
Of course, also in this legged mobile robot device 230, by combining walking movement and wheel movement, as described above, forward acceleration movement, back acceleration movement, movement of rotating wheels forward while walking backward, A hybrid movement in which the wheels rotate backward while walking and the leg unit moves as if walking but does not move are also possible.
[0129]
Next, a fifth embodiment will be described. This fifth embodiment is a legged mobile robot device 240 shown in FIG.
[0130]
This legged mobile robot device 240 has a walking movement by freely driving four legs driven by a servo motor supplied with electric power from a battery, and a rear side of the four legs. The two driving wheels provided on the two legs and the two driven wheels provided on the two front legs move the wheels.
[0131]
However, this legged mobile robot device 40 does not attach the two drive wheels 244C and 244D and the two driven wheels 244A and 244B to the ground-side tip as in the embodiments described above. The four leg units are mounted immediately below connecting parts 243A to 243D connecting the upper part and the lower part of the four leg units.
[0132]
The details will be described below. The four leg units, that is, the left fore leg unit, the right fore leg unit, the left hind leg unit, and the left hind leg unit, have connecting parts 241A, 241B, 241C, and 241D having two degrees of freedom with respect to the body. It is connected by. In addition, each leg unit connects the upper part and the lower part by connecting parts 243A, 243B, 243C, 243D having one degree of freedom. Therefore, by using these connecting portions 241A to 241D and 243A to 243D, the legged mobile robot device 240 can perform a walking movement having three degrees of freedom.
[0133]
Wheels 244A to 244D are mounted near connecting portions 243A to 243D between the upper and lower portions of the four leg units. Of these wheels, the wheels 244C and 244D attached to the rear left leg unit and the right leg unit are driving wheels that are rotationally driven by driving forces from motors (not shown) mounted near each other. The wheels 244A and 244B attached to the front left leg unit and the right leg unit are driven wheels.
[0134]
Therefore, the legged mobile robot device 240 can perform a walking movement using the toes and a wheel movement with the legs bent. In particular, since the legged mobile robot device 240 does not have wheels attached to its toes, a sensor and a handling mechanism can be arranged at its toes.
[0135]
In each of the legged mobile robot devices from the first embodiment to the fifth embodiment described above, the wheels serving as the drive wheels are rotated in the same manner as the other wheels by the motor mounted in the vicinity. Various movements are possible just by rotating the number. That is, the control of the number of rotations of each motor by the control unit described above may not be performed.
[0136]
Of course, by controlling the rotation driving force for each motor while measuring the rotation speed of each wheel with, for example, an encoder or a tachogenerator, it is also possible to perform finer control for wheel movement. .
[0137]
Further, in each of the above embodiments, a four-legged mobile robot device has been described, but the present invention may be applied to a bipedal walking robot device.
[0138]
In addition, it has been described that the movement control program is executed autonomously in response to an external situation or an internal situation of the legged mobile robot device 1 or the like, or a command from a user. It may be executed by an operation.
[0139]
Also, when executing autonomously, the state of the contact surface is determined and the most appropriate movement is performed.
[0140]
In addition, when an instruction to shoot with a camera is issued while approaching the subject, it is possible to autonomously determine the wheel movement without the body unit or the head unit being shaken vertically and horizontally.
[0141]
Also, when moving on a slope, the suspension mechanism can be applied to control the movement so as to keep the body part horizontal.
[0142]
Further, in each of the above embodiments, the degree of freedom was described as 3 or 2. However, a robot apparatus having a large number of connecting parts has more degrees of freedom, so that by applying the present invention, mobility can be further improved. Improve and expressiveness.
[0143]
【The invention's effect】
Since the legged mobile robot device according to the present invention moves at least two legs within a plurality of degrees of freedom and drives a pair of left and right wheels by two driving means, the walking movement by at least two legs is possible. And, since it is possible to perform a wheel movement by wheels attached to at least two legs, and a hybrid movement of a walking movement and a wheel movement, it is possible to improve the mobility when changing direction or performing straight / translational movement, Moreover, it is possible to get over a step, and it is possible to further enhance the expressive power.
[0144]
The movement control method of the legged mobile robot device according to the present invention moves at least two legs within a range of a plurality of degrees of freedom, and drives a pair of left and right wheels by two driving means. Can perform a walking movement by a section, a wheel movement by wheels attached to at least two legs, and a hybrid movement of a walking movement and a wheel movement, so that a maneuver when turning or performing a straight / translational movement can be performed. It is possible to enhance the ability and to get over a step, and further enhance the expressive power.
[Brief description of the drawings]
FIG. 1 is an external perspective view of a legged mobile robot device according to a first embodiment.
FIG. 2 is an external perspective view of a legged mobile robot device according to the first embodiment, in which main parts are exposed.
FIG. 3 is an enlarged exploded view of a main part of the legged mobile robot device according to the first embodiment.
FIG. 4 is a diagram for explaining a shape of a wheel.
FIG. 5 is a block diagram illustrating a circuit configuration of the legged mobile robot device.
FIG. 6 is a perspective view for explaining a linear forward or backward movement of the legged mobile robot device.
FIG. 7 is a plan view for explaining linear forward or backward movement of the legged mobile robot device.
FIG. 8 is a plan view for explaining a left-right linear movement of the legged mobile robot device.
FIG. 9 is a perspective view for explaining linear movement of the legged mobile robot device to the left and right.
FIG. 10 is a perspective view for explaining a turning movement of the legged mobile robot device on the spot.
FIG. 11 is a side view for explaining a turning movement of the legged mobile robot device on the spot.
FIG. 12 is a plan view for explaining a turning movement of the legged mobile robot device on the spot.
FIG. 13 is a perspective view for explaining a left rotation movement about a certain point of the legged mobile robot device.
FIG. 14 is a rear view for explaining a left-handed rotation movement about a certain point of the legged mobile robot device.
FIG. 15 is a plan view for explaining a left rotation movement about a certain point of the legged mobile robot device.
FIG. 16 is a perspective view for explaining rightward rotation about a certain point of the legged mobile robot device.
FIG. 17 is a rear view for explaining rightward rotation about a certain point of the legged mobile robot device;
FIG. 18 is a plan view for explaining rightward rotation around a certain point of the legged mobile robot device.
FIG. 19 is a perspective view for explaining the left-hand rotation movement of the legged mobile robot device.
FIG. 20 is a plan view for explaining left-hand rotation movement of the legged mobile robot device.
FIG. 21 is a perspective view for explaining rightward rotation movement of the legged mobile robot device.
FIG. 22 is a plan view for explaining rightward rotation of the legged mobile robot device.
FIG. 23 is a block diagram illustrating a software configuration of the legged mobile robot device.
FIG. 24 is a block diagram showing a configuration of a middleware layer in a software configuration of the legged mobile robot device.
FIG. 25 is a block diagram showing a configuration of an application layer in a software configuration of the legged mobile robot device.
FIG. 26 is a block diagram showing a configuration of a behavior model library of the application layer.
FIG. 27 is a diagram used to explain a finite probability automaton that is information for determining an action of the legged mobile robot device.
FIG. 28 is a diagram showing a state transition table prepared for each node of the finite probability automaton.
FIG. 29 is a schematic view of a legged mobile robot device according to a second embodiment of the present invention.
FIG. 30 is a schematic view of a legged mobile robot device according to a third embodiment of the present invention.
FIG. 31 is a schematic view of a legged mobile robot device according to a fourth embodiment of the present invention.
FIG. 32 is a schematic view of a legged mobile robot device according to a fifth embodiment of the present invention.
FIG. 33 is a perspective view of a conventional four-legged mobile robot device.
FIG. 34 is a perspective view of a conventional wheel-type moving device.
[Explanation of symbols]
1 legged mobile robot device, 2 body, 3A, 3B, 3C, 3D leg unit, 4A, 4B, 4C, 4D wheel, 5A, 5B, 5C, 5D motor, 9A, 9B, 9C, 9D connecting part ( Elbow joint), 11A, 11B, 11C, 11D connecting part (shoulder, hip joint)

Claims (40)

At least two legs connected to the body with a plurality of degrees of freedom and used for movement;
Wheels respectively attached to the at least two legs,
Two driving means for directly rotating the left and right pair of the wheels, respectively,
Control means for moving the at least two legs within the range of the plurality of degrees of freedom, and controlling movement of the body and the legs by driving the pair of left and right wheels by the two driving means. A legged mobile robot device comprising: The legged mobile robot device according to claim 1, wherein the control means switches between walking movement by the at least two legs and movement of wheels by wheels attached to the at least two legs. 3. The control device according to claim 2, wherein a hybrid movement combining the walking movement and the wheel movement can be performed in addition to the walking movement and the wheel movement, and the movement is switched. Legged mobile robot device. The control means controls the orientation of the wheels attached to the at least two legs on the ground surface by moving the at least two legs within a plurality of degrees of freedom. The legged mobile robot device according to claim 1. The control means unifies the directions of the wheels attached to the at least two legs, respectively, on the grounding surface, and sets the body and the legs by rotating the wheels in the same direction by the two driving means. The legged mobile robot device according to claim 4, wherein the legged mobile robot device is moved linearly in that direction. The control means changes the direction of the wheels attached to the at least two legs on the grounding surface, and changes the direction of rotation of each wheel by the two driving means to change the body and the legs. The legged mobile robot device according to claim 4, wherein the legged mobile robot device is turned leftward or rightward. The control unit moves the at least two legs within a range of a plurality of degrees of freedom, with one of the legs as an axis, and driving the wheels of the remaining legs by the driving unit. 2. The legged mobile robot device according to claim 1, wherein the body is rotated by a point. The wheels attached to the at least two legs, respectively, have a shape in which a turning radius changes depending on a contact position,
The control means drives the two wheels by the two driving means while moving the at least two legs in the range of the plurality of degrees of freedom to change the turning radius of the wheel on the ground contact surface. The legged mobile robot device according to claim 1, wherein The legged mobile robot device according to claim 8, wherein the control means switches between walking movement by the at least two legs and wheel movement by wheels attached to the at least two legs. 10. The legged mobile robot apparatus according to claim 9, wherein the control unit switches between the walking movement and the wheel movement also in a hybrid movement combining the walking movement and the wheel movement. The control means controls the orientation of the wheels attached to the at least two legs on the ground surface by moving the at least two legs within a plurality of degrees of freedom. The legged mobile robot device according to claim 2. The control means unifies the directions of the wheels attached to the at least two legs, respectively, on the grounding surface, and sets the body and the legs by rotating the wheels in the same direction by the two driving means. The legged mobile robot device according to claim 11, wherein the legged mobile robot device is moved linearly in that direction. The control means changes the direction of the wheels attached to the at least two legs on the grounding surface, and changes the direction of rotation of each wheel by the two driving means to change the body and the legs. The legged mobile robot device according to claim 11, wherein the legged mobile robot device is turned leftward or rightward. The control unit moves the at least two legs within a range of a plurality of degrees of freedom, with one of the legs as an axis, and driving the wheels of the remaining legs by the driving unit. 3. The legged mobile robot device according to claim 2, wherein the body is rotated by a point. 3. The legged mobile robot device according to claim 2, wherein the movement control unit makes the rotation speeds of the two driving units the same. The movement control means may vary the turning radius of the wheel by varying the ground contact position of the wheel within the range of the degrees of freedom of the at least two legs, and perform left or right curve movement control. The legged mobile robot device according to claim 15, wherein: 2. The legged mobile robot device according to claim 1, wherein the at least two legs have a lifting mechanism that can move the body up and down with respect to a ground contact surface. The legged mobile robot device according to claim 1, wherein the wheel is attached to a tip of the at least two leg portions on the grounding surface side. The legged mobile robot device according to claim 1, wherein the wheel is mounted near a connection between the at least two legs. The legged mobile robot device according to claim 1, wherein a tail is connected to the body, and wheels are attached to the tail. At least two legs which are connected to the body with a plurality of degrees of freedom and are used for movement, wheels respectively attached to the at least two legs, and a pair of left and right wheels among the wheels A movement control method for a legged mobile robot device including two drive units each of which is directly driven to rotate,
A first step of moving the at least two legs within the plurality of degrees of freedom;
A second step of controlling the movement of the body and the leg by driving the pair of left and right wheels by the two driving means. 22. The legged mobile robot device according to claim 21, wherein the second step switches between walking movement by the at least two legs and wheel movement by wheels attached to the at least two legs. Movement control method. The said 2nd process can also perform the hybrid movement which combined the said walking movement and the said wheel movement other than the said walking movement and the said wheel movement, and switches those movements. 23. The movement control method for a legged mobile robot device according to claim 22. In the second step, the orientation of wheels mounted on the at least two legs on the ground contact surface is moved in the first step by moving the at least two legs within a plurality of degrees of freedom. 22. The movement control method for a legged mobile robot device according to claim 21, wherein the control is performed by controlling the movement of the legged mobile robot device. In the second step, the directions of the wheels attached to the at least two legs on the ground contact surface are unified by the first step, and the rotation directions of the wheels are the same by the two driving means. 25. The movement control method for a legged mobile robot device according to claim 24, wherein the body and the legs are linearly moved in the directions. In the second step, the directions of the wheels attached to the at least two legs on the ground contact surface are made different from each other by the first step, and the rotation directions of the wheels are made different by the two driving means. 25. The movement control method for a legged mobile robot device according to claim 24, wherein the body and the legs are turned left or right. In the second step, the at least two legs are moved within a plurality of degrees of freedom by the first step, and one of the legs is set as an axis, and the wheels of the remaining legs are moved. 22. The movement control method for a legged mobile robot device according to claim 21, wherein the torso is moved by a point rotation by being driven by the driving means. The wheels attached to the at least two legs, respectively, have a shape in which a turning radius changes depending on a contact position,
In the second step, the at least two legs are moved in the range of the plurality of degrees of freedom by the first step to change a radius of gyration of the wheel on a ground contact surface, and the two driving units move the at least two legs. 22. The movement control method for a legged mobile robot device according to claim 21, wherein two wheels are driven. 29. The legged mobile robot apparatus according to claim 28, wherein the second step switches between walking movement by the at least two legs and wheel movement by wheels attached to the at least two legs. Movement control method. 30. The movement control of a legged mobile robot device according to claim 29, wherein the second step further switches the hybrid movement obtained by combining the walking movement and the wheel movement between the walking movement and the wheel movement. Method. In the second step, the directions of the wheels respectively attached to the at least two legs in the first step on the ground contact surface are moved within the range of a plurality of degrees of freedom of the at least two legs. 23. The movement control method for a legged mobile robot device according to claim 22, wherein the movement is controlled by controlling the movement of the legged mobile robot device. The second step is to unify the directions of the wheels attached to the at least two legs in the first step on the ground contact surface, and to make the rotation directions of the wheels the same by the two driving means. 32. The movement control method for a legged mobile robot device according to claim 31, wherein the body and the legs are moved linearly in the directions. In the second step, the directions of the wheels respectively attached to the at least two legs in the first step on the ground contact surface are made different, and the rotation directions of the wheels are made different by the two driving means. 32. The movement control method for a legged mobile robot device according to claim 31, wherein the body and the leg are turned left or right by turning. In the second step, the at least two legs are moved within a plurality of degrees of freedom by the first step, and one of the legs is set as an axis, and the wheels of the remaining legs are moved. 23. The movement control method for a legged mobile robot device according to claim 22, wherein the torso is moved by a point of rotation by being driven by driving means. 23. The movement control method for a legged mobile robot device according to claim 22, wherein, in the second step, the rotation speeds of the two driving units are made equal. In the second step, the turning radius of the wheel is changed by changing the ground contact position of the wheel within the range of the degree of freedom of the at least two legs by the first step, and the left or right direction is changed. 36. The movement control method for a legged mobile robot device according to claim 35, wherein curve movement control is performed. 22. The movement control method for a legged mobile robot device according to claim 21, wherein the at least two legs include a lifting mechanism capable of moving the body up and down with respect to a ground contact surface. 22. The movement control method of a legged mobile robot device according to claim 21, wherein the wheel is attached to a tip of the at least two legs on the grounding surface side. 22. The movement control method for a legged mobile robot device according to claim 21, wherein the wheel is mounted near a connection between the at least two legs. 22. The movement control method for a legged mobile robot device according to claim 21, wherein a tail is connected to the body, and wheels are attached to the tail.

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