JP2005007501A - Robot device and its motion control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot device movable to the next motion, and also restorable to original motion, in response to supplied input information, even during the time when performing a certain motion. <P>SOLUTION: This robot device interrupts motion of " a dance ", when transfer to " looking-back " motion (a self-operation arc a3) is indicated, when performing " dance " motion (a self-motion arc a1), and transfers to a posture (for example, a node ND2) closest to a posture at interrupted time. The robot device transfers again to a node ND1 from the node ND2, and performs the " looking-back " motion (a self-motion arc a3). Afterwards, the robot device moves to a stored dance interrupting time posture from a posture of the node ND1, and performs a continuance of the " dance " motion from the posture. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a robot apparatus that operates autonomously while transitioning between a plurality of postures, and an operation control method thereof.
[0002]
[Prior art]
A mechanical device that performs an action similar to that of a human (living body) using an electrical or magnetic action is called a “robot”. Robots began to spread in Japan from the end of the 1960s, but many of them are industrial robots (industrial robots) such as manipulators and transfer robots for the purpose of automating and unmanned production work in factories. Met.
[0003]
Recently, practical robots that support life as a human partner, that is, support human activities in various situations in daily life such as the living environment, have been developed. Unlike industrial robots, such practical robots have the ability to learn how to adapt themselves to humans with different personalities or to various environments in various aspects of the human living environment. For example, it was designed based on the body mechanism and motion of a “pet-type” robot that imitates the body mechanism and movement of a quadruped animal such as a dog or cat, or a human who walks upright on two legs. Robotic devices such as “humanoid” or “humanoid” robots are already in practical use.
[0004]
Since these robot devices can perform various operations with an emphasis on entertainment performance as compared with industrial robots, they may be referred to as entertainment robots. In addition, there is a robot apparatus that operates autonomously according to information from the outside or an internal state.
[0005]
As an example of the autonomous robot apparatus that performs this autonomous operation, Patent Document 1 below describes a robot apparatus that performs a target operation while changing a known posture in accordance with supplied input information. Yes. The robot apparatus described in Patent Document 1 has an emotion / instinct model, determines the next action (behavior) based on the feeling / instinct, and creates a transition plan up to a posture in which the action (behavior) can be executed. Stand up. Then, after changing the posture based on the transition plan, the action (behavior) determined based on such feelings and instinct is actually executed.
[0006]
[Patent Document 1]
International Publication No. 00/43167 Pamphlet
[0007]
[Problems to be solved by the invention]
By the way, in order to increase intimacy with the user, it is desirable that the operation of the autonomous robot device imitating the above-described organism is as close to a real organism as possible. As a robot device that performs an operation close to a real creature, for example, even if a certain operation is being performed, it can transition to the next operation according to the input information supplied, and in some cases, can return to the original operation Things are desirable.
[0008]
However, in the technique described in Patent Document 1, when an operation is stopped during execution of a certain operation, the state changes to a preset neutral posture, and the state changes from the neutral posture to a posture close to the neutral posture. It was difficult to return to the original operation. In order to avoid such problems, it is necessary to end the current operation and return to a known posture before transitioning to the next posture. It is difficult to perform a natural and smooth autonomous operation.
[0009]
The present invention has been proposed in view of such a conventional situation, and even when a certain operation is being performed, the operation can be changed to the next operation according to the supplied input information. It is another object of the present invention to provide a robot apparatus that can be restored and an operation control method thereof.
[0010]
[Means for Solving the Problems]
In order to achieve the above-described object, a robot apparatus according to the present invention is a robot apparatus that moves between a plurality of postures according to action command information, and the posture and the motion are registered. A graph storage means for storing a graph configured by connecting a posture and the above-described motion that changes the posture, and a path from the current posture to the target posture or the target motion in the action command information. Based on the graph, and based on a result of the search, the control unit includes a control unit configured to make a transition from the current posture to the target posture or the target operation. When action command information for executing another operation is given during the execution of one operation, the one operation is interrupted, the posture is close to the posture at the time of interruption, and then the other operation is changed. Also It is.
[0011]
In order to achieve the above-described object, an operation control method for a robot apparatus according to the present invention is an operation control method for a robot apparatus that moves between a plurality of postures according to action command information. Based on the action command information, the posture and the motion are registered on the path from the current posture to the target posture or the target motion, and the posture and the motion that changes the posture are connected. Search on the graph composed of the above, and move based on the search result to transition from the current posture to the target posture or the target motion, while another motion is performed during the execution of one motion When the action command information for executing is given, the one operation is interrupted, the posture is changed to a posture close to the posture at the time of interruption, and then the other operation is changed.
[0012]
In such a robot apparatus and its operation control method, when action command information for executing another operation is given during execution of one operation, the one operation is interrupted and the posture is close to the posture at the time of interruption. After the transition, transition to the other operation described above.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings.
[0014]
The biped walking type robot apparatus shown as an example of the present invention is a practical robot that supports human activities in various situations in the living environment and other daily lives, and expresses basic actions performed by humans. It is an entertainment robot that can do it.
[0015]
As shown in FIG. 1, the robot apparatus 1 includes a head unit 3 connected to a predetermined position of the trunk unit 2, and two left and right arm units 4R / L and two right and left leg units 5R /. L is connected to each other (provided that R and L are suffixes indicating right and left, respectively, and the same applies hereinafter).
[0016]
The joint degree-of-freedom configuration of the robot apparatus 1 is schematically shown in FIG. The neck joint that supports the head unit 3 has three degrees of freedom: a neck joint yaw axis 101, a neck joint pitch axis 102, and a neck joint roll axis 103.
[0017]
Each arm unit 4R / L constituting the upper limb includes a shoulder joint pitch axis 107, a shoulder joint roll axis 108, an upper arm yaw axis 109, an elbow joint pitch axis 110, a forearm yaw axis 111, A wrist joint pitch axis 112, a wrist joint roll axis 113, and a hand part 114 are configured. The hand portion 114 is actually a multi-joint / multi-degree-of-freedom structure including a plurality of fingers. However, since the operation of the hand 114 has little contribution or influence on the posture control or walking control of the robot apparatus 1, it is assumed in this specification that the degree of freedom is zero. Therefore, it is assumed that each arm portion has seven degrees of freedom.
[0018]
The trunk unit 2 has three degrees of freedom: a trunk pitch axis 104, a trunk roll axis 105, and a trunk yaw axis 106.
[0019]
Each leg unit 5R / L constituting the lower limb includes a hip joint yaw axis 115, a hip joint pitch axis 116, a hip joint roll axis 117, a knee joint pitch axis 118, an ankle joint pitch axis 119, and an ankle joint. A roll shaft 120 and a foot 121 are included. In the present specification, the intersection of the hip joint pitch axis 116 and the hip joint roll axis 117 defines the hip joint position of the robot apparatus 1. The foot 121 of the human body is actually a structure including a multi-joint / multi-degree-of-freedom sole, but the foot of the robot apparatus 1 has zero degrees of freedom. Accordingly, each leg is configured with 6 degrees of freedom.
[0020]
In summary, the robot apparatus 1 as a whole has a total of 3 + 7 × 2 + 3 + 6 × 2 = 32 degrees of freedom. However, the robot device 1 for entertainment is not necessarily limited to 32 degrees of freedom. Needless to say, the degree of freedom, that is, the number of joints, can be increased or decreased as appropriate in accordance with design / production constraints or required specifications.
[0021]
Each degree of freedom of the robot apparatus 1 as described above is actually implemented using an actuator. It is preferable that the actuator be small and light in light of demands such as eliminating the appearance of extra bulges on the appearance and approximating the shape of a human body, and performing posture control on an unstable structure such as biped walking. .
[0022]
FIG. 3 schematically shows a control system configuration of the robot apparatus 1. As shown in the figure, the robot apparatus 1 includes a trunk unit 2, a head unit 3, an arm unit 4R / L, and a leg unit 5R / L representing human limbs, and coordinated operations between the units. It is comprised with the control unit 10 which performs the adaptive control for implement | achieving.
[0023]
The operation of the entire robot apparatus 1 is controlled in an integrated manner by the control unit 10. The control unit 10 includes a main control unit 11 including a main circuit component (not shown) such as a CPU (Central Processing Unit), a DRAM (Dynamic Random Access Memory), and a flash ROM (Read Only Memory), and a power supply circuit. And a peripheral circuit 12 including an interface (not shown) for exchanging data and commands with each component of the robot apparatus 1.
[0024]
In realizing the present invention, the installation location of the control unit 10 is not particularly limited. Although it is mounted on the trunk unit 2 in FIG. 3, it may be mounted on the head unit 3. Alternatively, the control unit 10 may be provided outside the robot apparatus 1 so as to communicate with the body of the robot apparatus 1 by wire or wirelessly.
[0025]
Each joint freedom degree in the robot apparatus 1 shown in FIG. 2 is implement | achieved by the actuator corresponding to each. That is, the head unit 3 includes a neck joint yaw axis actuator A that represents the neck joint yaw axis 101, the neck joint pitch axis 102, and the neck joint roll axis 103. ₂ , Neck joint pitch axis actuator A ₃ , Neck joint roll axis actuator A ₄ Is arranged.
[0026]
The head unit 3 is provided with a CCD (Charge Coupled Device) camera for imaging an external situation, a distance sensor for measuring the distance to an object located in front, and an external sound. A microphone for collecting sound, a speaker for outputting sound, a touch sensor for detecting pressure received by a physical action such as “stroking” or “striking” from a user, and the like are provided.
[0027]
The trunk unit 2 includes a trunk pitch axis actuator A that represents the trunk pitch axis 104, the trunk roll axis 105, and the trunk yaw axis 106. ₅ , Trunk roll axis actuator A ₆ , Trunk yaw axis actuator A ₇ Is arranged. In addition, the trunk unit 2 includes a battery serving as a starting power source for the robot apparatus 1. This battery is constituted by a chargeable / dischargeable battery.
[0028]
Also, the arm unit 4R / L is the upper arm unit 4 ₁ R / L and elbow joint unit 4 ₂ R / L and forearm unit 4 ₃ Although it is subdivided into R / L, the shoulder joint pitch axis 107, the shoulder joint roll axis 108, the upper arm yaw axis 109, the elbow joint pitch axis 110, the forearm yaw axis 111, the wrist joint pitch axis 112, and the wrist joint roll axis 113 Each shoulder joint pitch axis actuator A ₈ , Shoulder joint roll axis actuator A ₉ , Upper arm yaw axis actuator A ₁₀ , Elbow joint pitch axis actuator A ₁₁ , Elbow joint roll axis actuator A ₁₂ , Wrist joint pitch axis actuator A ₁₃ Wrist joint roll axis actuator A ₁₄ Is deployed.
[0029]
Further, the leg unit 5R / L includes the thigh unit 5 ₁ R / L and knee unit 5 ₂ R / L and shin unit 5 ₃ Although it is subdivided into R / L, the hip joint yaw axis representing the hip joint yaw axis 115, the hip joint pitch axis 116, the hip joint roll axis 117, the knee joint pitch axis 118, the ankle joint pitch axis 119, and the ankle joint roll axis 120. Actuator A ₁₆ Hip joint pitch axis actuator A ₁₇ , Hip roll axis actuator A ₁₈ , Knee joint pitch axis actuator A ₁₉ , Ankle joint pitch axis actuator A ₂₀ , Ankle joint roll axis actuator A ₂₁ Is deployed. Actuator A used for each joint ₂ , A ₃ .. Can be constituted by a small AC servo actuator of a type in which the servo control system is a one-chip, and is mounted in a motor unit.
[0030]
For each mechanism unit such as the trunk unit 2, the head unit 3, each arm unit 4R / L, each leg unit 5R / L, the sub-control units 20, 21, 22R / L, 23R of the actuator drive control unit / L is deployed. Furthermore, a grounding confirmation sensor 30R / L for detecting whether or not the sole of each leg unit 5R / L is grounded is mounted, and a posture sensor 31 for measuring the posture is provided in the trunk unit 2. ing.
[0031]
The grounding confirmation sensor 30R / L is configured by, for example, a proximity sensor or a micro switch installed on the sole of the foot. In addition, the posture sensor 31 is configured by a combination of an acceleration sensor and a gyro sensor, for example.
[0032]
Based on the output of the ground contact confirmation sensor 30R / L, it is possible to determine whether the left and right legs are currently standing or swinging during an operation period such as walking or running. Further, the inclination and posture of the trunk can be detected by the output of the posture sensor 31.
[0033]
The main control unit 11 can dynamically correct the control target in response to the outputs of the sensors 30R / L and 31. More specifically, the whole body that performs adaptive control on each of the sub-control units 20, 21, 22R / L, and 23R / L and that the upper limbs, the trunk, and the lower limbs of the robot apparatus 1 are cooperatively driven. A movement pattern can be realized.
[0034]
The whole body movement on the body of the robot apparatus 1 sets foot movement, ZMP (Zero Moment Point) trajectory, trunk movement, upper limb movement, waist height, etc., and instructs the movement according to these setting contents The command to be transferred is transferred to each of the sub-control units 20, 21, 22R / L, 23R / L. Each sub-control unit 20, 21,... Interprets a command received from the main control unit 11, and each actuator A ₂ , A ₃ ... and a drive control signal is output. Here, “ZMP” is a point on the floor where the moment due to floor reaction force during walking is zero, and “ZMP trajectory” is, for example, during the walking operation period of the robot apparatus 1. It means the trajectory that ZMP moves. Regarding the concept of ZMP and the application of ZMP to the stability criterion for walking robots, Migir Vukobratovic “LEGGED LOCATION ROBOTS” (Ichiro Kato's “Walking Robots and Artificial Feet” (Nikkan Kogyo Shimbun)) It is described in.
[0035]
As described above, in the robot apparatus 1, each sub-control unit 20, 21,... Interprets the received command from the main control unit 11, and each actuator A ₂ , A ₃ ... and a drive control signal is output to control the drive of each unit. Thereby, the robot apparatus 1 can stably transition to the target posture and can walk in a stable posture.
[0036]
In addition to the attitude control as described above, the control unit 10 in the robot apparatus 1 receives various sensors such as an acceleration sensor, a touch sensor, and a grounding confirmation sensor, image information from a CCD camera, audio information from a microphone, and the like. It is integrated and processed. In the control unit 10, although not shown, various sensors such as an acceleration sensor, a gyro sensor, a touch sensor, a distance sensor, a microphone and a speaker, each actuator, a CCD camera, and a battery are connected to the main control unit 11 via corresponding hubs. Has been.
[0037]
The main control unit 11 sequentially takes in sensor data, image data, and audio data supplied from the above-described sensors, and sequentially stores them in a predetermined position in the DRAM via the internal interface. Further, the main control unit 11 sequentially takes in battery remaining amount data representing the remaining amount of battery supplied from the battery and stores it in a predetermined position in the DRAM. Each sensor data, image data, audio data, and battery remaining amount data stored in the DRAM is used when the main control unit 11 controls the operation of the robot apparatus 1.
[0038]
The main control unit 11 reads the control program and stores it in the DRAM at the initial stage when the power of the robot apparatus 1 is turned on. In addition, the main control unit 11 determines whether the main control unit 11 itself or the surrounding situation or the user based on each sensor data, image data, audio data, and battery remaining amount data sequentially stored in the DRAM from the main control unit 11 as described above. Judgment of whether or not there is an instruction and action.
[0039]
Further, the main control unit 11 determines an action according to its own situation based on the determination result and the control program stored in the DRAM, and also determines the necessary actuator A based on the determination result. ₂ , A ₃ Are driven to cause the robot apparatus 1 to take actions such as so-called “gesture” and “hand gesture”.
[0040]
In this way, the robot apparatus 1 can determine its own and surrounding conditions based on the control program and act autonomously.
[0041]
FIG. 4 is a diagram functionally classifying the contents of the data processing of the main control unit 11 described above. As shown in FIG. 4, the main control unit 11 is divided into an action determination mechanism unit 40, a posture transition mechanism unit 41, and a control mechanism unit 42.
[0042]
The behavior determination mechanism unit 40 determines the next operation (behavior) based on the input information S1 such as the sensor data and the image / audio data described above, and the content of the determined operation (behavior) is set as the behavior command information S2. This is supplied to the posture transition mechanism unit 41.
[0043]
The posture transition mechanism unit 41 holds, in advance, for example, a graph (a directed graph to be described later), and a behavior command information S2 supplied from the behavior determination mechanism unit 40. The posture transition information S3 is supplied to the control mechanism unit 42.
[0044]
Based on this posture transition information S3, the control mechanism unit 42 determines the necessary actuator A. ₂ , A ₃ A control signal S4 for driving... Is generated. ₂ , A ₃ ... to the actuator A ₂ , A ₃ Are driven to cause the robot apparatus 1 to perform a desired operation.
[0045]
Hereinafter, processing performed by the posture transition mechanism unit 41 will be described in detail.
The robot apparatus 1 transitions to a posture according to the content of the command (behavior command information S2) and performs an operation according to the transitioned posture, but may not be able to directly transition to the posture according to the content of the command. That is, the posture of the robot apparatus 1 is classified into a posture that can be directly changed from the current posture and a posture that cannot be changed directly and can be made via a certain motion or posture. For example, the robot apparatus 1 can directly transition from a lying position with both hands and legs extended to a lying position, but cannot directly transition to a standing position, and once pulled the limbs close to the torso. A two-step movement is required to become a posture and then to stand up.
[0046]
Therefore, when the behavior command information S2 supplied from the behavior determination mechanism unit 40 indicates a directly transitionable posture, the posture transition mechanism unit 41 directly uses the behavior command information S2 as the posture transition information S3. On the other hand, when a posture that cannot be directly transitioned is indicated, a transition is made to the target posture (the posture instructed by the behavior command information S2) via another posture or motion that can be transitioned. Posture transition information S <b> 3 is generated and supplied to the control mechanism unit 42.
[0047]
In practice, the posture transition mechanism unit 41 is registered with postures and actions that the robot apparatus 1 can take, holds a graph formed by connecting the posture and the motion that changes the posture, Transition to a desired posture or a desired action. That is, the posture transition mechanism unit 41 registers in advance the postures that the robot apparatus 1 can take, and records between two postures that can be transitioned. Based on the supplied action command information S2, a transition is made to a target posture or action.
[0048]
Specifically, the posture transition mechanism unit 41 uses an algorithm called a directed graph as shown in FIG. In the directed graph, a node indicating a posture that the robot apparatus 1 can take, a directed arc (operation arc) connecting two transitionable nodes, and an arc of operation returning from one node to the one node in some cases, That is, a self-operation arc indicating an operation completed within one node is combined. That is, the posture transition mechanism unit 41 includes a node that is information indicating the posture (stationary posture) of the robot device 1, and a directed arc and a self-motion arc that are information indicating the operation of the robot device 1. It holds a directed graph, and grasps posture as point information and movement information as directed line information.
[0049]
Here, there may be a plurality of directed arcs and self-moving arcs. That is, a plurality of directed arcs may be coupled between transitionable nodes (attitudes), and a plurality of self-motion arcs may be coupled at one node.
[0050]
When the behavior command information S2 is supplied from the behavior determination mechanism unit 40, the posture transition mechanism unit 41 connects the node corresponding to the current posture and the node corresponding to the posture to be taken next indicated by the behavior command information S2. As described above, the route from the current node to the next node is sequentially searched according to the direction of the directed arc, thereby searching for the route from the current posture to the target node or the target arc. Here, the target arc may be a directed arc or a self-operating arc. For example, the case where the self-motion arc becomes the target arc is a case where the self-motion starting from the posture to be taken is targeted (instructed) and a dance is instructed.
[0051]
The robot apparatus 1 is capable of individually operating each component unit such as the head unit 3, each arm unit 4R / L, and each leg unit 5R / L. That is, as long as the resources do not compete, for example, the head unit 3 and the arm unit 4R / L can be operated separately, but the resources compete as in the entire robot device 1 and the head unit 3. Cannot be operated individually. Therefore, the action command information S2 described above can be generated for each resource.
[0052]
Now, as shown in FIG. 6, a case is assumed where self-motion arcs a <b> 1 and a <b> 2 indicating self-motion such as “dance” and “walking” are coupled to a node ND <b> 1 representing “standing posture”, respectively. The “dance” operation is executed with the posture of the node ND1 as the initial posture, and returns to the original posture and ends. In addition, the “walking” operation is started with the posture of the node ND1 as an initial posture, and is stopped in the original posture.
[0053]
Here, in order to enhance the biological feeling of the robot apparatus 1, that is, the human nature, there is something that is favorite around even during the execution of the “dance” action (self-motion arc a1). When obtained as image data, it is considered desirable to transition to a “walking” operation (self-motion arc a2) in which the dance is interrupted and walking in the direction of the object.
[0054]
However, in the technique described in Patent Document 1 described above, when the operation is stopped during the execution of the “dance” operation (self-motion arc a1), the current posture is not known, and a transition is made to a preset neutral posture. As a result, the neutral posture is changed to a posture close to the neutral posture. In order to avoid such a problem, the operation of “dance” (self-motion arc a1) is completed, and after returning to the “standing posture” (node ND1), transition is made to the “walking” posture (self-motion arc a2). Although it is necessary, in this case, there is a problem that reflexive action cannot be made immediately and it is difficult to perform a natural and smooth autonomous operation. This problem is particularly noticeable when the time from the start to the end of the “dance” operation (self-operation arc a1) is long.
[0055]
Therefore, the posture transition mechanism unit 41 according to the present embodiment performs an action determination mechanism unit so that the “walking” operation (self-operation arc a2) is set as the target arc during the execution of the “dance” operation (self-operation arc a1). When instructed by 40, the “dance” operation is interrupted, and as shown in FIG. 7, a transition is made to a node ND2 indicating an attitude closest to the attitude at the time of interruption. Then, the transition is again made from the node ND2 to the node ND1, and the “walk” operation (self-operation arc a2) is executed.
[0056]
FIG. 8 shows the transition of the operation in the case of executing the “walking” operation (self-operation arc a2) while interrupting the “dance” operation (self-operation arc a1). As shown in FIG. 8, conventionally, even when a transition to a “walking” operation (self-motion arc a2) is instructed during execution of a “dance” operation (self-motion arc a1), The “walking” operation is not executed until the operation of “is completed and the posture of the node ND1 is returned (for example, for 1 minute). In contrast, in the present embodiment, when a transition to the “walking” operation (self-motion arc a2) is instructed during the execution of the “dance” operation (self-motion arc a1), the “dance” operation is performed. And transition to a posture (here, node ND2) closest to the posture at the time of the interruption. Then, the transition is again made from the node ND2 to the node ND1, and the “walk” operation (self-operation arc a2) is executed. Thereby, a quicker and less wasteful movement can be realized, and the biological feeling of the robot apparatus 1 can be further enhanced.
[0057]
Here, after another operation is performed, the operation can be performed again from the continuation of the “dance” operation.
[0058]
For example, a case is assumed where self-motion arcs a1 and a3 indicating self-motion such as “dance” and “turn around” are coupled to the node ND1 representing “standing posture”.
[0059]
When the action determining mechanism unit 40 instructs that the “turnback” operation (self-operation arc a3) is the target arc during the execution of the “dance” operation (self-operation arc a1), the “dance” operation As shown in FIG. 9, a transition is made to the node ND2 indicating the posture closest to the posture at the time of interruption. Then, the transition is made again from the node ND2 to the node ND1, and the “return” operation (self-operation arc a3) is executed. After that, the transition is made from the posture of the node ND1 to the stored posture at the time of interruption of the dance, and the continuation of the “dance” operation is executed from the posture.
[0060]
The transition of the operation when the “dance” operation (self-motion arc a1) is interrupted and the “return” operation (self-motion arc a3) is executed and the “dance” operation (self-motion arc a1) is executed again. FIG. 10 shows a comparison with the prior art. As shown in FIG. 10, in the related art, when a transition to a “turnback” operation (self-motion arc a3) is instructed during execution of a “dance” operation (self-motion arc a1), Although the “return” operation is performed after the end of the operation, the “dance” operation cannot be performed again. On the other hand, in the present embodiment, when a transition to a “return” operation (self operation arc a3) is instructed during execution of the “dance” operation (self operation arc a1), the “dance” operation is performed. And transition to a posture (here, node ND2) closest to the posture at the time of the interruption. Then, the transition is again made from the node ND2 to the node ND1, and the “return” operation (self-operation arc a3) is executed. After that, the transition is made from the posture of the node ND1 to the posture at the time when the dance is interrupted, and the continuation of the “dance” operation is executed from the posture. Thereby, a more natural autonomous action with continuity becomes possible, and the biological feeling of the robot apparatus 1 can be further enhanced.
[0061]
In the above example, when the “dance” operation is interrupted, the transition to the posture of the node ND2 different from the node ND1 is described. However, the posture when the “dance” operation is interrupted is If it is closest to the attitude of the node ND1, it may be changed to the attitude of the node ND1. That is, it is only necessary to make a transition from the posture when a certain operation is interrupted to the node indicating the closest posture.
[0062]
Here, when a certain operation is interrupted and a transition is made to a node that shows a posture closest to the posture at the time of the interruption, there may be a case where the movable parts self-interfer with each other and cause an emergency stop. For example, in the state where the left forearm is on the right forearm in front of the trunk, if the left forearm is lowered, self-interference occurs with the right forearm. In such a case, when transitioning from the interrupted attitude to the node indicating the closest attitude, for example, the technique described in the specification and drawings of Japanese Patent Application No. 2003-78834 previously proposed by the present applicant is used. It is desirable to use it to solve the interference problem and recover automatically.
[0063]
In particular,
(A) A method of continuing operation even when interference occurs without solving a strict interference problem
(B) A method for generating a non-interfering operation without solving a strict interference problem
(C) A method for generating a non-interfering operation while solving a strict interference problem
Any one of the methods will automatically recover from the emergency stop state.
[0064]
Hereinafter, a method for automatically returning the robot apparatus 1 from the emergency stop state will be briefly described.
[0065]
For example, “(A) a method of continuing the operation even when interference occurs without solving a strict interference problem” includes a method of weakening the actuator. That is, the torque or force generated by the actuator when self-interference occurs is temporarily limited, or is limited in advance in case interference occurs. Thereby, in the example of the self-interference described above, for example, the return operation can be continued while the left forearm is in contact with the surface of the right forearm, and the return operation of the left arm can be completed safely.
[0066]
In addition, when performing PTP (Point To Point) control, it is also possible to sequentially operate from the tip of the movable part. That is, when the upper limb is returned, the hand is sequentially operated, and when the lower limb is returned, the operation is sequentially performed from the foot. Thus, by solving the emergency stop state from the tip, it becomes difficult for the limbs to get entangled.
[0067]
Similarly, when PTP control is performed, it is also possible to sequentially operate from the root of the movable part. That is, the operation is performed in order from the joint close to the base link. In this case, it is possible to prevent the limbs from becoming entangled by limiting the torque or force generated by the actuator that has not started to move.
[0068]
Next, “(B) a method of generating a non-interfering operation without solving a strict interference problem” includes continuing control with a small torque or force. That is, even after the occurrence of interference, the torque or force generated by the actuator is not set to zero, and control is continued with a small torque or force. As a result, it is possible to prevent the posture from being unspecified, and it is easy to generate a subsequent return operation.
[0069]
In addition, the operation may be traced back to the time of occurrence of interference. That is, in order to return from the posture at the time of occurrence of interference, an operation opposite to the operation up to the time when the interference occurs is performed.
[0070]
Subsequently, as “(C) a method for generating a motion that does not interfere while solving a strict interference problem”, the robot apparatus 1 autonomously generates a motion that does not cause interference by solving a strict interference problem. To return.
[0071]
As described above, according to the robot apparatus 1 and the operation control method thereof according to the present embodiment, even when a certain operation, for example, a “dance” operation is being performed, the operation is performed according to the supplied input information. Because it is possible to interrupt, transition to the next operation, and to return to the original operation, it is possible to realize a quicker and less wasteful movement and a consistent operation In addition, the biological feeling of the robot apparatus 1 can be enhanced.
[0072]
It should be noted that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.
[0073]
For example, in the above-described embodiment, the case where the present invention is applied to the biped walking robot apparatus 1 that imitates a human being is described. However, the present invention is not limited to this, and a quadruped walking robot apparatus that imitates an animal, For example, the present invention can be applied to various other robot devices such as a robot device used in the entertainment field such as games and exhibitions.
[0074]
【The invention's effect】
As described above in detail, the robot apparatus according to the present invention is a robot apparatus that moves between a plurality of postures according to action command information, and the posture and the motion are registered, and the posture is Based on the action command information, a graph storage means for storing a graph configured by connecting the posture and the motion to change the posture, and a path from the current posture to the target posture or the target motion. Control means for searching on the graph and operating based on the search result to transition from the current posture to the target posture or the target motion. When action command information for executing another operation is given during the execution of the operation, the one operation is interrupted, the posture is changed to a posture close to the posture at the time of interruption, and then the other operation is changed. so That.
[0075]
Also, the robot apparatus motion control method according to the present invention is a motion control method for a robot apparatus that moves by moving between a plurality of postures according to action command information, and is a posture that is targeted from a current posture. Alternatively, based on the action command information, a path to a target action is searched on a graph configured by registering the attitude and the action, and connecting the attitude and the action that changes the attitude. , Based on the search result, the behavior command information is given to make the transition from the current posture to the target posture or the target motion, and to execute another motion while executing one motion. In such a case, the one operation is interrupted, the posture is changed to a posture close to the posture at the time of interruption, and then the other operation is changed.
[0076]
According to such a robot apparatus and its operation control method, when action command information for executing another operation is given during execution of one operation, the one operation is interrupted and is close to the posture at the time of interruption. After the transition to the posture, the transition to the above-mentioned other movements can realize a quicker and more efficient movement, and further enhance the biological feeling of the robot apparatus.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an external configuration of a robot apparatus according to an embodiment.
FIG. 2 is a diagram schematically illustrating a freedom degree configuration model of the robot apparatus.
FIG. 3 is a diagram schematically showing a control system configuration of the robot apparatus.
FIG. 4 is a diagram functionally classifying the contents of data processing of the main control unit.
FIG. 5 is a diagram showing a posture transition graph in a posture transition mechanism unit of the main control unit;
FIG. 6 is a diagram illustrating an example in which “dance” and “walk” self-motion arcs are coupled to a node representing “standing posture”;
FIG. 7 is a diagram illustrating a posture transition graph when the “walk” operation is performed while the “dance” operation is interrupted.
FIG. 8 is a diagram for explaining the transition of the operation when the “dance” operation is interrupted and the “walk” operation is performed, as compared with the conventional case.
FIG. 9 is a diagram illustrating an example in which “dance” and “turn around” self-motion arcs are coupled to a node representing “standing posture”;
FIG. 10 is a diagram for explaining the transition of the operation in the case where the “dance” operation is interrupted and the “return” operation is performed and the “dance” operation is performed again, compared to the conventional case.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Robot apparatus, 2 trunk unit, 3 head unit, 4R / L arm unit, 5R / L leg unit, 10 control unit, 11 main control part, 40 action determination mechanism part, 41 posture transition mechanism part, 42 Control mechanism

Claims (4)

A robot device that moves between a plurality of postures according to action command information and operates.
A graph storage means for storing a graph configured by connecting the posture and the motion for transitioning the posture, wherein the posture and the motion are registered;
The route from the current posture to the target posture or the target motion is searched on the graph based on the action command information, and the route is operated based on the search result. A control means for making a transition to a target posture or a target action,
When the action command information for executing another operation is given during execution of the one operation, the control means interrupts the one operation, makes a transition to a posture close to the posture at the time of interruption, and then performs the other operation. A robot apparatus characterized by making a transition to the operation. 2. The control unit according to claim 1, wherein the control unit stores a posture at the time when the one operation is interrupted, and causes the one operation to be executed from the posture at the time when the other operation is ended. Robotic device. An operation control method for a robot apparatus that moves between a plurality of postures according to action command information,
Based on the action command information, the posture and the motion are registered on the path from the current posture to the target posture or the target motion, and the posture and the motion that changes the posture are connected. Search on a graph composed of
Operate based on the search result, transition from the current posture to the target posture or the target motion,
When action command information for executing another operation is given during the execution of one operation, the one operation is interrupted, the posture is close to the posture at the time of interruption, and then the other operation is changed. An operation control method for a robot apparatus, comprising: 4. An operation of the robot apparatus according to claim 3, wherein a posture at the time of interruption of the one operation is stored, and the one operation is executed from the posture at the time of interruption after the completion of the other operation. Control method.

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