JP2005074528A - Leg type mechanism and control method for leg type mechanism - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a leg type mechanism and a control method for the leg type mechanism which perform stable walking and running operation. <P>SOLUTION: This leg type mechanism has a pair of legs 3, 13 having a plurality of joints 7-9, 17-19 and constituted to land from either the toes or heels of the foot sole faces of foot parts 6, 16 during the walking or running operation. When landing from either the toes or heels of the foot sole faces of the foot parts 6, 16, the servo gain of actuators R5-R6, L5-L6 of ankle joints 9, 19 is reduced or made zero from a steady-state value. The decrease of the servo gain weakens the position fixing force of the actuators R5-R6, L5-L6, and the ankle joints 9, 19 are driven so that the whole foot sole faces are passively landed by floor reaction. The occurrence of impact, vibration, or the like is thereby prevented to perform stable walking and running operation. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a leg type mechanism and a method for controlling the leg type mechanism.

In recent years, various legged biped robots have been proposed. A legged biped robot has a pair of legs attached to the lower end of the torso via a hip joint, and by controlling the movement of each leg, it is possible to smoothly move up and down stairs and get over obstacles. It is configured.
Each leg of the legged biped robot has a thigh connected to the torso via a hip joint, a lower leg connected to the thigh via a knee joint, and an ankle joint to the lower leg. And a foot portion connected via the foot.

The hip joint, knee joint, and ankle joint incorporate actuators, speed reducers, and various sensors that drive them, and control the actuator actuators to drive each leg in a predetermined pattern. Can be operated such as walking and running.
In the legged biped robot configured as described above, when the free leg (leg floating in the air) is landing, the entire bottom surface of the foot is worn with the floor surface parallel to the bottom surface of the foot. Either a pattern to be floored or a pattern to land from the heel on the sole of the foot and to adjust the angle of each leg joint (hip joint, knee joint, ankle joint) to land the entire sole of the foot (See, for example, Patent Document 1).

  However, in the above-mentioned motion pattern in which the entire foot sole is actively landed by calculation, especially when the robot performs high speed walking such as running, the calculation speed may not be in time, and the joint drive target value And an error in driving speed is likely to occur, and it is very difficult to obtain an appropriate control value. For this reason, a difference occurs between an appropriate control theoretical value and an actual control value, and an impact, vibration, or the like is generated due to a sudden load movement or the like in the back of the foot, which adversely affects the posture control of the robot.

JP 2000-296484 A

  An object of the present invention is to provide a leg-type mechanism and a control method for the leg-type mechanism that can perform stable walking and running operations.

Such an object is achieved by the present invention described below.
The leg-type mechanism of the present invention includes at least one leg having at least a foot, an ankle joint, and an actuator for driving the ankle joint, and a toe on the back surface of the foot of the foot during a walking / running operation by the leg. A legged mechanism configured to land from either one of the heels,
Landing detection means for detecting the landing of either one of the toe or the heel on the back surface of the foot, and when the one landing is detected by the landing detection means, the servo gain of the actuator And a control unit for reducing the value from a steady value to zero.

  As a result, when either the toes or the heel on the foot sole of the foot is landed, the position fixing force by the actuator is weakened, and the entire foot sole is naturally (passively) worn by the floor reaction force. The ankle joint can be driven to floor. Therefore, the optimal ankle joint angle can be obtained regardless of the landing angle of the sole of the foot when landing, so that the posture is not adversely affected by a sudden load, and stable walking and running (high-speed walking) motion Is possible.

The leg-type mechanism of the present invention includes at least one leg having at least a foot, an ankle joint, and an actuator for driving the ankle joint, and a toe on the back surface of the foot of the foot during a walking / running operation by the leg. A legged mechanism configured to land from either one of the heels,
A first landing detecting means for detecting the landing of one of the toes and the heel on the sole of the foot of the foot; a second landing detecting means for detecting the other landing; and the first And a controller that reduces or zeros the servo gain of the actuator from a steady value when the one landing is detected by the landing detecting means.

  As a result, when either the toes or the heel on the foot sole of the foot is landed, the position fixing force by the actuator is weakened, and the entire foot sole is naturally (passively) worn by the floor reaction force. The ankle joint can be driven to floor. Therefore, the optimal ankle joint angle can be obtained regardless of the landing angle of the sole of the foot when landing, so that the posture is not adversely affected by a sudden load, and stable walking and running (high-speed walking) motion Is possible.

In the legged mechanism of the present invention, when the one landing detection is detected by the first landing detection means and then the other landing is detected by the second landing detection means, It is preferable that the servo gain of the actuator is returned to a steady value.
As a result, it is possible to prepare for the next active operation after the passive operation. Therefore, stable walking and running (high speed walking) can be performed continuously.

The leg type mechanism of the present invention is configured to delay the servo gain of the actuator to a steady value by delaying a predetermined time from when the other landing is detected by the second landing detection means. Is preferred.
Accordingly, stable walking and running (high-speed walking) can be performed according to the walking (running) mode.

In the leg type mechanism of the present invention, it has a torque detecting means for detecting the torque of the ankle joint, and the torque detecting means detects the torque of the ankle joint when the one of the two is landing, Therefore, it is preferable that the servo gain of the actuator to be changed when the one of the two reaches the ground is determined.
As a result, when either one of the toes or the heel on the back of the foot of the foot is landed, the position fixing force by the actuator is adjusted according to the torque of the ankle joint at that time, and the floor reaction force naturally The ankle joint can be driven (passively) so that the entire sole is landed. Therefore, the optimal ankle joint angle can be obtained regardless of the landing angle of the sole of the foot when landing, so that the posture is not adversely affected by a sudden load, and stable walking and running (high-speed walking) motion Is possible.

In the leg type mechanism of the present invention, the actuator includes a pitch actuator and a roll actuator, and when one of the actuators is landed, at least one of the pitch actuator and the roll actuator. It is preferable that the servo gain is reduced from a steady value to zero.
As a result, when either the toe or the heel on the foot sole of the foot is landed, the servo gain of the actuator for the pitch or the actuator for the roll is reduced from the steady value or is reduced to 0, so that the actuator The ankle joint can be driven so that the entire back surface of the foot is naturally (passively) landed by the floor reaction force by weakening the position fixing force due to. Therefore, the optimal ankle joint angle can be obtained regardless of the landing angle of the sole of the foot when landing, so that the posture is not adversely affected by a sudden load, and stable walking and running (high-speed walking) motion Is possible.

In the leg type mechanism of the present invention, the leg type mechanism has torque detecting means for detecting the torque on the pitch axis of the ankle joint and the torque on the roll axis, respectively.
The actuator has a pitch actuator and a roll actuator,
The torque detecting means detects the torque at the pitch axis and the torque at the roll shaft of the ankle joint when the one is landed, and changes when the one is landed based on the detected value. Servo gains of the pitch actuator and the roll actuator are respectively determined, and when the one of the actuators reaches the floor, the servo gains of the pitch actuator and the roll actuator are respectively reduced from a steady value or made zero. It is preferable that it is comprised.
Thereby, more stable walking and running (high-speed walking) can be performed.
In the leg type mechanism of the present invention, the landing detection means is preferably a pressure sensor.
Thereby, the landing of the target site can be detected with a simple configuration.

The method for controlling a leg-type mechanism according to the present invention includes at least one leg having at least a foot, an ankle joint, and an actuator for driving the ankle joint. A control method for a legged mechanism that is controlled to land from either one of the toes or the heel of
The servo gain of the actuator is reduced from a steady value or is reduced to zero when any one of a toe and a heel on the foot sole of the foot is landed.

  As a result, when either the toes or the heel on the foot sole of the foot is landed, the position fixing force by the actuator is weakened, and the entire foot sole is naturally (passively) worn by the floor reaction force. The ankle joint can be driven to floor. Therefore, the optimal ankle joint angle can be obtained regardless of the landing angle of the sole of the foot when landing, so that the posture is not adversely affected by a sudden load, and stable walking and running (high-speed walking) motion Is possible.

In the control method of the leg type mechanism of the present invention, the torque of the ankle joint when either the toe or the heel on the foot sole of the foot is landed is detected, and based on this detection value, It is preferable to determine the servo gain of the actuator that is changed when landing.
As a result, when either one of the toes or the heel on the back of the foot of the foot is landed, the position fixing force by the actuator is adjusted according to the torque of the ankle joint at that time, and the floor reaction force naturally The ankle joint can be driven (passively) so that the entire sole is landed. Therefore, the optimal ankle joint angle can be obtained regardless of the landing angle of the sole of the foot when landing, so that the posture is not adversely affected by a sudden load, and stable walking and running (high-speed walking) motion Is possible.

In the control method of the leg type mechanism according to the present invention, when one of the toe and the heel on the foot sole of the foot is landed and then the other is landed, the servo gain of the actuator is set to a steady value. It is preferable to return.
As a result, it is possible to prepare for the next active operation after the passive operation. Therefore, stable walking and running (high speed walking) can be performed continuously.

Hereinafter, the leg type mechanism and the control method of the leg type mechanism of the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
1 to 4 show an embodiment of a leg-type mechanism and a control method of the leg-type mechanism according to the present invention. FIG. 1 is a schematic view showing the entire leg-type mechanism, and FIG. FIG. 3 is a block diagram showing a drive control system of the mechanism, FIG. 3 is a block diagram showing a servo control system of the leg type mechanism, and FIG. 4 is an explanatory diagram showing an operation pattern of the leg type mechanism.

In the embodiments shown in these drawings, the leg mechanism according to the present invention is applied to the pair of legs 3 and 13 of the right leg 3 and the left leg 13 of the legged bipedal walking robot 1 using a link mechanism. 1 is the front (front side) of the legged bipedal walking robot 1, the left side of FIG. 1 is the right side of the legged bipedal walking robot 1, and the right side of FIG. 1 is the legged bipedal walking. It is the left side of the robot 1.
The right leg 3, which is a leg-type mechanism, is a link mechanism having a right thigh 4, a right lower leg 5, and a right foot 6 as link elements, and the right thigh 4 is a torso via a right hip joint 7. The right leg part 5 is connected to the right thigh part 4 via the right knee joint 8, and the right foot part 6 is connected to the right leg part 5 via the right ankle joint 9.

  The right hip joint 7 has a right foot yaw angle actuator (control motor) R1, a right foot pitch angle actuator (control motor) R2, a right foot roll angle actuator (control motor) R3, and the power of these control motors R1 to R3. A power mechanism (not shown) including a speed reducer that is transmitted to the thigh 4, a position sensor that detects the angle and angular velocity of the right hip joint 7, and sensors (encoders, potentiometers, etc.) S 1 to S 3. The right thigh 4 is driven with respect to the body 2 through the power transmission mechanism by driving the control motors R1 to R3.

  The right knee joint 8 includes a right foot knee pitch angle actuator (control motor) R4, a power transmission mechanism (not shown) including a speed reducer for transmitting the power of the control motor R4 to the right lower leg 5 and a right knee. A position sensor for detecting the angle and angular velocity of the joint 8 and a sensor (encoder, potentiometer, etc.) S4 such as a speed sensor, and the right lower leg 5 is driven to the right side via a power transmission mechanism by driving the control motor R4. It is driven with respect to the thigh 4.

  The right ankle joint 9 includes a right foot pitch angle actuator (control motor) R5, a right foot roll angle actuator (control motor) R6, and a speed reducer that transmits the power of these control motors R5 and R6 to the right foot portion 6. A power transmission mechanism (not shown), a position sensor for detecting the angle and angular velocity of the right ankle joint 9, sensors such as a speed sensor (encoder, potentiometer, etc.) S5 and S6, and a heel provided on the heel of the right foot portion 6. Pressure sensor (first landing detection means) S13, a toe pressure sensor (second landing detection means) S14 provided on the toe of the right foot 6 and a right foot pitch angle actuator (control motor) R5. A pitch torque sensor (torque detection means) S15 for detecting torque (torque on the pitch axis) and a right foot roll angle actuator And a roll torque sensor (torque detection means) S16 for detecting the torque of the eta (control motor) R6 (torque at the roll shaft). The right foot 6 is driven by the drive of the control motors R5 and R6 via a power transmission mechanism. Is driven with respect to the right lower leg 5.

The left leg 13, which is a leg type mechanism, is a link mechanism having the left thigh 14, the left lower leg 15 and the left foot 16 as link elements, and the left thigh 14 is connected to the body part via the left hip joint 17. 2, the left lower leg 15 is connected to the left thigh 14 via the left knee joint 18, and the left foot 16 is connected to the left lower leg 15 via the left ankle joint 19.
The left hip joint 17 has a left foot yaw angle actuator (control motor) L1, a left foot pitch angle actuator (control motor) L2, a left foot roll angle actuator (control motor) L3, and the power of these control motors L1 to L3. A power mechanism (not shown) including a speed reducer to be transmitted to the thigh 14, a position sensor for detecting the angle and angular velocity of the left hip joint 17, and sensors (encoder, potentiometer, etc.) S 7 to S 9. Then, the left thigh 14 is driven with respect to the trunk 2 via the power transmission mechanism by driving the control motors L1 to L3.

  The left knee joint 18 includes a left foot knee pitch angle actuator (control motor) L4, a power transmission mechanism (not shown) including a reduction gear for transmitting the power of the control motor L4 to the left lower leg 15 and a left knee joint. 18 and a position sensor for detecting an angular velocity, a sensor (encoder, potentiometer, etc.) S10 such as a velocity sensor, and the left lower leg 15 is connected to the left thigh via a power transmission mechanism by driving the control motor L14. 14 is driven.

  The left ankle joint 19 includes a left foot pitch angle actuator (control motor) L5, a left foot roll angle actuator (control motor) L6, and a speed reducer that transmits the power of these control motors L5 and L6 to the left foot portion 16. A power transmission mechanism (not shown), a position sensor for detecting the angle and angular velocity of the left ankle joint 19, sensors such as a speed sensor (encoder, potentiometer, etc.) S11, S12, and a heel provided on the heel of the left foot portion 16. Pressure sensor (first landing detection means) S13, toe pressure sensor (second landing detection means) S14 provided on the toe of the left foot portion 16, and left foot pitch angle actuator (control motor) L5 A pitch torque sensor (torque detection means) S15 for detecting torque (torque on the pitch axis) and the left foot And a roll torque sensor (torque detection means) S16 for detecting the torque (torque at the roll shaft) of the roll angle actuator (control motor) L6, and driving the control motors L5 and L6 via a power transmission mechanism. The left foot 16 is driven relative to the right lower leg 15.

FIG. 2 is a block diagram showing the drive control system of the right leg 3 and the left leg 13 described above, and FIG. 3 is a block diagram of the servo control system.
The drive control system includes a control unit 20 that controls the operations of the joints 7 to 9 and 17 to 19 of the right leg 3 and the left leg 13, and the control unit 20 includes a CPU (Central Processing Unit) (not shown). A storage unit (not shown) that stores (stores) various programs such as a program for executing the control operation of the legs 3 and 13 that are the leg-type mechanisms of the legged bipedal walking robot 1, and a position controller 21 And a speed controller 22. The position controller 21 and the speed controller 22 are not particularly limited, and for example, a PID controller or the like can be used.

  The control unit 20 includes target values (position commands, speed commands) and position sensors, speed sensors, and other sensors (encoders, potentiometers, etc.) S1 to S12 provided in the joints 7 to 9 and 17 to 19 and the vicinity thereof. Drive current (drive voltage) is output to each of the control motors R1 to R6 and L1 to L6 via the drivers D1 to D12 based on the input signal (detection signal) (position information, time differential value) of Controls driving of the motors R1 to R6 and L1 to L6.

  The control unit 20 also includes a heel pressure sensor S13 provided on the heels of the foot parts 6 and 16, an input signal (detection signal) from the toe pressure sensor S14 provided on the toe, and the ankle joint 9, Based on the input signals (detection signals) from the pitch torque sensor S15 and the roll torque sensor S16 provided on the 19 pitch axis and roll axis reducers (not shown), the feet of the ankle joints 9 and 19 Servo gains of the flat pitch angle control motors R5 and L5 and the foot roll angle control motors R6 and L6 are controlled.

That is, for each of the foot pitch angle control motors R5 and L5 and the foot roll angle control motors R6 and L6 of the ankle joints 9 and 19, PWM (Pulse Width Modulation) that feeds back position information with the position command and speed command as inputs. Depending on the position information from the encoder, potentiometer, etc., the control system reduces at least one of the control parameter values (servo gain) of each control that performs position control and speed control. As a result, the servo gain of the entire control system (servo control system) is reduced from the steady value (normal value) or zero. Specifically, in the present embodiment, control is performed by changing at least one parameter value of Kp of the position controller 21 and Kd of the speed controller 22 in FIG. The servo gain of the entire system is reduced from the steady value or zero. If the servo gain of the entire control system is set to 0, the control motor to be controlled becomes free (free state).
Hereinafter, reducing or setting the control parameter value or the servo gain to 0 is sometimes simply referred to as “reducing” or “decreasing”.

Next, the operation of the legs 3 and 13 of the legged bipedal walking robot 1 will be specifically described using the right leg 3 as a representative.
In this legged biped walking robot 1, when a drive current is output from the control unit 20 to the right foot yaw angle control motor R1 of the right hip joint 7 via the driver D1, the rotational force of the right foot yaw angle control motor R1 is transmitted. (Not shown) is transmitted to the right leg 3, and the right leg 3 turns in the left-right direction with respect to the body part 2.

When a drive current is output from the control unit 20 to the right foot pitch angle control motor R2 of the right hip joint 7 via the driver D2, the rotational force of the right foot pitch angle control motor R2 is transmitted via a transmission mechanism (not shown). It is transmitted to the right thigh 4 and the right thigh 4 swings back and forth.
Further, when a drive current is output from the control unit 20 to the right foot roll angle control motor R3 of the right hip joint 7 via the driver D3, the rotational force of the right foot roll angle control motor R3 is transmitted via a transmission mechanism (not shown). This is transmitted to the right thigh 4 and the right thigh 3 swings left and right.

Further, when a drive current is output from the control unit 20 to the right foot knee pitch angle control motor R4 of the right knee joint 8 via the driver D4, the rotational force of the right foot knee pitch angle control motor R4 is transmitted (not shown). Is transmitted to the right lower leg part 5, and the right lower leg part 5 swings back and forth.
Further, when a driving current is output from the control unit 20 to the right foot pitch angle control motor R5 of the right ankle joint 9 via the driver D5, the rotational force of the right foot pitch angle control motor R5 is transmitted (not shown). Is transmitted to the right foot portion 6 through which the right foot portion 6 swings back and forth.

Further, when a drive current is output from the control unit 20 to the right foot roll angle control motor R6 of the right ankle joint 9 via the driver D6, the rotational force of the right foot roll angle control motor R6 is transmitted (not shown). Is transmitted to the right foot 6 through the right foot 6, and the right foot 6 swings left and right.
Since the operation of the left leg 13 is the same as that of the right leg 3, the detailed description thereof will be omitted.

  In the legged biped robot 1 configured as described above, when a target value such as a target walking speed (target traveling speed) is determined, control motors R1 to R6 and L1 to L6 are passed through drivers D1 to D12. Drive predetermined control motors R1 to R6, L1 to L6. In this case, based on the input signals from the sensors S1 to S12, the drive amounts and drive speeds of the joints 7 to 9 and 17 to 19 of the right leg 3 and the left leg 13 are detected (calculated), and the detected values and target values are detected. Based on the value, the driving of the control motors R1 to R6 and L1 to L6 is controlled. For example, in the case of low-speed walking, it is possible to carry out with the feet 6 and 16 kept substantially horizontal. The form which leaves the toe of the back is taken.

In high-speed walking (running), as shown in FIG. 4, the following STEP 1 to STEP 3 operations are alternately repeated on the right leg 3 and the left leg 13. In the following STEP 1 to STEP 3, only the operation of the right leg 3 will be described as a representative.
(STEP1)
The foot 6 of the right leg 3 which is a free leg (a leg floating in the air) is landed from the heel, and the floor reaction force (pressure applied to the heel of the foot 6) at that time is detected by the heel pressure sensor S13. The landing impact torque is detected by the pitch torque sensor S15 and the roll torque sensor S16 of the ankle joint 9. In this case, if the detection value detected by the heel pressure sensor S13 exceeds a preset threshold value, it is determined that the heel has landed, and detection by the pitch torque sensor S15 and the roll torque sensor S16 is performed. Based on the value, the control parameters of the control motors (pitch and roll) R5 and R6 of the ankle joint 9 are changed to be small, and the servo gains of these control motors R5 and R6 are instantaneously reduced (for example, about 1 to 3 msec). The

  That is, each control parameter (servo gain) of the control motor R5 of the ankle joint 9 is determined (determined) based on the detected value of the pitch torque sensor S15, and each control parameter of the control motor R5 is set to that value. To do. Thereby, each control parameter of the control motor R5 is changed to a value smaller than that in the steady state, and the servo gain of the entire control system of the control motor R5 is reduced. The servo gain of the entire control system of the control motor R5 is set larger as the detection value of the pitch torque sensor S15 is larger.

  Further, based on the detection value of the roll torque sensor S16, each control parameter (servo gain) of the control motor R6 of the ankle joint 9 is determined (obtained), and each control parameter of the control motor R6 is set to that value. To do. As a result, each control parameter of the control motor R6 is changed to a value smaller than that in the steady state, and the servo gain of the entire control system of the control motor R6 is reduced. The servo gain of the entire control system of the control motor R6 is set larger as the detection value of the roll torque sensor S16 is larger.

Here, in each of the control motors R5 and R6, the servo gain of the entire control system is preferably 80% or less of the steady value (normal value), and more preferably 50% or less of the steady value. Preferably, it is more preferably about 5 to 50% of the steady value.
The other joints 7 and 8 are each driven with a steady (normal) servo gain.

(SETP2)
Due to the floor reaction force caused by the landing, the foot 6 is passively rotated around the pitch axis and the roll axis of the ankle joint 9 relative to the crus 5, that is, the toe of the foot 6 is It is passively driven in the direction of landing (the entire back surface of the foot is landed), and the entire foot surface of the foot 6 is landed. The floor reaction force (pressure applied to the toe of the foot 6) at that time is detected by the toe pressure sensor S14, and the detection value detected by the toe pressure sensor S14 exceeds a preset threshold value. Then, it is determined that the toes have landed, that is, the entire foot sole 6 has landed. In this case, each position information is input to the control unit 20 even during the passive rotation.

(SETP3)
When the toes of the foot 6 are landed, that is, when the entire foot back surface of the foot 6 is landed, the servo gain of the entire control system of the control motor R5 and the servo gain of the entire control system of the control motor R6 are set to steady values. Return and return from passive drive to active drive. At this time, the target value of the next active drive is calculated with the position (joint angle) changed by the passive drive as the current position.

In this case, when the toe pressure sensor S14 detects the landing of the toe of the foot 6, the servo gain may be instantaneously returned to the steady value, and the toe of the foot 6 may be restored by the toe pressure sensor S14. Alternatively, the servo gain may be returned to a steady value by delaying for a predetermined time from the time when the landing is detected. Whether or not to provide this delay time and the value of the delay time are determined according to the walking (running) form.
Thereafter, the next active operation pattern is executed.
By repeating the above STEP1 to SETP3 alternately with the right leg 3 and the left leg 13, walking and running (high-speed walking) are possible.

  As described above, according to this legged bipedal walking robot 1 (the legged mechanism and the control method of the legged mechanism of the present embodiment), the heels of the legs 6 and 16 of the legs (free legs) 3 and 13 are supported. At the moment of landing, control motors (pitch axes, roll axes) R1 to R6 of the ankle joints 9 and 19 according to signals from the pitch torque sensor S15 and the roll torque sensor S16 of the ankle joints 9 and 19, Since the servo gains of L1 to L6 are configured to be reduced from the steady value, the control motors R1 to R6 and L1 to L6 having the servo gains reduced have a weak position fixing force and are passively activated by the floor reaction force. The ankle joints 9 and 19 are driven so that the entire back surface is landed. Since the servo gain is returned to the steady value when the toes of the foot portions 6 and 16 (the entire back surface of the foot) land, it is possible to prepare for the next active operation.

  Therefore, when walking or running such as landing from a part of the soles of the feet 6 and 16, the force applied to the soles at the time of landing regardless of the walking speed (running speed) or the landing angle of the soles. By using (floor reaction force), the ankle joint angle can be changed naturally (passively) to form the optimal ankle joint angle at the time of landing, so in the steps from landing to leaving the floor Abrupt load fluctuations can be prevented (or suppressed), and impacts and vibrations can also be prevented (or suppressed). In addition, since the servo gain is set (controlled) in accordance with (according to) the impact torque, it is possible to more reliably prevent (or suppress) the impact and vibration. Thereby, smooth landing and load movement are performed, and stable walking and running (high-speed walking) can be performed.

As mentioned above, although the leg type mechanism and the control method of the leg type mechanism of the present invention have been described based on the illustrated embodiment, the present invention is not limited to this, and the configuration of each part has the same function. Any configuration can be substituted. In addition, any other component may be added to the present invention.
In addition, in the said embodiment, although comprised so that it may land from the heel of the foot sole of a foot part, in this invention, not only this but it is comprised so that it may land from the toe of the foot sole of a foot part. May be. Also in the operation pattern of landing from the toe, the same operation and effect as the operation pattern of landing from the heel are obtained.

In the above embodiment, only the servo gain of the ankle joint actuator is reduced or set to 0. However, the present invention is not limited to this. In addition to the ankle joint actuator, other indirect actuators such as the knee joint The servo gain of the actuator or the hip joint actuator may be reduced or made zero.
The application of the present invention is not limited to the legged biped robot, and the present invention is applied to, for example, various robots having at least one leg (for example, four legs), limbs, and the like. Can do.

The schematic diagram showing the embodiment of the leg type mechanism of the present invention. The block diagram of the drive control system of the leg type mechanism of embodiment. The block diagram of the servo control system of the leg type mechanism of embodiment. Explanatory drawing which showed the operation | movement pattern of the leg type mechanism of embodiment.

Explanation of symbols

1 legged biped robot, 2 torso, 3 right leg, 4 right thigh, 5 right lower leg, 6 right foot, 7 right hip joint, 8 right knee joint, 9 right ankle joint, 13 left leg, 14 left thigh, 15 left lower leg, 16 left foot, 17 left hip joint, 18 left knee joint, 19 left ankle joint, 20 control unit, 21 position controller, 22 speed controller, R1 right foot yaw angle actuator, R2 Right foot pitch angle actuator, R3 Right foot roll angle actuator, R4 Right foot knee pitch angle actuator, R5 Right foot pitch angle actuator, R6 Right foot roll angle actuator, L1 Left foot yaw angle actuator, L2 Left foot pitch angle actuator, L3 Left foot roll angle actuator, L4 Left foot knee pitch angle actuator, L5 Left foot pitch angle actuator, L6 Left foot low Angular actuator, S1 to S12 sensor, S13 heel pressure sensor, S14 toe pressure sensor, a torque sensor S15 pitch, torque sensor S16 roll, D1 to D12 driver

Claims (11)

At least one leg having at least a foot, an ankle joint, and an actuator for driving the ankle joint is provided, and the foot can be worn from one of the toes and the heel on the back surface of the foot when walking or running with the leg. A legged mechanism configured to floor,
Landing detection means for detecting the landing of either one of the toe or the heel on the back surface of the foot, and when the one landing is detected by the landing detection means, the servo gain of the actuator And a control unit that reduces the value from a steady value to zero. At least one leg having at least a foot, an ankle joint, and an actuator for driving the ankle joint is provided, and the foot can be worn from one of the toes and the heel on the back surface of the foot when walking or running with the leg. A legged mechanism configured to floor,
A first landing detecting means for detecting the landing of one of the toes and the heel on the sole of the foot of the foot; a second landing detecting means for detecting the other landing; and the first And a control unit that reduces the servo gain of the actuator from a steady value or zero when the one landing is detected by the landing detecting means.   When the first landing detection unit detects the one landing and the second landing detection unit detects the other landing, the servo gain of the actuator is set to a steady value. The legged mechanism of claim 2, wherein the legged mechanism is configured to return.   4. The leg type according to claim 3, wherein the servo gain of the actuator is returned to a steady value by delaying a predetermined time from when the second landing detection is detected by the second landing detection unit. mechanism.   Torque detection means for detecting the torque of the ankle joint is detected by the torque detection means, and the torque of the ankle joint when the one is landing is detected. The legged mechanism according to any one of claims 1 to 4, wherein the actuator is configured to determine a servo gain of the actuator that is changed when the actuator is operated.   The actuator includes a pitch actuator and a roll actuator. When one of the actuators is landed, the servo gain of at least one of the pitch actuator and the roll actuator is reduced from a steady value. The legged mechanism according to claim 1, wherein the legged mechanism is configured to be zero. Torque detecting means for detecting the torque on the pitch axis and the torque on the roll axis of the ankle joint,
The actuator has a pitch actuator and a roll actuator,
The torque detecting means detects the torque at the pitch axis and the torque at the roll shaft of the ankle joint when the one is landed, and changes when the one is landed based on the detected value. Servo gains of the pitch actuator and the roll actuator are respectively determined, and when the one of the actuators reaches the floor, the servo gains of the pitch actuator and the roll actuator are respectively reduced from a steady value or made zero. The leg type mechanism according to any one of claims 1 to 4, which is configured as described above.   The legged mechanism according to any one of claims 1 to 7, wherein the landing detection means is a pressure sensor. At least one leg having at least a foot, an ankle joint, and an actuator for driving the ankle joint is provided, and the foot can be worn from one of the toes and the heel on the back surface of the foot when walking or running with the leg. A control method for a legged mechanism that is controlled to floor,
A control method for a legged mechanism, wherein the servo gain of the actuator is reduced from a steady value or is reduced to zero when any one of a toe and a heel on the foot sole of the foot is landed.   Servo of the actuator that detects the torque of the ankle joint when either the toe or the heel of the foot sole of the foot is landed and changes when the one is landed based on the detected value The method for controlling a legged mechanism according to claim 9, wherein a gain is defined. The leg type according to claim 9 or 10, wherein the servo gain of the actuator is returned to a steady value when one of a toe and a heel on the foot sole of the foot is landed and the other is subsequently landed. Mechanism control method.

Images