JP2005111661A - Remote controller for biped walking robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote controller for a biped walking robot capable of operating leg bodies of a robot with a simple operation of a pair of operators provided in an operation unit which an operator possesses. <P>SOLUTION: A pair of operators 26 and 26 are slidably placed in an operation unit 23, and when the operators 26 and 26 are operated at an operation position different from each other in the back and forth directions of the operation unit 23, a turning of a biped walking robot is performed. Also, when the operators 26 and 26 are operated in the right and left directions of the operation unit 23, the biped walking robot A walks in the right and left directions. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a remote control device for a biped robot.

  In recent years, a bipedal walking robot that has been put to practical use by the applicant of the present application has two legs extending from the upper body. It moves by walking to get out of the floor and land. In this specification, the “movement” of a biped robot includes not only the movement from one place to another, but also, for example, turning in almost the same place to change the direction of the robot. Operation is also included.

  When this type of biped robot is moved, an algorithm that defines the type of walking motion to be performed by the robot (specifies what kind of walking motion of the robot is performed at what timing) In general, the algorithm is previously taught to a control device that controls the robot.

  However, in the method of teaching such an algorithm to the control device in advance, it takes a lot of time and effort for the teaching work, and it is difficult for the robot to perform various walking operations as needed.

  In addition, there is also known one that controls the walking motion of a robot by a so-called master / slave system (for example, Patent Document 1). Further, for example, techniques found in Patent Documents 2 and 3 are also known.

However, in the techniques found in these Patent Documents 1 to 3, the robot operator himself must perform the same movement as the walking movement to be performed by the robot, so that the operation device is large and complicated. There was an inconvenience that would become a thing.
Japanese Patent Laid-Open No. 10-217159 JP-A-10-291184 Japanese Patent Laid-Open No. 11-10567

  The present invention has been made in view of such a background, and is a remote control device for a biped walking robot capable of operating a leg of a robot with a simple operation of a pair of operators provided in an operating device possessed by an operator. The purpose is to provide.

In order to achieve such an object, the remote control device for a biped robot of the present invention is a remote control device for a biped robot that moves by a walking operation of alternately leaving and landing two legs.
A controller owned by the operator;
A pair of operating elements arranged on the left and right sides of the surface of the operating unit, each provided so as to be operable in the front-rear and left-right directions of the operating unit from a predetermined neutral operating position;
An operation detector that is provided in the operation device and outputs a signal representing an operation position of each operation element;
The pair of operating elements are different from each other in any one of the neutral operation position, the operation position on the front side of the neutral operation position, and the operation position on the rear side of the neutral operation position in the front-rear direction of the operation device. When a signal indicating that the robot is operated is output from the operation detector, the movement of the leg of the robot is controlled by a gait for turning the robot, and the pair of the legs in the left-right direction of the controller is further controlled. One of the operating elements is operated to the left or right operating position of the neutral operating position, and the other operating element is the neutral operating position or the one of the left and right sides of the neutral operating position. When a signal indicating that the operation is operated to any one of the operation positions on the same side as the operation element is output from the operation detector, the gait that causes the robot to walk sideways is used. Characterized in that a control means for controlling the operation of the leg of the bot.

  According to the present invention, the operator moves the pair of operation elements of the operation device to the neutral operation position, the operation position in front of the neutral operation position, and the rear side of the neutral operation position in the front-rear direction of the operation device. By operating at any one of the operation positions different from each other (that is, by changing the operation positions of the pair of operation elements in the front-rear direction), the robot turns. Further, the operator operates one operation element to the operation position on the left side or the right side of the neutral operation position and the other operation element to the one of the neutral operation position and the left and right sides of the neutral operation position. The robot is walked sideways by operating to any one of the operation positions on the same side as the operation element. Therefore, the remote control device of the present invention can operate the leg of the robot with a simple operation of a pair of controls.

  In the present invention, the control means outputs, from the operation detector, a signal indicating that both of the pair of operators are operated to the operation position in front of the neutral operation position in the front-rear direction of the operation device. When this is done, the movement of the robot's legs is controlled by a gait that advances the robot. According to this, the robot can be moved forward or backward by a simple operation of the pair of operating elements.

  The controller is configured such that, in the front-rear direction of the operation device, one of the pair of operators is operated to an operation position in front of the neutral operation position, and the other operator is operated to the neutral operation. When the operation detector outputs a signal indicating that the robot is operated to the operation position on the rear side of the position, the robot is located at substantially the same place, and the leg of the robot is rotated with a turning gait. It is preferable to control the operation. According to this, the robot can be turned at substantially the same place by a simple operation of the pair of operating elements.

  Further, the control means includes means for recognizing at least one of an operation amount from the neutral operation position of each operation element and a temporal change rate thereof based on a signal output from the operation detector. And controlling the movement of the robot leg so as to adjust the movement amount or movement speed of the robot for each step according to at least one of the recognized operation amount and the temporal change rate. Is preferred.

  According to this, the movement amount (step length) and movement speed of the biped robot are adjusted by adjusting the swing amount from the neutral operation position of the operator and the temporal change rate (swing speed of the operator). It can be adjusted, and the operability of the robot by the operating device can be improved.

  In addition, the control means is configured such that when the operation detector outputs a signal indicating that each of the pair of operators is operated in a direction in which the front-rear direction and the left-right direction are combined, the front-rear direction It is preferable that the movement of the leg is controlled in a form in which the gait of the robot with respect to the operation of the pair of controls in the left and right directions is combined. According to this, the robot can perform an operation in which the turning and side walking of the robot are combined.

  Further, when the control means outputs a signal indicating that both of the pair of operating elements are operated to the neutral operation position from the operation detector, the control means A gait for performing a stepping motion and a gait for maintaining both legs in a landing state are selectively generated according to predetermined conditions, and the motion of the robot's legs is controlled by the generated gait. It is preferable to do.

  According to this, in the state where both of the pair of operating elements are operated to the neutral operation position, the stepping action of both legs is performed without the movement of the robot, or both legs are maintained in the landing state. . When performing the stepping motion, the robot can smoothly start moving by the walking motion when the operator is operated from the neutral operation position to another operation position. In addition, in a state where both legs are maintained in the landing state, the power consumption of the robot can be reduced.

  As for the predetermined condition for deciding whether to perform the stepping action of both legs or to keep both legs in the landing state, for example, the operator arbitrarily controls the control means by means of a switch or the like provided on the operating device. For example, the remaining capacity of the power storage device for operating the robot may be monitored, and the control means may automatically select according to the monitoring.

  In the present invention, when at least one of the two legs has landed from the state of getting out of the floor, the landing detection means for detecting the landing and outputting the detection signal to the operation device is provided. And it is preferable that the said operation device is provided with the alerting | reporting means which alert | reports the said landing according to this detection signal.

  According to this, since the operator of the controller can recognize the landing timing of each leg of the robot for each leg by the notification of the notification means, the operator can operate according to the actual movement of the robot. The child can be operated accurately.

  Further, in the present invention, the control means selectively generates a plurality of different types of gaits for at least some of the operation positions that can be operated by the pair of operators, The generated gait is provided so as to be able to control the movement of the leg of the robot, and the operation unit is configured to specify the type of gait to be generated by the control means so as to be switchable to the control means. It is preferable that mode specifying means is provided.

  According to this, it becomes possible by the said operation mode designation | designated means to change the form of the walking motion of the robot according to operation of an operating device into multiple types. For this reason, the operator of the operating device can control the walking motion of the robot in the operating mode (operation mode) of the operating device suitable for his / her preference.

  1st Embodiment of the remote control apparatus of the biped walking robot of this invention is described with reference to FIGS.

  With reference to FIGS. 1 and 2, a bipedal walking robot A in the present embodiment includes an upper body 1 (torso), a pair of left and right legs 2, 2, a pair of left and right arms 3, 3, and a head 4. Is a humanoid robot.

  The upper body 1 of the robot A includes a main body 5 that has legs 2 and 2 and arm bodies 3 and 3 extended and supports the head 4, and is supported by the main body 5. It is comprised from the housing-like subbody 6 with which the back part was mounted | worn.

  A waist 7 is formed at the lower end of the main body 5, and each leg 2 extends from a pair of left and right hip joints 8, 8 provided on the waist 7. Each leg 2 has a knee joint 10 and an ankle joint 11 in order from the hip joint 8 side between the foot portion 9 and the hip joint 8.

  In this case, the hip joint 8 can be rotated about three axes in the vertical and horizontal directions, and the front-rear direction, the knee joint 10 can be rotated about one axis in the horizontal direction, and the ankle joint 11 can be It is possible to rotate around two axes in the vertical and horizontal directions. As a result, each leg 2 can perform almost the same movement as a human leg. Further, a ground sensor 12 that outputs a signal when the foot 9 is landed on the floor F (see FIG. 2) is provided on the bottom surface of the foot 9 of each leg 2. The ground sensor 12 corresponds to the landing detection means in the present invention, and is constituted by, for example, a pressure sensor. The landing detection means may be configured using a sensor (described later) that detects a load and a moment acting on the foot portion 9.

  Shoulder joints 13 are provided on the left and right sides of the upper part of the main body 5, and the arm bodies 3 extend from the shoulder joints 13. Each arm 3 has an elbow joint 15 and a wrist joint 16 in order from the shoulder joint 13 side between the hand portion 14 and the shoulder joint 14. The shoulder joint 13, the elbow joint 15 and the wrist joint 16 can be rotated about three axes, one axis, and one axis, respectively. It is possible to make it happen.

  The joints of the leg bodies 2 and the arm bodies 3 are driven by an electric motor (not shown). The head 4 is supported by the upper end of the main body 5, and a visual imaging device (not shown) for the robot A is built in the head 4.

  As shown in FIG. 2, the main body 5 is equipped with a power storage device 17 as a power source for operating the robot A. Further, the sub-body 6 includes a driver circuit unit 18 of an electric motor (not shown) that drives each joint of each leg 2 and each arm 3, and operation control of the robot A (the leg 2 and each arm 3). A control unit 19 (hereinafter referred to as an ECU 19) responsible for operation control of each joint), a communication device 20 for exchanging various information between the ECU 19 and a remote control device 22 described later, and an output voltage of the power storage device 17 The DC / DC converter 21 is converted to convert the current level into a level such as a voltage for operating the electric motor. Here, the ECU 19 is constituted by an electronic circuit including a microcomputer or the like, and corresponds to the control means in the present invention. In the present embodiment, the communication device 20 performs wireless communication.

  In addition, although illustration is abbreviate | omitted, the bipedal walking robot A of this embodiment is not only the structure mentioned above but the operation position of each joint of each leg 2 and each arm 3 (rotation of the electric motor which drives each joint). Sensor for detecting the position), a sensor for detecting the load and moment acting on the foot 9 of each leg 2, a sensor for detecting the inclination angle of the upper body 1 and its changing speed, and the like. . The ECU 19 is based on information obtained from the various sensors (including the ground sensor 12), a predetermined program, command information given from the remote operation device 22 described later via the communication device 20, and the like. The operation of the robot A is controlled by controlling electric motors that drive the joints of the leg 2 and the arm 3. The ECU 19 also performs processing for transmitting data of the detection signal of the ground sensor 12 to a remote operation device 22 described later via the communication device 20.

  In the following description, in order to distinguish the left and right legs 2, 2, the right leg 2 is referred to as the right leg 2R and the left leg 2 is referred to as the left leg 2L toward the front of the robot A. (See FIG. 1).

  FIG. 3 shows a main configuration of the remote control device 22 for performing the remote control of the walking motion by the legs 2 and 2 of the biped robot A described above. As shown in the figure, the remote operation device 22 includes an operation device 23 that is held and operated by an operator, and a communication device 25 connected to the operation device 23 via a cable 24. Here, the communication device 25 mediates the exchange of information between the operation device 23 and the ECU 19 of the robot A in cooperation with the communication device 20 of the robot A, and wirelessly via the antenna 25a. To communicate with the communication device 20 of the robot A.

  The operating device 23 has a pair of (two) joystick-shaped operating elements 26 and 26 for instructing the operation of the legs 2 and 2 of the robot A on the surface portion, and the legs 2 and 2 of the robot A. And a pair of notification lamps 28 and 28 as notification means for reporting the landing of each leg 2. In addition, the operating device 23 is provided with an operating mode changeover switch 29 (operation mode specifying means) for selectively specifying the operation mode as one of two predetermined operation modes. It is equipped with the side part.

  The operating elements 26 are arranged on the right side and the left side toward the front of the operating device 23, and are supported on a sphere 30 that is rotatably incorporated in the operating device 23. Each operating element 26 is swingable in the front-rear direction as shown by the arrow P in FIG. 3 and in the left-right direction as shown by the arrow Q in FIG. In addition, as indicated by an arrow R in FIG. 3, it is rotatable around a vertical axis. Each operating element 26 stands in a vertical direction with respect to the surface of the operating device 23, and the mark 26a attached to the peripheral edge of the upper end surface of each operating element 26 faces forward (the state shown in FIG. 3). Is a neutral operation position of each operation element 26, and is biased to the neutral operation position by a spring or the like (not shown).

  In addition, the notification lamps 28 and 28 are provided at positions near the right side and the left side of the surface of the operation unit 23, respectively, like the operation elements 26 and 26, and the right notification lamp 28 is lit. When this happens, the operator of the operating device 23 is notified that the right leg 2R of the robot A has landed from the state of getting out of bed. Similarly, the notification lamp 28 on the left side notifies the operator of the operating device 23 that the left leg 2L of the robot A has landed from the state of getting out of the floor when it lights up.

  The operation mode specified by the operation mode change switch 29 defines the type of motion form (details will be described later) of the legs 2 and 2 during the walking motion of the robot A by the operation of the operators 26 and 26. It is. In this embodiment, this operation mode is a basic operation mode in which the legs 2 and 2 of the robot A are operated by the swinging operation of the operating elements 26 and 26 in the front-rear and left-right directions and the rotating operation around the vertical axis. There are two types of operation modes: a simple operation mode in which the legs 2 and 2 are operated only by swinging the operation elements 26 and 26 in the front-rear and left-right directions.

  In the following description, in order to distinguish the operating elements 26, 26, the right operating element 26 is referred to as the right operating element 26R and the left operating element 26 is referred to as the left operating element 26L. There is. Similarly, in order to distinguish the notification lamps 28, 28, the right notification lamp 28 may be referred to as a right notification lamp 28R, and the left notification lamp 28 may be referred to as a left notification lamp 28L.

  Referring to the block diagram of FIG. 4, inside the operation device 23, a right operation detector 31R that outputs a right operation signal indicating an operation position of the right operation element 26R and an operation position of the left operation element 26L are represented. A left operation detector 31L that outputs a left operation signal, a drive circuit 32 for the notification lamps 28R and 28L, and an input / output processing circuit 33 connected to the communication device 25 are incorporated. The input / output processing circuit 33 receives the operation signals from the operation detectors 31R and 31L, and also inputs the ON / OFF signal of the leg stop switch 27 and the operation mode setting signal of the operation mode changeover switch 29. Is done. Further, in the input / output processing device 33, detection data of landing of each leg 2 (hereinafter referred to as landing detection data) by the ground sensor 12 of each leg 2 of the robot A is transmitted from the robot A side to the communication device 25. Is input through.

  Although not shown in detail, the operation detectors 31R and 31L are configured using an encoder, a potentiometer, or the like, and the operation signals to be output are front and rear indicating the operation positions of the operation elements 26 in the front-rear direction. It consists of three signals: an operation signal, a left / right operation signal representing the left / right operation position, and a rotation operation signal representing the operation position around the vertical axis. In this case, each of the operation detectors 31R and 31L includes a swing amount (rotational angle around the horizontal axis of the sphere 30) and a swing direction (sphere) of each operation element 26 from the neutral operation position. 30 is output as the front-rear operation signal, and the amount of rocking in the left-right direction from the neutral operation position (the rotation angle of the spherical body 30 about the front-rear axis) In addition, a signal corresponding to the swing direction (the rotation direction of the spherical body 30 around the axial center) is output as the left / right operation signal. Further, the operation detectors 31R and 31L respectively rotate the rotation amount of the operation element 26 about the vertical axis from the neutral operation position (rotation angle about the vertical axis of the sphere 30) and the rotation direction thereof. Is output as the rotation operation signal.

  The input / output processing circuit 33 receives the operation signals given from the operation detectors 31R and 31L, the ON / OFF signal of the leg stop switch 27, and the operation mode setting signal data from the operation mode changeover switch 29. A process of sequentially outputting to the communication device 25 and transmitting the communication device 25 to the robot A side is executed. Further, the input / output processing circuit 33 also performs a process of controlling the drive circuit 32 of the notification lamps 28 and 28 according to the landing detection data given from the robot A side via the communication device 25.

  Next, the operation of the apparatus of this embodiment will be described.

  First, basic operation control of the legs 2 and 2 by the ECU 19 of the robot A will be described. In this embodiment, the ECU 19 of the robot A basically connects each joint of the legs 2 and 2 so that the legs 2 and 2 are alternately left and landing at a timing synchronized with a clock of a predetermined cycle. The robot A walks (moves) by controlling the electric motor that drives.

  In the control process of the ECU 19, a target gait as an operation command that defines the operation mode (foot travel mode) of each leg 2 when the robot A moves is communicated from the input / output processing circuit 33 of the operating device 23. It is generated based on the data of the right operation signal and the left operation signal (data representing the operation position of each operation element 26 of the operation device 23) given through the devices 25 and 20. The target gait is composed of parameters defining the posture of the upper body 1 and the position and posture of the foot 9 of each leg 2. Then, the ECU 19 controls the electric motors that drive the joints of the legs 2 and 2 based on the generated target gait to operate the legs 2 and 2.

  In this case, in the present embodiment, when generating the target gait, the ECU 19 causes the target step to be taken every step of the walking motion of the robot A (each time the leg 2 on the free leg enters the landing state). The content is generated over two steps of the robot A's walking motion. More specifically, the target gait for one step is a piece in which one leg 2 is in a bed leaving state (free leg state) from the start of the both leg support period in which both legs 2 and 2 are in the landing state. This is a target gait that defines the motion of each leg 2 until the end of the leg support period (until the start of the next both-leg support period). Accordingly, the target gait for two steps is the target gait from the start of the both-leg support period to the start of the next both-leg support period (hereinafter referred to as the current gait) and the next both legs in the walking motion of the robot A. It consists of a target gait from the start of the support period to the start of the next two-leg support period (hereinafter referred to as the next gait).

  An outline of basic control processing of the ECU 19 related to generation of such a desired gait (current gait and next gait) and motion control of the leg 2 in accordance with the desired gait is shown in FIGS. Further explanation will be made with reference to FIG.

  The ECU 19 executes the processing shown in the flowchart of FIG. 5 in a predetermined control cycle (for example, 10 ms), thereby generating the target gait (current gait and next gait) and the operation of the leg 2 of the robot 1. Take control. That is, the ECU 19 reads the current operation position of each operation element 26 of the operation device 23 from the data of the operation signal given from the operation device 23 via the communication circuits 25 and 20 every predetermined control cycle (STEP 1 ). Then, the ECU 19 determines whether or not the current timing is the start timing of the both-leg support period (STEP 2). At this time, if it is the start timing of the both-leg support period, the ECU 19 makes the next gait that is currently generated (this is from the start of the previous both-leg support period by the processing of STEPs 4, 7, 10, and 11 described later). Is generated as a current time gait (STEP 3). Further, the ECU 19 generates a next time gait according to the current operation position of each operator 26 read in STEP 1 (STEP 4). A specific gait form corresponding to the operation position of each operator 26 will be described later.

  If it is not the start timing of the both-leg support period in STEP 2, the ECU 19 further determines that the current timing is the timing within the both-leg support period (the timing within the period from immediately after the start of both-leg support period to immediately before the end of both-leg support period). ) Is determined (STEP 5). At this time, if the timing is within the both-leg support period, the ECU 19 determines that the current leg gait and the next time gait (more specifically, the landing of the leg 2 on the free leg in the current time gait and the next time gait). The floor position, the posture, etc.) are respectively corrected according to the current operation position of the operation element 26 (STEP 6, 7). In this case, the landing position and posture of the leg 2 on the free leg side in the current time gait and the next time gait are corrected in principle to correspond to the operation position of the operator 26. However, if the operation position of the operation element 26 is changed to an operation position that suddenly changes the current movement direction of the robot A, the current time gait and the gait and the robot 1 can be secured. The landing position and posture of the leg 2 on the free leg side in the next gait are corrected. In this case, in particular, the current time's gait prescribes the movement of the leg 3 on the free leg side immediately after the current timing, and thus is corrected so that the amount of correction from that obtained in STEP 3 is as small as possible. .

  If the timing is not within the both-leg support period in STEP 5, the ECU 19 further determines whether or not the current timing is the end timing of the both-leg support period (start timing of the one-leg support period) (STEP 8). At this time, if it is the end timing of the both-leg support period, the ECU 19 determines the current current time gait as the final current time gait (STEP 9). Further, the ECU 19 corrects the current next time's gait according to the operation position of the operation element 26 as in STEP 7 (STEP 10).

  The ECU 19 determines that the current next time's gait is the case of STEP 7 when it is not the end timing of the both leg support period at STEP 8, that is, when one leg 3 is in the one-leg support period when it is in the state of getting out of bed. Similarly, correction is made according to the operation position of the operator 26 (STEP 11).

  In addition, after the ECU 19 generates or corrects the current time gait and the next time gait as described above (after execution of the processing of STEPs 4, 7, 10, and 11), the ECU 19 determines the leg according to the current current time gait. 3 and 3 are controlled (STEP 12).

  FIG. 6 is a time-series diagrammatic representation of the control process of the ECU 19 as described above during the walking operation of the robot 1. In the figure, t0, t1,... Mean time, "D", "S" mean both-leg support period and one-leg support period, and "L", "R" respectively represent the left leg 2L. Means the right leg 2R. Moreover, the wavy line part has shown the period when the leg 2L or 2R is a landing state. In this case, “L” or “R” in the same row as the wavy line portion indicates which of the two legs 2L and 2R is in the landing state. For example, the wavy line portion in the period from time t3 to t7 represents that the left leg 2L is in the landing state during that period.

  The stippled portion indicates a period during which the current time's gait is generated or corrected. In this case, “L” or “R” in the same row as the stippled portion represents the leg 2L or 2R that is a free leg in the current time gait corresponding to the stippled portion. For example, the stippled portion in the period from time t3 to t4 represents that the current time gait having the right leg 2R as a free leg is generated in the period of the stippled portion and appropriately corrected. Further, the hatched portion indicates a period during which the next time's gait is generated or corrected. In this case, “L” or “R” in the same row as the shaded portion represents the leg 2L or 2R that becomes a free leg in the next gait corresponding to the shaded portion. For example, the hatched portion in the period from time t3 to t6 indicates that the next time gait with the left leg 2L as the free leg is generated and corrected as appropriate during the period of the hatched portion.

  By the above-described processing of the ECU 19, for example, at time t6 (at the start of the both-leg support period from t6 to t7 and at the start of landing of the right leg 2R), it is generated in the period from t3 to t6 immediately before the time t6. The corrected next time gait (target gait having the left leg 2L as a free leg) is the current time gait that defines the form of foot movement of the left leg 2L immediately after the time t6. The current time's gait is appropriately corrected according to the operation position of the operation element 26 until time t7 when the left leg 2L starts to leave, and is determined at time t7. Then, the operation of the left leg 2L that is a free leg from t7 to t9 (the landing position and posture of the left leg 2L at time t9) is performed based on the current time gait determined at time t7. At the time t6, a next time gait with the right leg 2R as a free leg (next time gait following the current time gait from t6 to t9) is generated according to the operation position of the operator 26 at that time. The next time's gait is appropriately corrected according to the operation position of the operation element 26 until the end of the actual movement of the leg 3 based on the current time's gait (time t9 when the left leg 2L comes off the floor). The The next time's gait becomes the current time's gait related to the period from time t9 to t12 at time t9.

  In the present embodiment, as described above, the current time gait and the next time gait, which are target gaits for two steps for each step of the walking motion of the robot A, are appropriately set according to the operation position of the operator 26 of the operation device 23. Are generated and corrected, and the motion control of the legs 3 and 3 is performed based on these target gaits.

  Next, a more specific gait form of the legs 3 and 3 controlled by the ECU 19 according to the operation position of each operation element 26 of the operation device 23 will be described.

  First, the operation mode of the operation device 23 is set to the basic operation mode by the operation mode changeover switch 29, and data indicating this is transmitted from the input / output processing circuit 33 of the operation device 23 via the communication devices 25 and 20 to the robot A. The case where it is given to ECU19 is demonstrated.

  In a state where the operation mode of the operation device 23 is set to the basic operation mode, the ECU 19 of the robot A uses each operation signal of the operation device 23 from the data of the operation signal given from the operation device 23 via the communication circuits 25 and 20. The operation position of the operation element 26 in the front-rear direction, the operation position in the left-right direction, and the operation position around the axis in the vertical direction are each classified into three types and determined.

  That is, for example, with respect to the swinging operation of each operation element 26 in the front-rear direction, the ECU 19 sets the operation element 26 in a neutral position when the swinging amount in the front-rear direction from the neutral operation position of the operation element 26 is less than a predetermined amount. It is determined that the operation position is present, and the operation position of the operation element 26 is set to the front side when the forward / backward swing amount is a predetermined amount or more on the front side and when the swing amount in the front / rear direction is a predetermined amount or more on the rear side. The operation position (hereinafter referred to as the front operation position) and the rear operation position (hereinafter referred to as the rear operation position) are determined.

  The same applies to the swinging operation of each operating element 26 in the left-right direction and the rotating operation around the vertical axis, and the ECU 19 swings in the left-right direction from the neutral operating position of each operating element 26. Whether the operation position in the left-right direction of the operation element 26 is a neutral operation position or a right operation position (hereinafter, referred to as a right operation position) depending on whether or not is a predetermined amount or more in the right direction or the left direction. It is determined whether the operation position is on the left side (hereinafter referred to as the left operation position).

  Further, the ECU 19 determines whether or not the amount of rotation of each operation element 26 about the vertical axis (the amount of rotation from the neutral operation position) is a predetermined amount or more in the clockwise direction or the counterclockwise direction. Whether the operation position around the vertical axis of 26 (hereinafter simply referred to as a rotation operation position) is a neutral operation position or a position rotated clockwise (hereinafter referred to as a right rotation operation position); It is determined whether the position is rotated counterclockwise (hereinafter referred to as a left rotation operation position).

  The ECU 19 performs, for example, FIGS. 7, 8 (a) to 8 (d), and FIGS. 9 (a) to 9 (d) with respect to the operation positions of the two operators 26 </ b> R and 26 </ b> L of the operation device 23. 10A to 10D, the legs 2 and 2 are operated in the gait form illustrated in FIG.

  In each of these figures, both legs 2 and 2 are stepping in the same place in parallel in the left-right direction, or are continuously landing (the state where the robot A does not move. This state is illustrated in FIG. In the description of the foot portion 9 of the leg portion 9 from the first step to the third step of the legs 2 and 2 when both the operating elements 26R and 26L are operated to the operation positions shown in the drawings. The movements (planar movements as seen from above the robot A) are schematically expressed in time series in order from the left side of each figure. In this case, in each figure, the white foot portion 9 indicates the foot portion 9 of the leg 2 on the free leg side, and the shaded foot portion 9 indicates the foot of the leg 2 on the support leg side. Part 9 is shown. Further, regarding the operation positions shown in each figure, “middle”, “front”, “rear”, “right”, “left”, “right turn”, and “left turn” in the figures are the neutral operation positions, It means a front operation position, a rear operation position, a right operation position, a left operation position, a right rotation operation position, and a left rotation operation position.

  Here, in the examples shown in FIGS. 7 to 10, more specifically, before the timing at which the left leg 2L is to be lifted (for example, within the period from time t3 to t6 in FIG. 6), the two operators 26R and 26L However, it is operated from the neutral operation position to the operation position shown in each figure and is constantly held at the operation position, and the target gait (current gait and next gait) is generated according to the operation position. It corresponds to the case.

  In this case, the next gait generated by the ECU 19 (for example, the next gait within the period from t3 to t6 in FIG. 6) generated before the start of the both-leg support period immediately before leaving the left leg 2L is defined as the two operators. When 26R and 26L are operated to the operation positions shown in FIGS. 7 to 10, the gait corresponding to the operation position is corrected (updated), and the two-leg support period immediately before the left leg 2L leaves the floor as it is. In (for example, t6 to t7 in FIG. 6), the current time gait (the gait for moving the left leg 2L as a free leg in the first step gait in each of FIGS. 7 to 10) is determined. Further, the next gait newly generated from the start of the both-leg support period immediately before leaving the left leg 2L of the first step (for example, the next gait within the period from t6 to t9 in FIG. 6) is shown in each figure. 7-10 are generated and maintained corresponding to the operation positions of the operating elements 26R and 26L, and this is the current time when the left leg 2L is landed after leaving the floor (for example, time t9 in FIG. 6). (The gait for moving the right leg 2R as a free leg in the second step gait in FIGS. 7 to 10). Further, the next gait newly generated from the start of the both-leg support period immediately before leaving the right leg 2R of the second step (for example, the next gait within the period from t9 to t12 in FIG. 6) is shown in each figure. 7-10 are generated and maintained corresponding to the operating positions of the operating elements 26R and 26L, and this is the time when the right leg 2R is landed after leaving the floor (for example, time t12 in FIG. 6). (The gait for moving the left leg 2L as a free leg in the target gait of the third step in each of FIGS. 7 to 10). Thereafter, such generation of the current time gait and the next time gait is regularly repeated.

  The gait forms illustrated in FIGS. 7 to 10 will be described in detail below. First, as shown in FIG. 7, in a state where both the operating elements 26R and 26L of the operating device 23 are constantly operated to the neutral operating position (however, the leg stop switch 27 of the operating device 23 is turned off). The ECU 19 generates the desired gait so that the feet 9 and 9 of both legs 2L and 2R are arranged in parallel in the left and right direction at a constant interval, and alternately repeats leaving and landing at the same place. Then, the stepping action of both legs 2L and 2R is performed. In this state, the robot A does not move.

  In this state, the leg stop switch 27 of the operating device 23 is turned ON in a state where both the operating elements 26R and 26L are operated to the neutral operating position, and data indicating this is input / output processing of the operating device 23. When given from the circuit 33 to the ECU 19 of the robot A via the communication devices 25 and 20, the ECU 19 puts the foot portions 9 and 9 of both legs 2L and 2R side by side in parallel in the left-right direction (hereinafter, referred to as the landing state). A target gait is generated so as to maintain a parallel landing state. The distance in the left-right direction of the foot portions 9 and 9 at this time is such that both foot portions 9 and 9 when the foot portions 9 and 9 of both legs 2L and 2R are in the landing state in the above stepping action. Is the same as the interval. As a result, the stepping action of both legs 2L, 2R is stopped from when the foot portions 9, 9 of both legs 2L, 2R are both landed.

  When both the legs 2L and 2R are maintained in the landing state, when the leg stop switch 27 is turned off, the stepping action of the legs 2L and 2R starts again. Further, as described above, in the stepping motion of the legs 2L and 2R, the current time gait and the next time gait as the target gait for two steps are generated for each step of the walking motion. For example, in the first step of FIG. 7, the current time gait, which is the target gait of the first step, is generated and determined in the both-leg support period immediately before the left leg 2L becomes a free leg. The next time gait, which is the target gait for the second step, is generated in the period from the start to the time when the left leg 2L leaves the floor after landing.

  In the following description, the distance in the left-right direction between the both foot portions 9 and 9 in the above-described stepping action state and the parallel landing state is referred to as a foot basic interval.

  Next, FIGS. 8A to 8D show a basic form of the walking motion of the robot A related to the swinging operation in the front-rear direction of the two operators 26R and 26L. In this case, the foot of the left leg 2L when the left leg 2L is operated as a free leg in accordance with the operation position (front operation position, rear operation position, or neutral operation position) of the left operation element 26L. The landing position and posture of the part 9 in the front-rear direction with respect to the foot part 9 of the right leg 2R are determined. Similarly, the foot 9 of the left leg 2L of the foot 9 of the right leg 2R when the right leg 2R is operated as a free leg according to the operation position of the right operator 26R in the front-rear direction. The landing position and posture in the front-rear direction with respect to are determined.

  For example, as shown in FIG. 8A, in a state where both the left operation element 26L and the right operation element 26R are constantly operated to the front operation position, the ECU 19 moves the left leg body 2L and the right leg body 2R. When operating as a free leg and a supporting leg (see the first and third steps in the figure), the foot 9 of the left leg 2L is in contact with the foot 9 of the right leg 2R. The left leg 2L is landed at a position that is stepped forward by a predetermined amount (this corresponds to the left operating element 26L being operated to the front operating position), and the left leg 2L and the right leg 2R. Are operated as support legs and swing legs respectively (see the second step in the figure), the foot 9 of the right leg 2R is positioned forward relative to the foot 9 of the left leg 2L. The right leg 2R is landed at a position where only a predetermined amount is stepped on (this corresponds to the fact that the right operation element 26R is operated to the front operation position). That) the current time gait and generates the gait of every step next to. As a result, the robot A is moved forward in the motion mode of the legs 2L and 2R as shown in FIG.

  Further, as shown in FIG. 8B, in a state where the left operation element 26L and the right operation element 26R are operated to the front operation position and the neutral operation position, respectively, the ECU 19 performs the left leg body 2L and the right leg body 2R. Are operated as swing legs and support legs, respectively (refer to the first and third steps in the figure), the foot 9 of the left leg 2L is in contact with the foot 9 of the right leg 2R. Then, the left leg 2L is landed at a position that is stepped forward by a predetermined amount (this is the same as in the case of FIG. 8A), and the left leg 2L and the right leg 2R are respectively supported by the support leg and the free leg. (Refer to the second step in the figure), the foot portion 9 of the right leg 2R is parallel to the foot portion 9 of the left leg 2L in the left-right direction at the foot basic interval. 2 so that the right leg 2R is landed at the position to be operated (this corresponds to the right operating element 26R being operated to the neutral operating position). Min desired gait (the said current time gait and the next time gait) to generate for each step. As a result, the robot A walks forward in the form as shown in FIG.

  Such a walking operation as shown in FIG. 8B is performed as shown in FIG. 8D even when the left operation element 26L and the right operation element 26R are operated to the neutral operation position and the front operation position, respectively. The same is done. However, in this case, since the left operation element 26L is operated to the neutral operation position, when the left leg 2L becomes a free leg (the first and third steps in the figure), the left leg 2L The foot portion 9 is moved so as to be parallel to the foot portion 9 of the right leg 2R in the left-right direction at the foot basic interval. In FIG. 8D, since the free leg at the first step is the left leg 2L, the robot A does not move forward at the first step.

  Further, as shown in FIG. 8C, in the state where the left operation element 26L and the right operation element 26R are operated to the front operation position and the rear operation position, respectively, the ECU 19 performs the left leg body 2L and the right leg body 2R. Are operated as swing legs and support legs, respectively (refer to the first and third steps in the figure), the foot 9 of the left leg 2L is in contact with the foot 9 of the right leg 2R. Then, the left leg 2L is landed at a position that is stepped forward by a predetermined amount (this is the same as in the case of FIG. 8A), and the left leg 2L and the right leg 2R are respectively supported by the support leg and the free leg. (Refer to the second step in the figure), the foot portion 9 of the right leg 2R is positioned at a position behind the foot portion 9 of the left leg 2L backward by a predetermined amount. A target gait for two steps (current time gait and next time gait) is generated for each step so as to land the leg 2R. Therefore, in this case, after the foot portion 9 of the left leg 2L of the free leg is stepped forward at the first step, the position of the foot portions 9, 9 in the front-rear direction of the first step is determined. In addition, the stepping action of the legs 2L and 2R is repeated while maintaining the posture relationship.

  In this way, regarding the swinging operation in the front-rear direction of both the operating elements 26L and 26R, the left leg 2L is free to play depending on whether the left operating element 26L is operated in the front, neutral or rear operating position. When operating as a leg, the landing position and posture in the front-rear direction with respect to the foot part 9 of the left leg 2L with respect to the foot part 9 of the right leg 2R are independent of the operation position in the front-rear direction of the right operator 26R. It is determined. Also, the right leg with respect to the foot 9 of the left leg 2L when the right leg 2R operates as a free leg depending on whether the right operator 26R is operated in the front, neutral or rear operating position. The landing position and posture in the front-rear direction with respect to the foot portion 9 of the body 2R are determined regardless of the operation position in the front-rear direction of the left operation element 26L.

  In any of the cases shown in FIGS. 8A to 8D, in the state where both the operators 26L and 26R are continuously operated at the same operation position, the second step, The steps will be repeated alternately.

  Next, FIGS. 9A to 9D show forms of the walking motion of the robot A related to the swinging operation in the left-right direction of the two operators 26R and 26L. In this case, the foot of the left leg 2L when the left leg 2L is operated as a free leg according to the left-right operation position (left operation position, right operation position, or neutral operation position) of the left operation element 26L. The horizontal landing position and posture of the unit 9 with respect to the foot 9 of the right leg 2R are determined. Similarly, the foot 9 of the left leg 2L of the foot 9 of the right leg 2R when the right leg 2R is operated as a free leg according to the left / right operation position of the right operator 26R. The left and right landing position and posture with respect to is determined.

  For example, as shown in FIG. 9A, in the state where both the left operation element 26L and the right operation element 26R are operated to the right operation position, the ECU 19 moves the left leg body 2L and the right leg body 2R to the free leg. When operating as a support leg (refer to the first and third steps in the figure), the foot 9 of the left leg 2L is in contact with the foot 9 of the right leg 2R. The left leg 2L is landed at a position closer to the right by a predetermined amount than the flat basic interval (this corresponds to the left operating element 26L being operated to the right operating position) and the left leg 2L. When the right leg 2R is operated as a supporting leg and a free leg (see the second step in the figure), the foot 9 of the right leg 2R is in contact with the foot 9 of the left leg 2L. Thus, the right leg 2R is landed at a position that is separated by a predetermined amount to the right of the foot basic interval (this is because the right operator 26R Operation corresponds to being operated in a position) so that to generate two steps of a desired gait (the current time gait and the next time gait) every one step. As a result, the robot A is laterally walked in the right direction in the operation mode of both legs 2L and 2R as shown in FIG.

  Further, as shown in FIG. 9B, in a state where the left operation element 26L and the right operation element 26R are operated to the right operation position and the neutral operation position, respectively, the ECU 19 performs the left leg body 2L and the right leg body 2R. Are operated as swing legs and support legs, respectively (refer to the first and third steps in the figure), the foot 9 of the left leg 2L is in contact with the foot 9 of the right leg 2R. Then, the left leg 2L is landed at a position closer to the right by a predetermined amount than the basic foot interval (this is the same as in FIG. 9A), and the left leg 2L and the right leg When the 2R is operated as a support leg and a free leg (see the second step in the figure), the foot 9 of the right leg 2R is in contact with the foot 9 of the left leg 2L. The right leg 2R is landed at a position parallel to the left and right directions at a flat basic interval (this is because the right operation element 26R is operated to the neutral operation position). Corresponding) as to generate two steps of a desired gait (the current time gait and the next time gait) every one step in. As a result, the robot A walks in the right direction in the form as shown in FIG. 9B.

  In such a walking motion as shown in FIG. 9B, as shown in FIG. 9D, even when the left operation element 26L and the right operation element 26R are operated to the middle operation position and the right operation position, respectively. The same is done. However, in this case, since the left operation element 26L is operated to the neutral operation position, when the left leg 2L becomes a free leg (the first and third steps in the figure), the left leg 2L The foot portion 9 is moved to a position parallel to the foot portion 9 of the right leg 2R in the left-right direction at the foot basic interval. In FIG. 9D, since the free leg at the first step is the left leg 2L, the robot A does not move in the right direction at the first step. Further, in this case, since the right operation element 26R is operated to the right operation position, when the right leg 2R becomes a free leg (second step in the figure), the foot portion 9 of the right leg 2R is The left leg 2L is moved in the right direction so as to be separated by a predetermined amount from the basic foot interval.

  Further, as shown in FIG. 9C, in the state where the left operation element 26L and the right operation element 26R are operated to the right operation position and the left operation position, respectively, the ECU 19 performs the left leg body 2L and the right leg body 2R. Are operated as swing legs and support legs, respectively (refer to the first and third steps in the figure), the foot 9 of the left leg 2L is in contact with the foot 9 of the right leg 2R. Then, the left leg 2L is landed at a position closer to the left and right directions by a predetermined amount than the basic foot interval (this is the same as in FIG. 9A), and the left leg 2L and the right leg When the 2R is operated as a support leg and a free leg (see the second step in the figure), the foot 9 of the right leg 2R is in contact with the foot 9 of the left leg 2L. The right leg 2R is landed at a position closer to the left-right direction by a predetermined amount than the flat basic interval (this is because the right operation element 26R is operated to the left operation position). It is corresponding to that) as to generate two steps of a desired gait (the current time gait and the next time gait) every one step. For this reason, in this case, after the foot 9 of the left leg 2L of the free leg approaches the foot 9 of the right leg 2R in the left-right direction at the first step, the first step The stepping action of the legs 2L and 2R will be repeated while maintaining the horizontal position and posture relationship of the foot portions 9 and 9. Therefore, in this case, the robot A does not move in the left-right direction.

  In this way, regarding the left / right swinging operation of the two operating elements 26L and 26R, the left leg 2L is free to play depending on whether the left operating element 26L is operated to the right, neutral or left operating position. When operating as a leg, the horizontal landing position and posture with respect to the foot portion 9 of the left leg 2L with respect to the foot portion 9 of the right leg 2R are independent of the left and right operation position of the right operator 26R. It is determined. Further, the right leg with respect to the foot 9 of the left leg 2L when the right leg 2R operates as a free leg depending on whether the right operator 26R is operated to the right, neutral or left operation position. The landing position and posture in the left-right direction with respect to the foot portion 9 of the body 2R are determined regardless of the operation position in the left-right direction of the left operation element 26L.

  In any of the cases shown in FIGS. 9A to 9D, in the state where both the operating elements 26L and 26R are continuously operated at the same operation position, the second step, The steps will be repeated alternately.

  Next, FIGS. 10A to 10D show a form of the walking motion of the robot A related to the rotation operation of both the operators 26R and 26L. In this case, when the left leg 2L is operated as a free leg according to the operation position (left rotation operation position, right rotation operation position, or neutral operation position) of the left operation element 26L in the rotation direction, The landing position and posture of the foot portion 9 in the turning direction with respect to the foot portion 9 of the right leg 2R are determined. Similarly, the foot portion 9 of the left leg 2L of the foot portion 9 of the right leg 2R when the right leg 2R is operated as a free leg according to the operation position in the rotation direction of the right operation element 26R. The landing position and posture in the turning direction with respect to are determined.

  For example, as shown in FIG. 10A, in the state where both the left operation element 26L and the right operation element 26R are operated to the right rotation operation position, the ECU 19 plays the left leg body 2L and the right leg body 2R, respectively. When operating as a leg and a support leg (see the first and third steps in the figure), the foot 9 of the left leg 2L is watched against the foot 9 of the right leg 2R. The left leg 2L is landed at a position rotated by a predetermined amount in the turning direction (this corresponds to the left operating element 26L being operated to the right rotation operation position), and the left leg 2L and the right leg. When the 2R is operated as a support leg and a free leg (see the second step in the figure), the foot 9 of the right leg 2R rotates clockwise with respect to the foot 9 of the left leg 2L. The right leg 2R is landed at a position turned by a predetermined amount in the direction (this is because the right operation element 26R is operated to the right operation position). Corresponding to Rukoto) as to generate two steps of a desired gait (the current time gait and the next time gait) every one step. As a result, the robot A turns in the clockwise direction in the operation mode of both legs 2L and 2R as shown in FIG. In this case, when the left leg 2L is a free leg, both foot portions 9, 9 are in an inner crotch posture, and when the right leg 2R is a free leg, both foot portions 9, 9 are prosthetic. It becomes the posture relation.

  Further, as shown in FIG. 10 (b), in the state where the left operation element 26L and the right operation element 26R are operated to the right rotation operation position and the neutral operation position, respectively, the ECU 19 operates as the left leg body 2L and the right leg body. When the 2R is operated as a free leg and a support leg (refer to the first and third steps in the figure), the foot 9 of the left leg 2L becomes the foot 9 of the right leg 2R. On the other hand, the left leg 2L is landed at a position turned clockwise by a predetermined amount (this is the same as in the case of FIG. 10A), and the left leg 2L and the right leg 2R are respectively supported by the support legs. When operating as a free leg (see the second step in the figure), the foot 9 of the right leg 2R is parallel to the foot 9 of the left leg 2L at the basic foot interval. The right leg 2R is landed at a position parallel to the right leg 2R (this corresponds to the right operating element 26R being operated to the neutral operating position). As to generate two steps of a desired gait (the current time gait and the next time gait) every one step. As a result, the robot A turns in the clockwise direction in the form as shown in FIG. In this case, when the left leg 2L is a free leg, the two foot portions 9 and 9 are in an inner crotch posture, and when the right leg 2R is a free leg, the both foot portions 9 and 9 The posture relationship is parallel in parallel at a flat basic interval.

  Such a walking operation (the turning operation of the robot A) as shown in FIG. 10B is performed even when the left operation element 26L and the right operation element 26R are operated to the neutral operation position and the right rotation operation position, respectively. The same operation is performed as shown in FIG. However, in this case, since the left operation element 26L is operated to the neutral operation position, when the left leg 2L becomes a free leg (the first and third steps in the figure), the left leg 2L The foot part 9 is moved to a position parallel to the foot part 9 of the right leg 2R in parallel with the foot basic interval. In FIG. 10D, since the free leg of the first step is the left leg 2L, the robot A does not turn clockwise in the first step. Further, in this case, since the right operation element 26R is operated to the right operation position, when the right leg 2R becomes a free leg (second step in the figure), the foot portion 9 of the right leg 2R is By turning clockwise with respect to the foot portion 9 of the left leg 2L, both foot portions 9, 9 are in a crotch-like posture relationship.

  Further, as shown in FIG. 10C, in the state where the left operation element 26L and the right operation element 26R are operated to the right rotation operation position and the left rotation operation position, respectively, the ECU 19 When the body 2R is operated as a free leg and a support leg (see the first and third steps in the figure), the foot 9 of the left leg 2L is replaced by the foot 9 of the right leg 2R. On the other hand, the left leg 2L is landed at a position turned clockwise by a predetermined amount (this is the same as in the case of FIG. 10A), and the left leg 2L and the right leg 2R are supported respectively. When operating as a leg or swing leg (see the second step in the figure), the foot 9 of the right leg 2R counterclockwise by a predetermined amount with respect to the foot 9 of the left leg 2L The right leg 2R is landed at a position turned in the direction (this corresponds to the fact that the right operation element 26R is operated to the left rotation operation position). To) as to generate two steps of a desired gait (the current time gait and the next time gait) every one step. For this reason, in this case, at the first step, the foot 9 of the left leg 2L of the free leg is turned clockwise so as to have an inner crotch shape with respect to the foot 9 of the right leg 2R. After that, the stepping action of the legs 2L and 2R is repeated while maintaining the position and posture relationship in the turning direction of the foot portions 9 and 9 of the first step. Therefore, in this case, the robot A does not turn.

  In this way, with respect to the rotation operation of the two operation elements 26L and 26R, the left leg 2L is a free leg depending on whether the left operation element 26L is operated to the right, neutral or left operation position. When operating, the landing position and posture in the turning direction with respect to the foot 9 of the left leg 2L with respect to the foot 9 of the right leg 2R are determined regardless of the rotational operation position of the right operator 26R. Further, depending on whether the right operation element 26R is operated to the right, neutral, or left operation position, the right leg 2R operates as a free leg with respect to the foot 9 of the left leg 2L. The landing position and posture in the turning direction with respect to the foot 9 of the right leg 2R are determined regardless of the rotational operation position of the left operation element 26L.

  In any of the cases shown in FIGS. 10 (a) to 10 (d), in the state where both the operating elements 26L and 26R are continuously operated at the same operation position, the second step, The steps will be repeated alternately.

  As described above, when the operation mode of the operating device 23 is set to the basic operation mode by the operation mode changeover switch 29, basically, the swinging operation in the front-rear direction of both the operating elements 26L and 26R is performed. The walking operation in the front-rear direction, the walking operation in the left-right direction (sidewalk), and the turning walking operation are respectively performed by the swinging operation and the rotation operation in the left-right direction.

  Next, the operation mode changeover switch 29 sets the operation mode of the operating device 23 to the simple operation mode, and data indicating this is transmitted from the input / output processing circuit 33 of the operating device 23 via the communication devices 25 and 20 to the robot A. The case where it is given to the ECU 19 will be described. The operation of the apparatus of this embodiment in this simple operation mode corresponds to one embodiment of the main part of the present invention.

  In a state where the operation mode of the operation device 23 is set to the simple operation mode, the ECU 19 of the robot A includes each operation element 26 among the operation signal data provided from the operation device 23 via the communication circuits 25 and 20. The data relating to the rotational operation is not used, and the rotational operation position of each operation element 26 is not considered. Then, the ECU 19 uses only the data related to the front / rear and left / right swing operations of the operation elements 26 among the data of the operation signals to operate the operation elements 26 of the operation unit 23 in the front / rear direction and the left / right direction. Only the position is classified into three types and determined in the same manner as in the basic operation mode.

  And about control of the walking motion of the robot A according to operation of both the operation elements 26L and 26R in this simple operation mode, both the operation elements 26L and 26R are continuously operated to the neutral operation position, The case where both the operating elements 26L and 26R are continuously swung in the left-right direction is exactly the same as in the basic operation mode. That is, when both the operating elements 26L and 26R are continuously operated to the neutral operation position, if the leg stop switch 27 is in the OFF state, the stepping action shown in FIG. If the body stop switch 27 is in the ON state, both the foot portions 9, 9 are in the parallel landing state in which they are maintained in the landing state at the basic foot interval. Further, when both the operating elements 26L and 26R are continuously operated in the left direction or the right direction, the robot A is laterally walked in the form shown in FIG.

  On the other hand, in the simple operation mode, the walking motion of the robot A related to the swinging operation in the front-rear direction of the two operators 26R and 26L is performed in the form shown in FIGS. 11A to 11D, for example.

  For example, as shown in FIG. 11A, in a state where both the left operation element 26L and the right operation element 26R are operated to the previous operation position, the ECU 19 is the same as the case of FIG. 8A in the basic operation mode. In exactly the same form, target gaits for two steps (current gait and next gait) are generated for each step. Thereby, the robot A walks forward.

  Further, as shown in FIG. 11B, in the state where the left operation element 26L and the right operation element 26R are operated to the front operation position and the neutral operation position, respectively, the ECU 19 performs the left leg body 2L and the right leg body 2R. Are operated as swing legs and support legs, respectively (refer to the first and third steps in the figure), the foot 9 of the left leg 2L is in contact with the foot 9 of the right leg 2R. The left leg 2L is landed at a position that is stepped forward by a predetermined amount and turned clockwise by a predetermined amount, and the left leg 2L and the right leg 2R are used as a support leg and a free leg, respectively. When operating (see the second step in the figure), the foot portion 9 of the right leg 2R steps forward by a predetermined amount with respect to the foot portion 9 of the left leg 2L, and the predetermined amount. The target gait for two steps (current gait and gait) KaiAyumiHiroshi) is generated for each one step. As a result, in the form as shown in FIG. 11B, the walking motion is performed in which the robot A turns forward while moving forward.

  In such a walking motion as shown in FIG. 11B, as shown in FIG. 11D, even when the left operation element 26L and the right operation element 26R are operated to the middle operation position and the front operation position, respectively. The same is done. In this case, since the left operating element 26L is in the neutral operating position and the right operating element 26R is in the front operating position, the foot of the leg 2L is taken in the first step and the third step in which the left leg 2L is a free leg. The portion 9 is stepped forward by a predetermined amount with respect to the foot portion 9 of the right leg 2R and is landed at a position turned counterclockwise by a predetermined amount, so that the right leg 2R becomes a free leg. In the second step, the foot portion 9 of the right leg 2R steps forward from the foot portion 9 of the left leg 2L by a predetermined amount, and arrives at a position that is turned counterclockwise by a predetermined amount. To floor. As a result, a walking operation is performed in which the robot A turns in the counterclockwise direction while moving forward.

  Further, as shown in FIG. 11C, in the state where the left operation element 26L and the right operation element 26R are operated to the front operation position and the rear operation position, respectively, the ECU 19 performs the left leg body 2L and the right leg body 2R. Are operated as swing legs and support legs, respectively (refer to the first and third steps in the figure), the foot 9 of the left leg 2L is in contact with the foot 9 of the right leg 2R. When the left leg 2L is landed at a position swung clockwise by a predetermined amount, and the left leg 2L and the right leg 2R are operated as a support leg and a free leg, respectively (two steps in the figure). See the eye), the right leg 2R is landed at a position where the foot 9 of the right leg 2R is turned clockwise by a predetermined amount with respect to the foot 9 of the left leg 2L. Thus, a target gait for two steps (current gait and next gait) is generated for each step. As a result, in the form as shown in FIG. 11C, the walking motion is performed while the robot A is located in substantially the same place.

  As described above, in the simple operation mode, the robot A performs the walking operation in the front-rear direction and the turning direction by the swinging operation in the front-rear direction of the two operators 26L, 26R of the operation unit 23. Then, the left and right walking motion (lateral walking motion) of the robot A is performed in the same manner as in the basic operation mode by the swinging motion in the left and right direction of both the operating elements 26L and 26R of the operating device 23.

  In the simple operation mode, in the swing operation in the front-rear direction of both the operating elements 26L and 26R of the operating device 23, the legs 2L and 2R become free legs only at the operating positions of the operating elements 26L and 26R, respectively. The landing position and posture with respect to the leg on the support leg side are not fixed, and the support leg side when each leg 2L, 2R becomes a free leg by the combination of the operation positions in the front-rear direction of both operators 26L, 26R. The landing position and posture with respect to the leg of the person are determined.

  In the present embodiment, in both the basic operation mode and the simple operation mode, when the left leg 2L has landed from the floor leaving state, except for the parallel landing state, this is the left Detected by the ground sensor 12 of the foot portion 9 of the leg 2L, the detected data can be provided to the input / output processing circuit 33 of the operating device 23 via the ECU 19 and the communication devices 20 and 25. At this time, the input / output processing circuit 33 temporarily turns on the left notification lamp 28L of the operation device 23 via the drive circuit 32. Similarly, when the right leg 2 </ b> R has landed from the state of getting out of bed, this is detected by the ground sensor 12 of the foot portion 9 of the right leg 2 </ b> R, and the detected data is given to the input / output processing circuit 33. At this time, the input / output circuit 33 temporarily turns on the right notification lamp 28R of the operation device 23. Thereby, the landing of each leg 2L, 2R is notified to the operator by lighting of the notification lamps 28L, 28R of the corresponding operation device 23.

  In the above description, only the case where each operation element 26 is operated in one of the front-rear direction, the left-right direction, and the rotation direction has been described. However, in the apparatus of the present embodiment, each operation element 26 is When a complex operation is performed in the left / right and rotational directions, the robot A is configured in such a manner that the above-mentioned gaits for the operations in the front / rear, left / right and rotational directions of each operator 26 are combined. The movement of the legs 2 and 2 is performed.

  For example, in the basic operation mode, the left operation element 26L is operated to the operation position that is the front operation position, the left operation position, and the left rotation operation position, and the right operation element 26R is continuously operated to the neutral operation position. In the state, the movement of both legs 2L and 2R is performed with a gait as shown in FIG. That is, in the first step and the third step in which the left leg 2L is a free leg, the foot portion 9 of the left leg 2L is moved forward, leftward with respect to the foot portion 9 of the right leg 2R. In the second step where the right leg 2R becomes a free leg, the robot is landed at a position and posture moved by a predetermined amount respectively in the counterclockwise turning direction (this corresponds to the operation position of the left operation element 26L). The foot portion 9 of the right leg 2R is landed on the foot portion 9 of the left leg 2L in a position and posture that are parallel in the left-right direction at the basic foot spacing (this is the right operating element 26R). The target gait (current gait and next gait) is generated by the ECU 19 for each step so as to correspond to the operation position (neutral operation position).

  As described above, in the basic operation mode, when each operation element 26 is operated in a complex manner in the front / rear, left / right, and rotational directions, the left leg 2L is moved as a free leg. The gait has a form in which the gait for the operation position in the front-rear direction of the left operator 26L, the gait for the operation position in the left-right direction, and the gait for the operation position in the rotation direction are combined. Similarly, when the right leg 2R is a free leg, the gait of the right leg 2R is the gait with respect to the operation position in the front-rear direction, the gait with respect to the operation position in the left-right direction, and the rotation. The gait with respect to the operation position in the direction is combined.

  The gait forms for the operation positions of the operation elements 26R and 26L described above are basic gait forms corresponding to the case where the operation positions of the operation elements 26R and 26L are constantly maintained at the same position. In this case, as described above, the target gait (current gait and next gait) generated by the ECU 19 for each step is also steady. Then, next, an example in which the operation positions of the operators 26R and 26L are changed while the robot A is performing the steady walking motion as described above will be described below with reference to FIG. To do.

  Referring to FIG. 13, first, the foot portion 9 with the stippling is, for example, in a state where the operation mode of the operation device 23 is set to the basic operation mode, both the left operation element 26 </ b> L and the right operation element 26 </ b> R. The movement of the foot 9 of both legs 2R and 2L when the operation is continuously performed at the operation position that is the front operation position and the left rotation operation position (the feet of the legs 2R and 2L for each step). This shows the landing position and posture of the flat portion 9. Here, FIG. 13 is described corresponding to FIG. 6, and t0, t1,... In the same figure indicate the times described in FIG. In addition, the numbers (1) to (4) with parentheses correspond to the numbers with parentheses attached to each wavy line portion representing the period in which each leg 2R, 2L is in the landing state in FIG. For example, the pointed foot portion 9 shown in (1) represents the landing position and posture of the foot portion 9 of the left leg 2L that is in the landing state at time t3 to t7 in FIG. The same applies to other foot portions 9 in FIG.

  In the basic operation mode, both the left operation element 26L and the right operation element 26R are continuously operated at the operation position (hereinafter referred to as the front / left turn operation position) which is the front operation position and the left rotation operation position as described above. When operated, the robot A performs a turning movement (turning movement in the counterclockwise direction) as shown by a dashed-dotted arrow a in FIG. In this case, the current time gait and the next time gait for each step are both changed from the foot 9 of the leg 2R or 2L on the free leg side to the foot 9 of the leg 2L or 2R on the support leg. On the other hand, the gait is maintained such that the gait is moved forward by a predetermined amount and is landed at a position of turning by a predetermined amount in the counterclockwise direction.

  Further, in FIG. 13, the hatched foot portion 9 and the broken foot portion 9 are, for example, within a period of time t0 to t4 when the foot portion 9 of the left leg 2L is in a landing state, for example, Both the left operation element 26L and the right operation element 26R are changed from the front / left rotation operation position to the operation position (hereinafter referred to as the front / right rotation operation position) which is the front operation position and the right rotation operation position. After that, the gait in the case of maintaining the previous / right turn operation position is shown in the same manner as that of the point drawing. The forward / rightward operation position is an operation position for moving the robot A in the clockwise direction, contrary to the turning movement related to the foot portion 9 indicated by the pointillism. Here, the hatched foot portion 9 is, for example, when the operation position of both the operating elements 26L and 26R is changed from the front / left turn operation position to the front / right turn operation position immediately before time t1, The illustrated foot portion 9 is, for example, when the operation positions of both the operating elements 26L and 26R are changed from the front / left turn operation position to the front / right turn operation position at time t3.

  First, the case where the operation positions of the two operators 26L and 26R are changed as described above immediately before the time t1 will be described. In this case, the ECU 19 performs the current time gait (gait with the left leg 2L as a free leg) and the next time gait (right leg 2L as a free leg) at the time of change by the processing of the flowchart of FIG. Try to correct gait). In this case, the current time gait at the time of change of the operation position is that the foot 9 of the left leg 2L is at the position and posture of (1) in FIG. 13 at time t3 in order to turn the robot A counterclockwise. A gait that moves (this matches the next time's gait immediately before time t0). Further, at the time of the change, in order to turn the robot A in the counterclockwise direction, the center of gravity of the robot A is moved to the left side, and the left leg 2L is moved toward the position and posture of the pointed drawing in (1). It is the state just before trying to step on. For this reason, if the current time gait at the time of change of the operation position is changed to one corresponding to the previous / right turn operation positions which are new operation positions, the movement of the center of gravity of the robot A becomes excessive, and the robot A There is a risk of losing the balance of the posture. Therefore, in this case, the ECU 19 does not substantially correct the current time's gait and maintains the current gait (gait corresponding to the previous / left turn operation position). As a result, the landing position and posture of the right leg 2R that will be in the landing state from time t3 to t7 are the same position and posture as when the operation position is the forward / left-handed operation position (dotted plot of (1)) Position and posture).

  Note that the above example is an example in which the operation position is changed from the front / left turn operation position to the front / right turn operation position at the time immediately before time t1, and therefore the ECU 19 does not correct the current time gait. It has become. However, for example, when the operation position is changed to the forward / rightward operation position immediately after time t0, the ECU 19 operates the operation position after changing the current time's gait within a range in which the posture stability of the robot A can be secured. Correct as necessary. In the correction of the current time's gait in this case, for example, the landing position and posture of the foot 9 of the left leg 2L at time t3 is more robot A than the foot 9 shown in the dotted line in FIG. It is corrected slightly to the right (toward the bottom of the figure) in the direction of travel.

  On the other hand, the next time gait at the time when the operation position is changed (within the period from t0 to t1), in order to turn the robot A in the counterclockwise direction, the foot 9 of the left leg 2L is moved by the current time gait. The gait is such that the foot portion 9 of the right leg 2R is later moved to the position and posture shown in (2) in FIG. 13 at time t6. However, the change point of the operation position in this case is the timing before the foot part 9 of the left leg 2L to be landed at the position (1) in FIG. For this reason, even if the next time's gait at the time of the change of the operation position is changed to one corresponding to the previous / right turn operation position which is a new operation position, the stability of the posture of the robot A can be secured with a margin. Is possible. Therefore, in this case, the ECU 19 corrects the next time's gait to a gait corresponding to the previous / right turn operation positions which are new operation positions. The next time gait corresponding to the previous / right turn operation position is located forward of the foot 9 of the right leg 2R with respect to the foot 9 of the left leg 2L where the foot 9 of the right leg 2R is in the landing state at time t3 to t7. It is a position and posture (a position and posture shown by hatching in (2) of FIG. 13) moved by a fixed amount and turned clockwise by a predetermined amount. This next time's gait becomes the current time's gait at time t3 (when the left leg 2L starts to land). As a result, the foot portion 9 of the right leg 2R that is in the landing state at times t6 to t10 is landed at the position and posture indicated by the oblique lines in (2) of FIG.

  After that, since the operating positions of the operating elements 26L and 26R are maintained at the forward / rightward operating positions, both the current time gait and the next time gait for each step are the legs on the free leg side. The 2R or 2L foot 9 is moved forward by a predetermined amount with respect to the foot 2L or 2R foot 9 on the supporting leg side, and is attached to a position where it turns by a predetermined amount clockwise. The gait is maintained such that the floor is laid down (see the hatched foot 9 in FIGS. 13 (3) and (4)).

  Therefore, when the operation position of the operation elements 26L and 26R is changed as described above within the period from t0 to t1, the robot A moves as shown by the one-dot chain line b in FIG.

  Next, when the operation position of the operating elements 26L and 26R is changed from the front / left turn operation position to the front / right turn operation position at time t3, the ECU 19 changes the operation position by the process of the flowchart of FIG. The current time gait at the time (when the foot 9 of the right leg 2R starts to land at the position (1) in FIG. 13) is the next time gait generated immediately before. Therefore, at the time when the operation position is changed, the current time's gait is a gait that causes the foot 9 of the left leg 2L to be landed at the position and posture shown in (2) in FIG. Then, the ECU 19 tries to correct the current time's gait according to the previous / right turn operation positions which are new operation positions within the period from t3 to t4.

  In this case, the operation position is changed when the left leg 2L starts to land at the position and posture of (1), and immediately before the right leg 2R that becomes the next free leg starts to leave the floor. It is time of. For this reason, the center of gravity of the robot A is in a state where it can be moved to some extent so as to be able to turn in the clockwise direction. However, this time's gait will allow the foot portion 9 of the right leg 2R to be landed at the original position and posture corresponding to the forward / rightward operation position (the position and posture shown by the oblique lines in FIG. 13 (2)). Then, there is a possibility that the stability of the posture of the robot A is impaired. Therefore, in this case, the ECU 19 sets the landing position and posture in the current time's gait of the foot portion 9 of the right leg 2R within the period from t3 to t4, corresponding to the forward / rightward operation position. It is closer to the landing position and posture of the foot portion 9 of the right leg 2R at the time of change of the operation position than the position and posture (the position and posture of the pointed drawing in (2) of FIG. 13). Generate. For example, the current time's gait is corrected so that the landing position and posture of the right leg 2R that is in the landing state during the period from t6 to t10 are the positions and postures indicated by the broken lines in FIG. In other words, the left leg 2L is turned by a turning amount smaller than the original predetermined turning amount corresponding to the forward / rightward turning position with respect to the foot portion 9 of (1), The current time's gait is generated so that the foot 9 of the right leg 2R is landed at a position moved forward by the amount of movement.

  In this case, since the operation position is changed at time t3 (at the start of the both-leg support period), the ECU 19 generates the next time gait corresponding to the new operation position (previous / right-turn operation position). To do. That is, the next time's gait is the foot portion 9 of the left leg 2L that is in the landing state during the period t9 to t13, and the foot portion 9 of the right leg 2R that is in the landing state during the period t6 to t10. It is generated so as to move forward by a predetermined amount and to land at a position turned clockwise by a predetermined amount. In this case, the current time's gait at the time of changing the operation position is a gait that causes the right leg 2R to be landed at the position and posture shown in (2), so the next time's gait at the time of the change. The gait is such that the left leg 2L is landed at the position and posture of the pointed drawing in (3) of FIG. Then, when the current time's gait is corrected to a gait that causes the right leg 2R to be landed at the position and posture indicated by the broken line in (2) as described above, the next time's gait is the left leg 2L. The gait is corrected so as to be landed at the position and posture indicated by the broken line in (3) of FIG.

  After that, since the operating positions of the operating elements 26L and 26R are maintained at the forward / rightward operating positions, both the current time gait and the next time gait for each step are the legs on the free leg side. The 2R or 2L foot 9 is moved forward by a predetermined amount with respect to the foot 2L or 2R foot 9 on the supporting leg side, and is attached to a position where it turns by a predetermined amount clockwise. The gait is maintained as if it is floored (see the foot 9 shown by the broken line in (4) of FIG. 13).

  Therefore, for example, when the operation positions of the operation elements 26L and 26R are changed as described above at the time t3, the robot A moves as shown by a one-dot chain line c in FIG.

  Note that the gait change as described above with reference to FIG. 13 is performed in the same manner even when the operation mode of the operation device 23 is set to the simple operation mode.

  As described above, in the apparatus according to the present embodiment, the robot A can perform walking motions in the front-rear direction, the left-right direction, and the turning direction by a simple operation of the operation unit 23.

  In this case, in the basic operation mode, the form of the walking motion for two steps can be designated to the ECU 19 by the operation position of both the operators 26L and 26R of the operating device 23. Therefore, the ECU 19 can be used for both the operators 26L and 26R. A target gait for two steps that matches the operation position can be generated. That is, the foot part of the left leg 2L with respect to the foot part 9 of the right leg 2R when the left leg 2L operates as a free leg depending on which operation position the left operator 26L is operated. 9 is determined regardless of the operation position of the right operation element 26R. Further, the foot portion of the right leg 2R with respect to the foot portion 9 of the left leg 2L when the right leg 2R operates as a free leg depending on which operation position the right operator 26R is operated. 9 is determined regardless of the operation position of the left operation element 26L. Accordingly, the operation positions of the operation elements 26R and 26L independently indicate the gait for each step. Therefore, the current time gait and the next time gait, which are target gaits for two steps, can be generated in alignment with the operation positions of the respective operators 26R and 26L. As a result, the consistency between the operation positions of the two operating elements 26L and 26R of the operating device 23 and the actual walking motion of the robot A is increased, and the operability of the robot A can be improved.

  Furthermore, by generating a target gait for two steps (current gait and next gait), the target gait is located such that the center of gravity of the robot A is at a position where a stable posture of the robot A can be secured. It is possible to generate an image and to perform a walking motion with a stable posture of the robot A. Further, by generating a target gait for two steps, the operator basically determines the walking form of the robot A and, by extension, the operation position of each operation element 26 for each movement of the two steps, and the operation element 26. Therefore, the robot A can perform the walking operation with a margin, and the robot A can easily perform the walking operation.

  Furthermore, since the landing of each leg 2L, 2R is notified by the corresponding notification lamps 28L, 28R, the operator operates the controls 26L, 26R at a timing suitable for the actual operation state of the robot A. And good operability of the operation device 23 can be ensured.

  Further, in a state where the operating elements 26L and 26R are operated to the neutral operation position, by turning on the leg stop switch 27, the legs 2 and 2 can be placed in a parallel landing state and their operations can be stopped. Therefore, useless consumption of the power storage device 17 mounted on the robot A can be prevented. In the parallel landing state, the leg stop switch 27 can be turned off to perform the stepping action of the legs 2 and 2 as necessary.

  In addition, since the type of walking motion of the robot A according to the operation of the operating elements 26 and 26 can be switched by the operation mode changeover switch 29 of the operating device 23, the operator can use a mode that suits his / her preference. The robot A can be operated.

  Next, a second embodiment of the remote control device for a biped robot of the present invention will be described. The configuration of the present embodiment is the same as that of the first embodiment, and only a part of the control processing by the ECU 19 of the robot A is different from that of the first embodiment. The same reference numerals as those shown in FIGS.

  In the present embodiment, the ECU 19 of the robot A, when the operation mode of the operation device 23 is set to the basic operation mode, receives the operation signal given from the operation device 23 as in the first embodiment. From the data, the operation position in the front-rear direction, the operation position in the left-right direction, and the operation position around the axis in the vertical direction are determined by classifying them into three types, respectively. Furthermore, at the front operation position, the rear operation position, the right operation position, and the left operation position, the forward swing amount, the rear swing amount, and the right direction from the neutral operation position of each operator 26, respectively. The amount of rocking to the left and the amount of rocking to the left are monitored. Further, the ECU 19 monitors the rotation amount in the clockwise direction and the rotation amount in the counterclockwise direction from the neutral operation position of each operation element 26 at the right rotation operation position and the left rotation operation position of each operation element 26, respectively. (Hereinafter, these swing amount and rotation amount are generically referred to as an operation amount).

  In the present embodiment, the robot A walking operation in the front-rear direction by the operation in the front-rear direction of the two operators 26, 26, the walking operation in the left-right direction of the robot A by the operation in the left-right walking of both operators 26, 26, and It is the same as in the first embodiment that the robot A performs the turning walking motion by rotating both the operating elements 26 and 26. Further, the basic processing (processing of the flowchart in FIG. 5) regarding generation and correction of the current time gait and the next time gait is the same as that in the first embodiment. However, in this case, in each walking motion, the amount of movement of the robot A for each step (the amount of movement of the free leg side leg 2R or 2L of the foot portion 9 in each of the current time gait and the next time gait) is both. It is adjusted according to the operation amount of the operation element 26. The operations of the legs 2 and 2 when both the operating elements 26 and 26 are both operated to the neutral operation position are the same as those in the first embodiment. That is, when the leg stop switch 27 is turned OFF, the stepping action is performed as shown in FIG. 7, and when the switch 27 is turned ON, the stepping action of both legs 2 and 2 is stopped. Thus, the parallel landing state is obtained.

  A specific example of the walking motion of the robot A in the present embodiment will be described with reference to FIGS. 14A to 14D with respect to the walking motion of the robot A by the swinging operation in the front-rear direction of the two operators 26 and 26. To do. 14 (a) to 14 (d), as in FIGS. 8 to 11 described in the first embodiment, both legs 2 and 2 are stepped on at the same place in parallel in the left-right direction. In the state where the two landing gears 26R and 26L are operated in the operation positions shown in the drawings and maintained in the operation positions in the parallel landing state, the legs 2 and 2 The movement of the foot portion 9 from the first step to the third step is schematically expressed in time series in order from the left side of each figure.

  FIG. 14A shows the gait of the walking motion of the robot A when the left operating element 26L and the right operating element 26R are both operated at the previous operating position and maintained at the operating position. In the middle, both foot portions 9, 9 shown by broken lines correspond to the case where both the operating elements 26L, 26R are both swung forward with the maximum operation amount, and both foot portions 9, 9 shown by the solid lines are shown. 9 corresponds to the case where both the operating elements 26L and 26R are operated to swing forward by an operation amount about half of the maximum operation amount.

  As shown in the figure, when both the left operation element 26L and the right operation element 26R are operated to the front operation position, the ECU 19 basically corresponds to the case of FIG. 8A of the first embodiment. Similarly, when the left leg 2L and the right leg 2R are operated as swing legs and support legs, respectively (see the first step and the third step in the figure), the foot 9 of the left leg 2L is When the left leg 2L is landed on the foot 9 of the right leg 2R at a position stepped forward, and the left leg 2L and the right leg 2R are operated as a support leg and a free leg, respectively. (Refer to the second step in the figure), the right leg 2R is landed at a position where the foot 9 of the right leg 2R steps forward with respect to the foot 9 of the left leg 2L. Thus, a target gait for two steps (current gait and next gait) is generated for each step.

  In this case, however, in this embodiment, when the left leg 2L is operated as a free leg, the ECU 19 moves to the front side of the foot 9 of the left leg 2L with respect to the foot 9 of the right leg 2R. Is set in accordance with the operation amount of the left operation element 26L toward the front side, and the movement amount of the foot portion 9 of the left leg 2L is increased as the operation amount increases. Generate a target gait. Similarly, when the right leg 2R is operated as a free leg, the ECU 19 controls the amount of forward movement of the foot 9 of the right leg 2R with respect to the foot 9 of the left leg 2L by the right operation. The desired gait is generated so that the amount of movement of the foot portion 9 of the right leg 2R to the front side increases as the amount of operation increases. As a result, when both the operating elements 26L and 26R are swung forward with the maximum operation amount, as shown by the broken line in FIG. 14A, the robot A moves forward with the largest stride. When the operator walks and both the control elements 26L and 26R are swung forward by an operation amount smaller than the maximum operation amount, as indicated by the solid line in FIG. You will walk forward with a smaller step than the case.

  FIG. 14B shows the gait of the walking motion of the robot A when the left operation element 26L and the right operation element 26R are operated to the front operation position and the neutral operation position, respectively. Both foot portions 9, 9 shown by broken lines correspond to the case where the left operation element 26L is swung forward with the maximum operation amount, and both foot portions 9, 9 shown by solid lines are left operation elements. This corresponds to a case where 26L is swung forward by an operation amount that is about half of the maximum operation amount.

  As shown in the figure, when the left operation element 26L and the right operation element 26R are operated to the front operation position and the neutral operation position, respectively, the ECU 19 basically operates as shown in FIG. As in the case of b), when the left leg 2L and the right leg 2R are operated as swing legs and support legs, respectively (see the first and third steps in the figure), the left leg 2L The left leg 2L is landed at a position where the foot 9 steps forward with respect to the foot 9 of the right leg 2R (this is the same as in FIG. 14A), and the left leg When the body 2L and the right leg 2R are operated as a supporting leg and a free leg, respectively (see the second step in the figure), the foot 9 of the right leg 2R is replaced by the foot 9 of the left leg 2L. On the other hand, the target gait for two steps (the current time gait and the next time gait) so that the right leg 2R is landed at a position parallel to the foot basic interval in the left-right direction. ) Is generated for each one step.

  In this case, however, in this embodiment, when the left leg 2L is operated as a free leg, the ECU 19 moves to the front side of the foot 9 of the left leg 2L with respect to the foot 9 of the right leg 2R. Is set in accordance with the operation amount of the left operation element 26L toward the front side, and the movement amount of the foot portion 9 of the left leg 2L is increased as the operation amount increases. Generate a target gait. As a result, when the right operation element 26R is operated to the neutral operation position and the left operation element 26L is swung forward with the maximum operation amount, as indicated by the broken line in FIG. When the left leg 2L is a free leg, the robot moves forward with a large stride and the left operator 26L is swung forward with an operation amount smaller than the maximum operation amount. As represented by the solid line 14 (b), when the left leg 2L is a free leg, the user walks forward with a smaller step than the broken line.

  In such a walking operation as shown in FIG. 14B, as shown in FIG. 14D, even when the left operation element 26L and the right operation element 26R are operated to the middle operation position and the front operation position, respectively. The same is done. FIG. 14D shows the gait of the walking motion of the robot A when the left operation element 26L and the right operation element 26R are operated to the neutral operation position and the previous operation position, respectively. The two foot portions 9, 9 correspond to the case where the right operation element 26R is swung forward with the maximum operation amount, and the both foot portions 9, 9 shown by solid lines are provided by the right operation element 26R. This corresponds to a case where the swing operation is performed forward by an operation amount that is about half of the maximum operation amount.

  However, in this case, since the left operation element 26L is operated to the neutral operation position, when the left leg 2L becomes a free leg (the first and third steps in the figure), the left leg 2L The foot portion 9 is moved so as to be parallel to the foot portion 9 of the right leg 2R in the left-right direction at the foot basic interval. When the right leg 2R becomes a free leg (second step in the figure), the foot 9 of the right leg 2R is ahead of the right operator 26R with respect to the foot 9 of the left leg 2L. It is moved to the front side by a movement amount corresponding to the operation amount. In FIG. 14D, since the free leg at the first step is the left leg 2L, the robot A does not move forward at the first step.

  FIG. 14C shows the gait of the walking motion of the robot A when the left operation element 26L and the right operation element 26R are operated to the front operation position and the rear operation position, respectively. The two foot portions 9, 9 shown by broken lines correspond to the case where the left operation element 26L and the right operation element 26R are operated to swing forward and backward with the maximum amount of operation, respectively. 9 and 9, the left operation element 26L is swung forward by an operation amount about half of the maximum operation amount, and the right operation element 26R is operated rearward by an operation amount about half of the maximum operation amount. This corresponds to the case where the swing operation is performed.

  As shown in the figure, when the left operation element 26L and the right operation element 26R are operated to the front operation position and the rear operation position, respectively, the ECU 19 basically operates as shown in FIG. As in the case of c), when the left leg 2L and the right leg 2R are operated as swing legs and support legs, respectively (see the first and third steps in the figure), the left leg 2L The left leg 2L is landed at a position where the foot 9 steps forward with respect to the foot 9 of the right leg 2R (this is the same as in FIG. 14A), and the left leg When the body 2L and the right leg 2R are operated as a supporting leg and a free leg, respectively (see the second step in the figure), the foot 9 of the right leg 2R is replaced by the foot 9 of the left leg 2L. On the other hand, a target gait for two steps (current time gait and next time gait) is generated for each step so that the right leg 2R is landed at a position rearwardly.

  However, in this case, when operating the left leg 2L as a free leg, the ECU 19 determines the amount of movement of the foot 9 of the left leg 2L relative to the foot 9 of the right leg 2R to the front side. The desired gait is generated so that the amount of movement of the left leg 2L to the front side of the foot 9 increases as the amount of operation increases. To do. Similarly, when operating the right leg 2R as a free leg, the ECU 19 controls the amount of movement of the foot 9 of the right leg 2R relative to the foot 9 of the left leg 2L to the right side. The desired gait is generated such that the amount of movement of the right leg 2R toward the rear side of the foot portion 9 increases as the amount of operation increases. As a result, when the left operation element 26L and the right operation element 26R are operated with the maximum swing amount at the front operation position and the rear operation position, respectively, as shown by the broken line in FIG. In the first step, after the foot 9 of the left leg 2L of the free leg is stepped relatively forward, the position and posture relationship in the front-rear direction of the first step 9, 9 is maintained. The stepping action of the legs 2L and 2R will be repeated with this being done. In addition, when the left operation element 26L and the right operation element 26R are operated at the front operation position and the rear operation position, respectively, with a swing amount smaller than and equal to the maximum swing amount, as shown in FIG. As indicated by the solid line, after the foot portion 9 of the left leg 2L of the free leg is stepped forward with a smaller step length than that of the broken line at the first step, the foot of the first step The stepping action of the legs 2L, 2R is repeated while maintaining the position and posture relationship of the flat portions 9, 9 in the front-rear direction.

  In this way, regarding the swinging operation in the front-rear direction of both the operating elements 26L and 26R, the left leg 2L is free to play depending on whether the left operating element 26L is operated in the front, neutral or rear operating position. When operating as a leg, a landing posture in the front-rear direction with respect to the foot 9 of the left leg 2L with respect to the foot 9 of the right leg 2R is determined, and according to the amount of operation of the left operator 26L. The landing position in the front-rear direction with respect to the foot 9 of the left leg 2L with respect to the foot 9 of the right leg 2R (the amount of movement in the front-rear direction of the foot 9 of the left leg 2L) is determined. Also, the right leg with respect to the foot 9 of the left leg 2L when the right leg 2R operates as a free leg depending on whether the right operator 26R is operated in the front, neutral or rear operating position. The landing posture in the front-rear direction with respect to the foot 9 of the body 2R is determined, and the foot of the right leg 2R with respect to the foot 9 of the left leg 2L is determined according to the amount of operation of the right operator 26R. 9 is determined (the amount of movement in the front-rear direction of the foot portion 9 of the right leg 2R).

  Although the operation control of both the legs 2 and 2 as described above is omitted, the left and right swinging operation and the rotation operation of both the operating elements 26L and 26R of the operating device 23 are similarly performed. That is, regarding the swinging operation of the left and right walks of both the operating elements 26L and 26R, the basic gait form of both the legs 2L and 2R is the same as in the case of FIG. 9, but at this time, the left leg 2L The amount of movement of the foot 9 of the left leg 2L in the left-right direction relative to the foot 9 of the right leg 2R is adjusted according to the amount of operation of the left operator 26L when the left leg 2L becomes a free leg (the The greater the amount of operation, the greater the amount of movement of the foot 9 of the left leg 2L). Further, when the right leg 2R becomes a free leg, the lateral movement amount of the foot part 9 of the right leg 2R with respect to the foot part 9 of the left leg 2L corresponds to the operation amount of the right operator 26R. (The greater the amount of operation, the greater the amount of movement of the foot 9 of the right leg 2R).

  Further, regarding the rotation operation of both the operating elements 26L, 26R, the basic gait form of both the legs 2L, 2R is the same as in the case of FIG. 10, but at this time, the left leg 2L is a free leg. The amount of movement in the turning direction of the foot 9 of the left leg 2L relative to the foot 9 of the right leg 2R is adjusted according to the amount of operation of the left operator 26L (the amount of operation is large). The amount of movement of the foot portion 9 of the left leg 2L increases accordingly). Further, when the right leg 2R becomes a free leg, the amount of movement of the foot 9 of the right leg 2R in the turning direction with respect to the foot 9 of the left leg 2L depends on the amount of operation of the right operator 26R. (The greater the amount of operation, the greater the amount of movement of the foot 9 of the right leg 2R).

  In addition, the current time gait and the next time gait generated for each step are appropriately modified as in the case of the first embodiment. That is, when the operation positions of both the operating elements 26L and 26R are changed, the stability of the posture of the robot A can be ensured while considering the current time gait and the next time gait generated at that time. The current time's gait and the next time's gait are corrected as appropriate according to the operation positions of both the operating elements 26L, 26R. For example, as described with reference to FIG. 13, when both operators 26L and 26R are changed in the basic operation mode, the gait is changed in the form as shown in the figure. However, the movement amount (including the turning amount) of the foot portion 9 for each step in this case is in accordance with the operation amount of the operation elements 26L and 26R as described above.

  According to the apparatus of the present embodiment as described above, the same effects as those of the first embodiment can be obtained, and further, the foot portion 9 of each leg 2 can be adjusted by adjusting the operation amount of each operation element 26. Can be adjusted, and the operation performance of the robot A by the operation of the operation unit 23 can be improved.

  In the first and second embodiments, when both the operating elements 26 and 26 are operated to the neutral operation position, the foot portions 9 and 9 of the both legs 2 and 2 are spaced apart from each other at a constant interval ( In this case, the operation of a switch or the like provided in the operation device 23 has the positional relationship or the posture relationship of the foot portions 9, 9 such as the interval between the foot portions 9, 9. It may be possible to change it according to.

  In the first and second embodiments, the target gait for two steps is generated for each step of the robot A walking motion. You may make it produce | generate.

  In the second embodiment, only in the basic operation mode, the movement amount (step length) of each step of the robot A is adjusted according to the operation amount of each operation element 26. However, the simple operation mode In this case, the movement amount of the robot A may be adjusted according to the operation amount of the operation element 26.

  In the second embodiment, the movement amount of each step of the robot A is adjusted according to the operation amount of each operation element 26. However, the movement speed of the robot A is adjusted according to the operation amount. It is also possible to do so. In this case, the period of the clock that defines the timing of leaving and landing of each leg 2 may be adjusted according to the amount of operation of the operation element 26 of the operation device 23. Specifically, for example, with respect to the walking motion of the robot A in the front-rear direction, the basic walking motion of the robot A according to the operation position of each operation element 26 (whether the operation position is front, rear, or neutral). The form is the same as that in the basic operation mode in the first embodiment, and at this time, the leg body 2 corresponding to the operation element 26 becomes a free leg according to the operation amount of each operation element 26 in the front-rear direction. The period may be adjusted. Such adjustments may be made in the same way for the walking motion of the robot A in the left-right direction and the walking motion in the turning direction.

  In the second embodiment, the movement amount of each step of the robot A is adjusted according to the operation amount of each operation element 26. However, the change rate (time change) of the operation amount of each operation element 26 is adjusted. The movement amount and movement speed of the robot A may be adjusted according to the rate. In this case, for example, a differentiating means for differentiating the operation signals of the operation detectors 31R and 31L corresponding to the operation elements 26 is provided on the operating device 23 side or the robot A side, and the output of the differentiating means is provided. Thus, the change rate of the operation amount of each operator 26 is detected. Then, the moving amount (step length) and moving speed of the robot A are adjusted according to the changing speed (for example, the moving amount and moving speed are increased as the changing speed is faster).

  In the first and second embodiments, the landing of each leg 2 is visually notified by the notification lamp 28. However, notification by sound or vibration of the operation device 23 is performed. You may make it alert | report by. Further, the notification by the notification lamp 28 or the like may be performed only when one of the legs 2L and 2R is landed.

  In the first and second embodiments, communication between the robot A and the remote control device 22 is performed wirelessly, but may be performed wiredly. Furthermore, although the function as the control means in the present invention is given to the ECU 19 mounted on the robot A, the function as the control means may be given to an arithmetic processing device or the like provided outside the robot A.

  In the first and second embodiments, the leg 2 is turned on by operating the leg stop switch 27 of the operating device 23 when both the operating elements 26 and 26 of the operating device 23 are in the neutral operating position. , 2 is stopped and the parallel landing state is entered. However, for example, the remaining capacity of the power storage device 17 is detected, and when the remaining capacity is reduced, it is automatically detected. The stepping action of the legs 2 and 2 may be stopped. Alternatively, after the two operating elements 26, 26 of the operating device 23 are operated to the neutral operation position, the time maintained in the state is counted, and when the time becomes long to some extent, the legs 2, 2 are automatically added. The stepping action may be stopped.

The perspective view which shows the whole structure of the bipedal walking robot in embodiment of this invention. The side view of the robot of FIG. The perspective view which shows the principal part structure of the remote control apparatus of the robot of the robot of FIG. The block diagram which shows the circuit structure of the operating device of the remote control apparatus of FIG. The flowchart which shows the control processing of the robot of FIG. Explanatory drawing for demonstrating the control processing of the robot of FIG. Explanatory drawing for demonstrating the leg operation | movement of the robot in 1st Embodiment of this invention. Explanatory drawing for demonstrating the leg operation | movement of the robot in 1st Embodiment of this invention. Explanatory drawing for demonstrating the leg operation | movement of the robot in 1st Embodiment of this invention. Explanatory drawing for demonstrating the leg operation | movement of the robot in 1st Embodiment of this invention. Explanatory drawing for demonstrating the leg operation | movement of the robot in 1st Embodiment of this invention. Explanatory drawing for demonstrating the leg operation | movement of the robot in 1st Embodiment of this invention. Explanatory drawing for demonstrating the leg operation | movement of the robot in 1st Embodiment of this invention. Explanatory drawing for demonstrating the leg operation | movement of the robot in 2nd Embodiment of this invention.

Explanation of symbols

  A ... Biped walking robot, 2 ... Leg, 12 ... Grounding sensor (landing detection means), 19 ... ECU (control means), 22 ... Remote operation device, 23 ... Controller, 26 ... Operator, 28 ... Notification Lamp (notification means), 29... Operation mode changeover switch (operation mode designation means), 31R, 31L.

Claims (8)

In a remote control device for a bipedal walking robot that moves by walking to alternately leave and land two legs,
A controller owned by the operator;
A pair of operating elements arranged on the left and right sides of the surface of the operating unit, each provided so as to be operable in the front-rear and left-right directions of the operating unit from a predetermined neutral operating position;
An operation detector that is provided in the operation device and outputs a signal representing an operation position of each operation element;
The pair of operating elements are different from each other in any one of the neutral operation position, the operation position on the front side of the neutral operation position, and the operation position on the rear side of the neutral operation position in the front-rear direction of the operation device. When a signal indicating that the robot is operated is output from the operation detector, the movement of the leg of the robot is controlled by a gait for turning the robot, and the pair of the legs in the left-right direction of the controller is further controlled. One of the operating elements is operated to the left or right operating position of the neutral operating position, and the other operating element is the neutral operating position or the one of the left and right sides of the neutral operating position. When a signal indicating that the operation is operated to any one of the operation positions on the same side as the operation element is output from the operation detector, the gait that causes the robot to walk sideways is used. The remote operation apparatus of a bipedal walking robot, characterized in that a control means for controlling the operation of the leg of the bot.   When the control means is outputting from the operation detector a signal indicating that both of the pair of operators are operated to the operation position in front of the neutral operation position in the front-rear direction of the operation device, 2. The remote control device for a biped robot according to claim 1, wherein an operation of a leg of the robot is controlled by a gait for moving the robot forward.   The control means is configured such that, in the front-rear direction of the operating device, one of the pair of operating elements is operated to an operating position in front of the neutral operating position, and the other operating element is set to the neutral operating position. When the operation detector outputs a signal indicating that the robot is operated at the rear operation position, the robot moves in a turning gait while the robot is in substantially the same place. The remote control device for a biped robot according to claim 1, wherein the remote control device is controlled.   The control means comprises means for recognizing at least one of an operation amount from the neutral operation position of each of the operating elements and a temporal change rate thereof based on a signal output from the operation detector, The operation of the leg of the robot is controlled so as to adjust the moving amount or moving speed of each step of the robot in accordance with at least one of the recognized operation amount and its temporal change rate. The remote control device for a biped robot according to any one of claims 1 to 3.   The control means, when a signal indicating that each of the pair of operators is operated in a direction that combines the front-rear direction and the left-right direction is output from the operation detector, The movement of the leg is controlled in a form in which the gait of the robot is combined with the operation of the pair of controls in each direction. The remote control device for the biped walking robot described.   When the control means outputs a signal indicating that both of the pair of operating elements are operated to the neutral operation position from the operation detector, the control means performs the stepping action of both legs of the robot. A gait for performing the gait and a gait for maintaining both legs in the landing state are selectively generated according to a predetermined condition, and the movement of the leg of the robot is controlled by the generated gait. The remote control device for a biped robot according to any one of claims 1 to 5.   When at least one of the two legs has landed from the state of getting out of bed, the apparatus comprises landing detection means for detecting the landing and outputting the detection signal to the operation device. 7. A remote control device for a biped robot according to any one of claims 1 to 6, further comprising a notification means for notifying the landing in response to the detection signal.   The control means selectively generates a plurality of different types of gaits for at least some of the operation positions that can be operated by the pair of operators, and uses the generated gaits. Operation of the leg of the robot is provided so as to be controllable, and the operation device is provided with operation mode specifying means for specifying the type of gait to be generated by the control means so as to be switchable to the control means. The remote control device for a biped robot according to claim 1, wherein the remote control device is a biped robot.

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