JP2006247800A - Control device for leg type movement robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method, an action production method and an attitude control method at a real time capable of being applied even when finger tips make contact with the environment in addition to walking on a flat surface and internal force is acted between contact points and determining transition in the any contact state that the contact is left and slip is generated at the contact points in a leg type movement robot. <P>SOLUTION: In the leg type movement robot, three-dimensional force and three-dimensional moment received from the environment by the robot are calculated. Further, projection cone formed in a force-moment space according to the given action of the robot is calculated. Further, it is determined whether or not the calculated three-dimensional force and the three-dimensional moment are included at the inside of the projection cone. Thereby, a determination method applicable to the transition in the any contact state is led. Further, the action of the leg type movement robot taking into consideration to the transition in the contact state is produced based on the method. Further, attitude control at the real time is realized. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an apparatus for generating or controlling the movement of a legged mobile biped robot used for a home robot, various service robots, and the like.

  Conventionally, the movement of a legged mobile robot has been generated based on the ZMP (Zero-Moment Point), which is the center of action of the reaction force that the robot receives from the floor (Takanishi, Ishida, Yamazaki, Kato: Robotics Society of Japan Vol. 3, no. 4, pp. 325-336, 1985, JP 2002-326173). Here, since ZMP is an action center point of the floor reaction force, it may be called a floor reaction force center point.

 When a legged mobile robot walks on a horizontal floor, the robot is guaranteed to continue walking without falling, as long as the ZMP is contained within the support polygon formed by the contact point between the sole and the floor. Is done. On the other hand, when the ZMP comes to the end of the support polygon, the contact between the sole of the robot and the floor surface is separated, which may cause the robot to fall.

  However, as described above, since ZMP is a center point of action of floor reaction force, it cannot be determined whether or not the sole and the floor surface slip even if ZMP is used. Further, when the hand of the legged mobile robot comes into contact with the environment, an internal force is generated between the contact points, but the influence of the internal force does not appear at the ZMP position. That is, in this case as well, using ZMP, it is impossible to determine the transition of the contact state such as slippage or contact at the contact point between the robot and the environment.

In the specification of Japanese Patent No. 3132156, a motion in which a legged mobile robot climbs stairs is generated based on ZMP. However, as described above, when ZMP is used, when the contact point is not on a single surface or when slip occurs at the contact point, the transition of the contact state cannot be determined. This is because the robot receives a three-dimensional force and a three-dimensional moment from the floor, but ZMP uses only two components of the moment parallel to the floor surface.
JP 2002-326173 A Japanese Patent No. 3132156

  A first object of the present invention is to consider a three-dimensional force and a three-dimensional moment that the robot receives from the environment in a legged mobile robot, and these three-dimensional force and three-dimensional moment are the force-moment space. It is an object of the present invention to provide a control device for a legged mobile robot having a function of determining a transition of a contact state using a convex cone formed in the above.

  Furthermore, the second object of the present invention is to consider a three-dimensional force and a three-dimensional moment that the robot receives from the environment in a legged mobile robot, and the three-dimensional force and the three-dimensional moment are the force − An object of the present invention is to provide an apparatus for generating a motion of a legged mobile robot in which a contact state does not change by using convex cones formed in a moment space.

  Furthermore, a third object of the present invention is to operate a legged mobile robot that controls the posture of the robot in real time in consideration of the three-dimensional force and the three-dimensional moment that the robot receives from the environment. It is to provide a control device.

 In order to achieve the first object described above, when a legged mobile robot comprising at least an upper body and a plurality of legs connected to the upper body performs an action such as walking, the robot receives from the environment 3 Means for calculating a three-dimensional force and a three-dimensional moment, means for calculating a convex cone formed in a force-moment space corresponding to a given robot motion, and the measured three-dimensional force and three-dimensional force The control device was configured to have means for determining whether the moment is contained within the convex cone.

  Further, the three-dimensional force and the three-dimensional moment that the robot receives from the environment are measured, the convex cone formed in the force-moment space corresponding to the given posture of the robot is calculated, and the measured three-dimensional Because it has a means to determine whether or not the force and three-dimensional moment are contained within the convex cone, the transition of any contact state where the contact between the robot and the environment is separated or the contact point slips It can be determined, and the stability when the legged mobile robot operates can be improved.

  Furthermore, in order to achieve the second object described above, a legged mobile robot comprising at least an upper body and a plurality of legs connected to the upper body performs an operation such as walking without changing the contact state. Means for calculating a target three-dimensional force and three-dimensional moment, means for calculating a convex cone formed in a force-moment space corresponding to a given robot motion, and the calculation When the target value of the three-dimensional force and the three-dimensional moment is not included in the convex cone, the control device is configured to have means for correcting the target value of the three-dimensional force and the three-dimensional moment.

  A target three-dimensional force and a three-dimensional moment are calculated, a convex cone formed in a force-moment space corresponding to a given robot posture is calculated, and the calculated three-dimensional force is further calculated. If the target value of the three-dimensional moment is not included in the convex cone, the robot has a means to correct the target value of the three-dimensional force and the three-dimensional moment. It is possible to generate a stable motion of a legged mobile robot that does not cause a transition of a contact state that causes slipping.

  Furthermore, in order to achieve the above third object, a legged mobile robot comprising at least an upper body and a plurality of legs connected to the upper body takes into account a three-dimensional force and a three-dimensional moment. Thus, the control device is configured to have means for controlling the posture in real time.

  Since there is a means for controlling the posture in real time in consideration of the three-dimensional force and the three-dimensional moment, stable motion control of the legged mobile robot can be realized in real time so that the contact state does not change.

  Since the present invention is configured as described above, in a legged mobile robot, the transition of the contact state between any robot and the environment can be determined, and the operation of the robot that does not transition the contact state can be easily obtained. The posture can be controlled in real time.

  The present invention is a legged mobile robot that can determine the transition of the contact state between any robot and the environment, can easily obtain the operation of the robot without changing the contact state, and controls the posture of the robot in real time. In the control device for a legged mobile robot comprising at least the upper body and a plurality of legs connected to the upper body, by calculating the six-dimensional force / moment applied to the robot, Realized by providing means for determining the transition of the contact state when the slip occurs from the non-slip state or the contact leaves at at least some of the contact points in the contact between the sole and the floor surface during walking above did.

  Hereinafter, a control apparatus for a legged mobile robot according to an embodiment of the present invention will be described with reference to the accompanying drawings. An example of a legged mobile robot is a biped walking robot.

  First, as a first embodiment of the present invention, when a legged mobile robot performs an action such as walking, a means for calculating a three-dimensional force and a three-dimensional moment received by the robot from the environment, a given robot posture The means for calculating the convex cone formed in the force-moment space corresponding to is shown.

のように定義されるとする。さらに、ｚ_０はロボットが水平面上を歩行する場合の床面の高さを表すものとする。ｆ_Ｈｉ（＝［（ｆ_Ｈｉ）ｘ（ｆ_Ｈｉ）ｙ（ｆ_Ｈｉ）ｚ］^Ｔ）、τ_Ｈｊ（ｊ＝１，２）は各手先が受ける力・モーメント、ｆ_Ｆｊ，τ_Ｆｊ（ｊ＝１，２）は各足裏が受ける力・モーメントである。同様に、ｆ_ｋは点ｐ_ｋで受ける力とする。なお、図ではモーメントを太矢印で表している。ｎ_ｋは、点ｐ_ｋにおける単位拘束法線ベクトルを表す。Ｉ_ｉ、ω_ｉはそれぞれ第iリンクの基準座標系に関する慣性テンソル、角速度ベクトルを表す。以上述べた位置ベクトル、力、モーメントは、全て基準座標系Σ_Ｒで表すものとする。 FIG. 1 is a schematic diagram generally showing a legged mobile robot, more specifically a biped walking robot, to which the control device according to this embodiment is applied. Σ _R is a reference coordinate system, Σ _B is a coordinate system fixed to the robot waist, and Σ _Li is a coordinate system fixed to the center of gravity of the i-th link (i = 1,..., N). The position vector for _{Σ R, P Hj (= [} x Hj y Hj z Hj] T (j = 1,2) Each _{hand, p Fj (= [x Fj} y Fj z Fj] T) (j = 1, 2) is a point fixed to each sole link, p _Li (= [x _Li y _Li z _Li ] ^T ) is the origin of Σ _Li , p _B (= [x _B y _B z _B ] ^T ) is Σ _It represents the origin of _B. Also, p _k (k = 1,..., K) without distinguishing the vertexes of the polygons constituting the contact area of each hand and the support area of each sole from the hand or the foot. And p _G (= [x _G y _G z _G ] ^T ) is a position vector representing the center of gravity of the robot,

Is defined as follows. Further, z ₀ represents the height of the floor surface when the robot walks on a horizontal plane. f _Hi (= [(f _Hi ) x (f _Hi ) y (f _Hi ) z] ^T ), τ _Hj (j = 1, 2) is the force / moment received by each hand, f _Fj , τ _Fj (j = 1, 2) are the force and moment that each sole receives. Similarly, _{f k} is the force applied at the point _{p k.} In the figure, moments are indicated by thick arrows. n _k represents a unit constraint normal vector at the point p _k . I _i and ω _i represent an inertia tensor and an angular velocity vector related to the reference coordinate system of the i-th link, respectively. Above mentioned position vectors, forces, moments, is intended to refer in all the reference coordinate system sigma _R.

・・・・・（１）

・・・・・（２）
ここで、

はロボットの質量、ｇ＝［０ ０ −ｇ］Ｔは重力ベクトルを表す。また、

は重心まわりの角運動量を表す。 When the robot is operated, inertial and those representing the forces robot receives the reference coordinate system sigma _R by gravity f _G, the moment about the reference coordinate system in which the robot is subjected to tau _G. The force / moment received by the robot is given by [Equation 1] and [Equation 2].

(1)

(2)
here,

Is the mass of the robot, and g = [0 0 -g] T is the gravity vector. Also,

Represents the angular momentum around the center of gravity.

・・・・・（３）

・・・・・（４）
さらに、各接触点がロボットに対して発生可能な力の集合は、摩擦コーンをL角錐で近似した場合、［数式５］により与えられる。

・・・・・（５）
ここに、μ_ｋは各点の摩擦係数、

が各点の摩擦コーンを近似するL角錐の側辺となる様な単位ベクトルで、

は各点に加わる接線方向の力の大きさにより定まる非負のスカラーである。［数式５］を［数式３］、［数式４］に代入すると、（ｆ_Ｃ，τ_Ｃ）がとり得る値の集合は、［数式６］、［数式７］のとおり得られる。

・・・・・（６）

・・・・・（７）
（ｆ_Ｃ，τ_Ｃ）はベクトルの非負１次結合で表されていることから、これらが力・モーメントの空間でとり得る値の集合は凸多面錐になる。この力・モーメントの集合を、接触力凸多面錐と呼ぶことにする。 When a force f _G and moment τ _G are applied to the robot, the robot receives a reaction force / moment from the environment in contact with the robot. When the reaction force received from the environment in contact with the robot is expressed in the reference coordinate system as f _C , and the moment around the reference coordinate system received by the robot as τ _C , these are the contact surfaces of the hand, sole, and environment. [Formula 3] and [Formula 4] are obtained from the geometric shape of

(3)

(4)
Furthermore, the set of forces that each contact point can generate on the robot is given by [Equation 5] when the friction cone is approximated by an L pyramid.

(5)
Where μ _k is the coefficient of friction at each point,

Is a unit vector that is the side of an L pyramid that approximates the friction cone of each point,

Is a non-negative scalar determined by the magnitude of the tangential force applied to each point. By substituting [Formula 5] into [Formula 3] and [Formula 4], a set of values that (f _C , τ _C ) can take is obtained as [Formula 6] and [Formula 7].

(6)

(7)
Since (f _C , τ _C ) is represented by a non-negative linear combination of vectors, the set of values that these can take in the force / moment space is a convex polyhedral cone. This set of forces and moments is called a contact force convex polyhedral cone.

When a force f _G and a moment τ _G are applied to the robot, when the (−f _G , −τ _G ) is included in the contact force convex polyhedral cone represented by [Formula 6] and [Formula 7], the contact state is It becomes weakly stable, and there is a possibility that a balanced relationship is established. At this time, it cannot be said that the balance is necessarily established, but when (−f _G , −τ _G ) is not included in the convex polyhedral cone, the balance relationship is not established, and the contact state always changes.

・・・・・（８）

・・・・・（９）

・・・・・（１０）
ここで、

は任意の非負数である。一方、鉛直方向の力と水平方向のモーメントは、［数式１１］、［数式１２］、［数式１３］で表されるが、これらは常に釣り合いが成立するとは限らない。

・・・・・（１１）

・・・・・（１２）

・・・・・（１３）
つまり、平らな床面の上を脚式移動ロボットが歩行する場合、ロボットの動作が与えられると、それに対応した［数式１１］、［数式１２］、［数式１３］の左辺が計算される。そして、［数式１１］、［数式１２］、［数式１３］が成立するためには、右辺に含まれる非負のスカラ

が存在しなくてはならない。 逆に言うと、与えられたロボットの動作に対して、非負のスカラ

が存在するかどうかによって、接触状態が遷移するかどうかが判定される。 Next, as a second embodiment of the present invention, means for determining transition of the contact state when a legged mobile robot walks on a plane with sufficient friction is shown. The contact state transitions on a floor surface having sufficient friction is when the contact leaves at a certain contact point. Consider the case where only the sole of the robot is in contact with the horizontal plane as shown in FIG. Assuming that a sufficiently large friction acts between the robot foot and the horizontal plane, an arbitrary reaction force is generated for the force in the horizontal plane direction and the moment about the vertical axis, [Equation 8], [Equation 9], The balanced relationship in [Equation 10] always holds.

(8)

(9)

(10)
here,

Is any non-negative number. On the other hand, the force in the vertical direction and the moment in the horizontal direction are expressed by [Equation 11], [Equation 12], and [Equation 13], but these are not always balanced.

(11)

(12)

(13)
In other words, when a legged mobile robot walks on a flat floor surface, when the robot motion is given, the left side of [Formula 11], [Formula 12], and [Formula 13] corresponding thereto is calculated. In order for [Formula 11], [Formula 12], and [Formula 13] to hold, a non-negative scalar included in the right side is used.

Must exist. Conversely, a non-negative scalar for a given robot motion

It is determined whether or not the contact state transitions depending on whether or not there exists.

FIG. 3 shows an appropriate contact area between the robot and the floor on a flat floor surface and the corresponding convex polyhedral cones expressed by [Formula 11], [Formula 12], and [Formula 13] (f _C ) shows a cross section at the value of z.

・・・・・（１４）

・・・・・（１５）

・・・・・（１６）

・・・・・（１７）
ここで、

である。（（ｆ_Ｃ)ｚ，（ｆ_Ｃ)ｙ，（ｆ_Ｃ)ｚ）部分空間で考えると、これらの式で表される凸多面錐のl番目の側辺とｆ_Ｃ＝ε断面の交点は

となることに注意すると、凸多面錐は断面上では凸多角形となる。これを図４に示す。

がこの凸多角形の要素であれば、水平方向の力については接触状態の遷移は必ずしも起こらない。それに対して、この凸多角形の要素に含まれない場合は、接触状態の遷移が必ず起こる。一方、［数式１７］のz軸まわりのモーメントの釣合式は、

の最小値を（τ_ｚ）_ｍｉｎ、最大値を（τ_ｚ）_ｍａｘとかくと、凸多面錐の（ｆ_Ｃ）ｚ（τ_Ｃ）ｚ断面は、図５の様になる。接触状態が遷移しないためには、［数１８］において、

・・・・・（１８）
正のスカラλ_１＞０，λ_２＞０が存在しなくてはならない。以上より、摩擦が十分に働いて滑らないという仮定をしない場合は、十分に摩擦が働く場合に加えて、水平並進２軸と鉛直回りの回転について、釣り合いの関係式を考え、接触状態の遷移の判定を行う。 Next, as a third embodiment of the present invention, means for determining a transition of a contact state when a legged mobile robot walks on a slippery road surface will be described. When walking on a slippery road surface, both the case where the contact leaves and the case where the slip occurs must be considered simultaneously as the case where the contact state transitions. In this case, the relational expression of the balance especially regarding the moment in the horizontal direction is the same as the case where the friction of the floor surface sufficiently works. On the other hand, the relational expression of the balance relating to the force and the relation of the balance relating to the moment about the vertical axis can be expressed as [Equation 14], [Equation 15], [Equation 16], and [Equation 17].

(14)

(15)

(16)

(17)
here,

It is. Considering the ((f _C ) z, (f _C ) y, (f _C ) z) subspace, the intersection of the l-th side of the convex polyhedral cone represented by these equations and the f _C = ε cross section is

Note that the convex polyhedral cone becomes a convex polygon on the cross section. This is shown in FIG.

If is an element of this convex polygon, the transition of the contact state does not necessarily occur for the force in the horizontal direction. On the other hand, if it is not included in this convex polygon element, a transition of the contact state always occurs. On the other hand, the balance equation of the moment about the z-axis in [Equation 17] is

If the minimum value is (τ _z ) _min and the maximum value is (τ _z ) _max , the (f _C ) z (τ _C ) z cross section of the convex polyhedral cone will be as shown in FIG. In order for the contact state not to change, in [Equation 18],

(18)
There must be a positive scalar λ ₁ > 0, λ ₂ > 0. From the above, if it is not assumed that the friction works enough and does not slip, in addition to the case where the friction works enough, considering the balanced relational expression for the horizontal translation two axes and the rotation around the vertical, the transition of the contact state Judgment is made.

・・・・・（１９）
次に、この接触力凸多面錐に加えて、内力を考える。ロボットの手が環境と接する場合、ロボットが持つ運動量や角運動量には影響を及ぼさない接触力の成分である内力が存在する。この場合、内力の関係式は［数式２０］のように表すことができる。

・・・・・（２０）
ここで、φは内力に関するパラメータである。［数式１９］は式が三つに対して、変数が

の四つである。しかしながら、［数式１９］に加えて式［数式２０］を考えることで、式の数と変数の数が合い、変数を一意に求めることができる。このとき、これらの変数に負のものが含まれるならば、接触状態が遷移することを判定できる。つまり、手先が環境と接触する場合は、接触力凸多面錐に加えて内力の関係式を用いることで、接触状態の遷移を判定する。 As a fourth embodiment of the present invention, a legged mobile robot having an arm is assumed, and a case where the arm is in contact with the environment is assumed. Unlike the previous section, in this case, the contact between the robot and the environment is not necessarily included in a single plane. In this case, the influence of the internal force that acts between the contact points of the hand and the toe becomes significant. The embodiment will be described by taking the two-dimensional case shown in FIG. 6 as an example. Since a motion in a two-dimensional plane is assumed, a two-dimensional force and a one-dimensional moment may be considered. Summarizing the relational expression of balance of force and moment, [Formula 19] is obtained.

(19)
Next, in addition to this contact force convex polyhedral cone, the internal force is considered. When the robot's hand comes into contact with the environment, there is an internal force that is a component of contact force that does not affect the momentum or angular momentum of the robot. In this case, the internal force relational expression can be expressed as [Equation 20].

(20)
Here, φ is a parameter relating to internal force. [Equation 19] has three variables and variables

There are four. However, by considering the expression [Expression 20] in addition to [Expression 19], the number of expressions matches the number of variables, and the variable can be uniquely obtained. At this time, if these variables include negative values, it can be determined that the contact state transitions. That is, when the hand touches the environment, the transition of the contact state is determined by using the internal force relational expression in addition to the contact force convex polyhedral cone.

  As a fifth embodiment of the present invention, a technique for generating an action of a legged mobile robot that does not change the contact state will be described. For the robot motion given by the first embodiment of the present invention, a method for calculating the force / moment received by the robot and a method for calculating a contact force convex polyhedral cone are shown. Here, a method of correcting the operation when the calculated force / moment is not included in the contact force convex polyhedral cone is shown.

と表記する。（ｆ_Ｇ，τ_Ｇ）を［数式２０］の連立不等式で表される凸多面錐に正射影する。

・・・・・（２１）
この射影を

とすると、所望の射影は、

・・・・・（２２）

・・・・・（２３）
と求めることができる。このアルゴリズムの説明図を図７に示す。 When (−f _G , −τ _G ) not included in the contact force convex polyhedral cone is given, the distance that is included in the contact force convex polyhedral cone and defined by the Euclidean norm is the closest by the following algorithm. Can be converted into a thing. The converted value

Is written. (F _G , τ _G ) is orthogonally projected onto the convex polyhedral cone represented by the simultaneous inequality of [Equation 20].

(21)
This projection

Then the desired projection is

(22)

(23)
It can be asked. An explanatory diagram of this algorithm is shown in FIG.

FIG. 8 shows a motion generation method for a legged mobile robot using [Formula 20]. That is, the robot motion is first generated, and the calculation is performed based on [Formula 1] and [Formula 2]. If this is not included in the contact force convex polyhedral cone, (−f _G , −τ _G ) is projected based on [Formula 22] and [Formula 23] to correct the operation.

  In the second to fourth embodiments of the present invention, the transition of the contact state was determined for walking on the floor surface with sufficient friction, walking on the floor surface with a small friction coefficient, and when the hand touches the environment. . What can be said in common in all these cases is that a contact force convex polyhedral cone is used. That is, in each case, by using the fifth embodiment of the present invention, it is possible to generate an action of a legged mobile robot in which the contact state does not change.

  As a sixth embodiment of the present invention, a technique for controlling the posture of a robot in real time will be described. In this method, the force / moment received by the robot is calculated from the current joint angle information of the robot and the position and orientation information of the aircraft in real time. Then, a comparison is made with target values of the force and moment received by the robot, and the operation of the robot is controlled so as to converge to the target value. A block diagram of this control system is shown in FIG.

  In the second to fourth embodiments of the present invention, the transition of the contact state was determined for walking on the floor surface with sufficient friction, walking on the floor surface with a small friction coefficient, and when the hand touches the environment. . In all these cases, [Formula 1] and [Formula 2] are used in common. That is, in each case, the robot operation can be controlled in real time by using the sixth embodiment of the present invention.

FIG. 2 is a diagram showing a legged mobile robot standing on the floor and touching the environment with a hand. It is a figure showing the contact of the sole of a legged mobile robot and a floor surface. It is a figure which shows the sole support area | region and the area | region of a force and a moment in the walk on the flat floor surface with sufficient friction. It is a figure which shows the area | region of force in the walk on the floor surface which is slippery. It is a figure which shows the range of the moment of the surroundings of a vertical axis in the walk on a slippery floor surface. It is a figure where a legged mobile robot walks while pushing an object in a two-dimensional plane. It is a figure which shows the orthogonal projection to the convex polyhedron of the force and moment which are not contained in a contact force convex polyhedron. It is a figure which shows the operation | movement production | generation of the legged mobile robot using a contact force convex polyhedral cone. It is a figure of the real-time control system which considered force and moment.

Claims (13)

In a control device for a legged mobile robot comprising at least an upper body and a plurality of legs connected to the upper body, a sole in walking on a plane is calculated by calculating a six-dimensional force / moment applied to the robot. A legged movement comprising means for determining a transition of a contact state when a slip occurs from a non-slip state or a contact leaves at at least some contact points in contact with a floor surface Robot control device. In a control device for controlling walking of a legged mobile robot composed of at least an upper body and a plurality of legs connected to the upper body, when a plurality of contact points between the robot and the environment are not on a single surface 2. The control apparatus for a legged mobile robot according to claim 1, wherein the transition of the contact state is determined by considering a six-dimensional force / moment applied to the robot. In a control device for a legged mobile robot comprising at least an upper body and a plurality of legs connected to the upper body, when an internal force is generated between the robot and a plurality of contact points of the environment, 6-dimensional 2. The control apparatus for a legged mobile robot according to claim 1, further comprising means for determining the transition of the contact state by considering the force / moment of the robot. In a control device for a legged mobile robot comprising at least an upper body and a plurality of legs connected to the upper body, in consideration of a six-dimensional force and moment applied to the robot during walking on a plane, 2. The control device for a legged mobile robot according to claim 1, further comprising means for generating a motion of the robot whose contact state does not change. In a control device for controlling walking or the like of a legged mobile robot including at least an upper body and a plurality of legs connected to the upper body, a plurality of contact points between the robot and the environment are not on a single surface. 2. The control of a legged mobile robot according to claim 1, further comprising means for generating a motion of the robot in which the contact state does not change by calculating a six-dimensional force / moment applied to the robot. apparatus. In a control device for a legged mobile robot comprising at least an upper body and a plurality of legs connected to the upper body, when an internal force is generated between the robot and a plurality of contact points of the environment, 6-dimensional The legged mobile robot control device according to claim 1, further comprising means for generating a motion of the robot in which the contact state does not change by considering a force and a moment of the robot. In a legged mobile robot control device consisting of at least the upper body and a plurality of legs connected to the upper body, it is possible to perform the walking on a plane by taking into account the six-dimensional force and moment applied to the robot. A control device for a legged mobile robot, characterized by comprising means for controlling the posture of the robot over time. In a control device for controlling walking of a legged mobile robot composed of at least an upper body and a plurality of legs connected to the upper body, a plurality of contact points between the robot and the environment are not on a single plane An apparatus for controlling a legged mobile robot, comprising means for controlling the posture of the robot in real time by taking into account the six-dimensional force and moment applied to the robot. In a control device for a legged mobile robot comprising at least an upper body and a plurality of legs connected to the upper body, when an internal force is generated between the robot and a plurality of contact points of the environment, 6-dimensional An apparatus for controlling a legged mobile robot comprising means for controlling the posture of the robot in real time by taking into account the force and moment of the robot. In a control device for a legged mobile robot comprising at least an upper body and a plurality of legs connected to the upper body, when the robot operates, a three-dimensional force and a three-dimensional moment received by the robot from the environment Means for calculating a convex cone formed in a force-moment space corresponding to the motion of a given robot, and the measured three-dimensional force and three-dimensional moment are inside the convex cone. A control device for a legged mobile robot, comprising: a determination unit configured to determine whether the mobile device is included in the legged mobile robot. A measuring means for measuring a three-dimensional force and a three-dimensional moment received by the robot from the environment; a means for calculating a convex cone formed in a force-moment space corresponding to a given posture of the robot; And a control means for determining whether a three-dimensional force and a three-dimensional moment are included in the convex cone. In a control apparatus for a legged mobile robot comprising at least an upper body and a plurality of legs connected to the upper body, means for calculating a target three-dimensional force and a three-dimensional moment, and a given robot A means for calculating a convex cone formed in the force-moment space corresponding to the movement of the, and a determination to determine whether the calculated three-dimensional force and the target value of the three-dimensional moment are included in the convex cone And a control device for a legged mobile robot, comprising: means for correcting the target value of the three-dimensional force and the three-dimensional moment when it is determined by the determining means that it is not included in the convex cone. . Means for calculating a target three-dimensional force and three-dimensional moment, means for calculating a convex cone formed in a force-moment space corresponding to a given posture of the robot, and the calculated three-dimensional Determining means for determining whether or not the target value of the force and the three-dimensional moment are included in the convex cone, and the three-dimensional force and the three-dimensional moment when the determining means determines that the target value is not included in the convex cone And a means for correcting the target value of the legged mobile robot.

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