JP2007290054A - Bipedal type moving mechanism - Google Patents

Bipedal type moving mechanism Download PDF

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JP2007290054A
JP2007290054A JP2006118677A JP2006118677A JP2007290054A JP 2007290054 A JP2007290054 A JP 2007290054A JP 2006118677 A JP2006118677 A JP 2006118677A JP 2006118677 A JP2006118677 A JP 2006118677A JP 2007290054 A JP2007290054 A JP 2007290054A
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Prior art keywords
leg
link
actuator
caster
wheel
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JP2006118677A
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JP4797775B2 (en
JP2007290054A5 (en
Inventor
Azusa Amino
梓 網野
Ryosuke Nakamura
亮介 中村
Junichi Tamamoto
淳一 玉本
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Hitachi Ltd
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Hitachi Ltd
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Priority to JP2006118677A priority Critical patent/JP4797775B2/en
Priority to KR1020070039153A priority patent/KR100863028B1/en
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Publication of JP2007290054A5 publication Critical patent/JP2007290054A5/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/022—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members consisting of members having both rotational and walking movements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Abstract

<P>PROBLEM TO BE SOLVED: To provide a bipedal type moving mechanism, of simple structure, capable of moving on a plane stably and at high speed, turning in short radius, and having a high ability of getting over a step. <P>SOLUTION: The bipedal type moving mechanism is provided with a right foot and a left foot, comprising first leg links 1dL and 1dR, and second leg links 2dL and 2dR. It is also provided with a first trunk link 2 installed on an output shaft of a trunk actuator 3, on which a subject item 1 to be carried is placed, a second trunk link 4, provided with a trunk actuator 3 at a center part, on which the right foot and the left foot are installed, casters 1bL and 1bR installed on the second leg link 2dL and 2dR on the side of the first leg links 1dL and 1dR, wheels 2bL, 3bL, 2bR, and 3bR installed on the second leg links 2dL and 2dR on the opposite side to the first leg links 1dL and 1dR, and a control means to swing the first trunk link 2 to move the center of gravity right and left. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、移動装置、特に移動能力を備え、目的とする操作，作業を自動的に行う装置であるロボットに関する。   The present invention relates to a moving device, and more particularly, to a robot having a moving ability and automatically performing a target operation and work.

従来、搬送物を、安定した状態で高速移動させるため、ロボット本体の下肢に股関節，膝関節を有する２本の脚を取り付け、膝関節に膝を折り曲げて接地させて二足走行時よりも重心位置を低くして高速移動することが知られ、例えば特許文献１に記載されている。   Conventionally, two legs with hip and knee joints are attached to the lower limbs of the robot body in order to move the transported object at a high speed in a stable state, and the knees are bent at the knee joints to make contact with the ground. It is known to move at a high speed by lowering the position, which is described in Patent Document 1, for example.

特開平５−２８５８６４号公報JP-A-5-285864

上記従来技術においては、移動機構として構造が複雑であるばかりでなく、平地で高速移動すること、安定性、に関して充分でない。また、車輪を用いた移動機構として、３輪以上が接地するものは、移動機構として整地での安定した移動に優れているが、床投影面積が大きく、小回りが苦手である。さらに、倒立２輪を用いた移動機構は整地での移動が容易で、床面積も小さく小回りに優れているが、段差を乗り越える能力が低い。   In the above prior art, not only the structure of the moving mechanism is complicated, but also high speed movement on flat ground and stability are not sufficient. Further, as a moving mechanism using wheels, a structure in which three or more wheels are grounded is excellent in stable movement on leveling as a moving mechanism, but has a large floor projection area and is not good at small turns. Furthermore, the moving mechanism using two inverted wheels is easy to move on leveling, has a small floor area and is excellent in small turns, but has a low ability to get over a step.

本発明の目的は、上記従来技術の課題を解決し、より構造が簡単で、かつ平地で安定した高速移動が可能であり、小回り，段差を乗り越える能力も高い２足型移動機構を提供することにある。   The object of the present invention is to solve the above-mentioned problems of the prior art, and to provide a two-legged moving mechanism that is simpler in structure, capable of stable high-speed movement on flat ground, and has a high ability to overcome small turns and steps. It is in.

上記課題を解決するため、本発明は、第１脚アクチュエータと、第１脚リンクと、第２脚アクチュエータと、第２脚リンクとを有する左足及び右足と、を備え、前記第１脚リンク及び前記第２脚リンクを揺動することによって移動する２足型移動機構において、被搬送物が載置され胴体アクチュエータの出力軸に取り付けられる第１胴体リンクと、前記胴体アクチュエータを中央部に備え前記左足及び右足が取り付けられる第２胴体リンクと、前記第２脚リンクの前記第１脚リンク側に取り付けられ方向が可変とされたキャスタと、前記第２脚リンクの反前記第１脚リンク側に取り付けられた車輪と、前記胴体アクチュエータで前記第１胴体リンクを揺動して左右方向の重心移動を行う制御手段と、を備えたものである。   In order to solve the above problems, the present invention includes a left leg and a right leg having a first leg actuator, a first leg link, a second leg actuator, and a second leg link, and the first leg link and In the biped type moving mechanism that moves by swinging the second leg link, a first body link on which an object to be transported is mounted and attached to an output shaft of the body actuator, and the body actuator are provided at a central portion. A second body link to which a left foot and a right foot are attached; a caster attached to the first leg link side of the second leg link and having a variable direction; and a side opposite to the first leg link of the second leg link. And a control means for swinging the first body link with the body actuator to move the center of gravity in the left-right direction.

本発明によれば、脚リンクに方向が可変とされたキャスタと、車輪と、を取り付けるので、より構造が簡単で、かつ平地で安定した高速移動が可能であり、小回り，段差を乗り越える能力も高いものとすることができる。   According to the present invention, since the caster whose direction is variable and the wheel are attached to the leg link, the structure is simpler, the high-speed movement can be stably performed on a flat ground, and the ability to overcome a small turn and a step is also provided. Can be expensive.

以下、図面を参照して一実施の形態を説明する。
図１は２足型移動機構の全体を示し、下図に駆動方向の定義として、ロール方向（矢印Roll），ピッチ方向（矢印Pitch），ヨー方向（矢印Yaw）を示した図であり、胴体アクチュエータ３、第１脚アクチュエータ１ａＬ，１ａＲ、第２の脚アクチュエータ２ａＬ，
２ａＲ、第３の脚アクチュエータ３ａＬ，３ａＲは内蔵された動力源（モータ）と減速機と角度検出器（ロータリエンコーダあるいはポテンショメータ）を備える。
第１胴体リンク２は胴体アクチュエータ３の出力軸に取り付けられ、ロール方向にのみ駆動される。胴体アクチュエータ３は第２胴体リンク４の中央部に取り付けられており、第１胴体リンク２を介して被搬送物１をロール軸方向に所定の角度だけ揺動する。
第２胴体リンク４には、胴体アクチュエータ３を鉛直方向に通過する軸を対称にして両端部に鉛直方向に長手方向を有する左足および右足が略並行に取り付けられる。左足と右足は構成要素が等しく、構造が胴体アクチュエータ３を通過する鉛直軸に対して対象であるため以下では左足について説明する。 Hereinafter, an embodiment will be described with reference to the drawings.
Fig. 1 shows the entire biped type moving mechanism, and the figure below shows the roll direction (arrow Roll), pitch direction (arrow Pitch), and yaw direction (arrow Yaw) as the definition of the driving direction. 3, first leg actuators 1aL, 1aR, second leg actuators 2aL,
2aR and the third leg actuators 3aL and 3aR each include a built-in power source (motor), a reduction gear, and an angle detector (rotary encoder or potentiometer).
The first body link 2 is attached to the output shaft of the body actuator 3 and is driven only in the roll direction. The body actuator 3 is attached to the center of the second body link 4 and swings the conveyed object 1 by a predetermined angle in the roll axis direction via the first body link 2.
A left foot and a right foot having a longitudinal direction in the vertical direction are attached to both ends of the second body link 4 in parallel with the axis passing through the body actuator 3 in the vertical direction being symmetrical. Since the left foot and the right foot have the same components and the structure is a target with respect to the vertical axis passing through the body actuator 3, the left foot will be described below.

左足は、第２胴体リンク４の一端に、胴体アクチュエータ３と直交かつ胴体リンク長手方向と並行に取り付けられた第１脚アクチュエータ１ａＬと、第１脚アクチュエータ1aLの出力軸によってピッチ方向にのみ所定の角度だけ揺動される第１脚リンク１ｄＬと、第１脚アクチュエータとの接続に対して第１脚リンク長手方向逆端に出力軸を介して取り付けられるピッチ方向にのみ駆動する第２脚アクチュエータ２ａＬと、第２脚アクチュエータ２ａＬおよび力センサ２ｃＬを長手方向両端に取り付けられた第２脚リンク２ｄＬと、第２脚リンク２ｄＬに第２脚アクチュエータ２ａＬに近い側に取り付けられた力センサ
１ｃＬと、力センサ１ｃＬに第２脚リンク２ｄＬに対して逆面に取り付けられ自由に方向の変る車輪が設けられたキャスタ１ｂＬと、力センサ２ｃＬを介して第２脚リンク２ｄＬに取り付けられたピッチ方向にのみ駆動する第３の脚アクチュエータ３ａＬと、第３の脚アクチュエータによって駆動される車輪２ｂＬ，３ｂＬから構成される。
第１脚アクチュエータ１ａＬおよび第２の脚アクチュエータ２ａＬはピッチ方向にのみ所定の揺動角を備え、第３の脚アクチュエータ３ａＬは回転可能である。 The left foot is predetermined in only the pitch direction by the first leg actuator 1aL attached to one end of the second body link 4 at right angles to the body actuator 3 and parallel to the longitudinal direction of the body link, and the output shaft of the first leg actuator 1aL. A first leg link 1dL that is swung by an angle, and a second leg actuator 2aL that is driven only in the pitch direction attached to the first leg link longitudinally opposite end with respect to the connection with the first leg actuator via the output shaft. A second leg link 2dL in which the second leg actuator 2aL and the force sensor 2cL are attached to both ends in the longitudinal direction, a force sensor 1cL attached to the second leg link 2dL on the side closer to the second leg actuator 2aL, and a force Caster 1 in which sensor 1cL is provided with a wheel that is attached to the opposite surface with respect to second leg link 2dL and that freely changes direction. L a, and the third leg actuator 3aL for driving only in the pitch direction which is attached to the second leg link 2dL via a force sensor 2CL, third wheel is driven by a leg actuator 2bL, composed 3bL.
The first leg actuator 1aL and the second leg actuator 2aL have a predetermined swing angle only in the pitch direction, and the third leg actuator 3aL is rotatable.

図１では、キャスタ１ｂＬはＸ軸方向に突出して配置されているが、第２脚アクチュエータ２ａＬと同軸に配してもよい。また、図１では、Ｙ軸方向の安定性を得るために車輪は２ｂＬと３ｂＬの２つとしているが図２のように車輪４ｂＬと車輪４ｂＲのように各脚に車輪１つで構成してもよい。   In FIG. 1, the casters 1bL are arranged so as to protrude in the X-axis direction, but may be arranged coaxially with the second leg actuator 2aL. In FIG. 1, two wheels, 2bL and 3bL, are provided to obtain the stability in the Y-axis direction. However, as shown in FIG. 2, each wheel is composed of one wheel for each leg as shown in wheels 4bL and 4bR. Also good.

本体内部には姿勢を計測する為のセンサ、例えば傾斜角センサと、アクチュエータ４，第１脚アクチュエータ１ａＬ,第１脚アクチュエータ１ａＲ,第２脚アクチュエータ２ａＬ，第２脚アクチュエータ２ａＲ，第３脚アクチュエータ３ａＬ，第３脚アクチュエータ
３ａＲを駆動するための制御回路と、前記のアクチュエータを駆動する電源を備えており、２足型移動機構の目標角度と測定値を基にして所定の制御を行う。 Inside the main body are sensors for measuring posture, for example, an inclination angle sensor, an actuator 4, a first leg actuator 1aL, a first leg actuator 1aR, a second leg actuator 2aL, a second leg actuator 2aR, and a third leg actuator 3aL. A control circuit for driving the third leg actuator 3aR and a power source for driving the actuator are provided, and predetermined control is performed based on the target angle and the measured value of the biped moving mechanism.

２足型移動機構は倒立モードと安定モードに大別され、さらに倒立モードは倒立車輪移動モードと倒立２足歩行移動モードを備える。
車輪２ｂＬと車輪３ｂＬと車輪２ｂＲと車輪３ｂＲのみが地面に接地している状態を倒立モードと定義する。また、車輪２ｂＬと車輪３ｂＬのみが地面に接地している場合、もしくは車輪３ｂＲと車輪３ｂＲのみが地面に接地している場合もある。
車輪２ｂＬと車輪３ｂＬと車輪２ｂＲと車輪３ｂＲおよびキャスタ１ｂＬとキャスタ
１ｂＲが地面に接地している状態を安定モードと定義する。 The biped type moving mechanism is roughly divided into an inverted mode and a stable mode, and the inverted mode further includes an inverted wheel moving mode and an inverted bipedal walking moving mode.
A state where only the wheel 2bL, the wheel 3bL, the wheel 2bR, and the wheel 3bR are in contact with the ground is defined as an inverted mode. In some cases, only the wheel 2bL and the wheel 3bL are in contact with the ground, or only the wheel 3bR and the wheel 3bR are in contact with the ground.
A state in which the wheel 2bL, the wheel 3bL, the wheel 2bR, the wheel 3bR, the caster 1bL, and the caster 1bR are in contact with the ground is defined as a stable mode.

図１は２足型移動機構が倒立モードの状態であり、図３は安定モードの状態である。
倒立モード時は、車輪２ｂＬ，３ｂＬを第３の脚アクチュエータ３ａＬで、車輪２ｂＲ，３ｂＲを第３の脚アクチュエータ３ａＲで、本体内部で得られたセンサの値を基にして倒立振子として制御する。このとき、車輪２ｂＬ，３ｂＬと車輪２ｂＲ，３ｂＲは必ずしも同軸上になくてもよく、少なくとも２つ以上の車輪が地面に接地し、かつ片足につき少なくとも１つの車輪が接地していればよい。
第１胴体リンク２と第２胴体リンク４の角度、第２胴体リンク４の角度と第１脚リンク１ｄＬの角度、第１脚リンク１ｄＬと第２脚リンク２ｄＬの角度、第２胴体リンク４の角度と第１脚リンク１ｄＲの角度、第１脚リンク１ｄＲと第２脚リンク２ｄＲの角度、は倒立状態が保たれる範囲で決定する。 FIG. 1 shows the biped type moving mechanism in the inverted mode, and FIG. 3 shows the stable mode.
In the inverted mode, the wheels 2bL and 3bL are controlled by the third leg actuator 3aL, and the wheels 2bR and 3bR are controlled by the third leg actuator 3aR as an inverted pendulum based on the sensor values obtained inside the main body. At this time, the wheels 2bL, 3bL and the wheels 2bR, 3bR do not necessarily have to be coaxial, as long as at least two wheels are in contact with the ground and at least one wheel is in contact with each leg.
The angle of the first body link 2 and the second body link 4, the angle of the second body link 4 and the angle of the first leg link 1dL, the angle of the first leg link 1dL and the second leg link 2dL, the angle of the second body link 4 The angle and the angle of the first leg link 1dR and the angle of the first leg link 1dR and the second leg link 2dR are determined within a range in which the inverted state is maintained.

図３に示すように胴体アクチュエータ３で第１胴体リンク２を揺動すれば、左右方向の重心移動を行ったことになり、左右どちらかの脚のみで立つことができる。
第１脚アクチュエータ１ａＬ，１ａＲで第２胴体リンク４をピッチ方向に駆動し、前後方向の重心移動を行うこともできる。力センサ２ｃＬ，２ｃＲで左右の脚にかかる荷重を検知し、胴体アクチュエータ３を所定の制御により駆動し、左右方向に重心移動を行い、左右の脚を交互に踏み出し、２足歩行することによって、段差を踏破できる。このように体重移動に１軸、左右の脚にピッチ方向の自由度を持つ軸が少なくとも２軸あれば歩行動作が可能である。 As shown in FIG. 3, when the first body link 2 is swung by the body actuator 3, the center of gravity moves in the left-right direction, and the user can stand with only one of the left and right legs.
The second body link 4 can be driven in the pitch direction by the first leg actuators 1aL and 1aR to move the center of gravity in the front-rear direction. By detecting the load applied to the left and right legs with the force sensors 2cL and 2cR, driving the body actuator 3 with a predetermined control, moving the center of gravity in the left and right direction, stepping on the left and right legs alternately, walking two legs, You can step through the steps. As described above, a walking motion can be performed if there is at least two axes with one degree of freedom in the pitch direction on the left and right legs for weight movement.

安定モードは、図４に示すように車輪２ｂＬと車輪３ｂＬと車輪２ｂＲと車輪３ｂＲとキャスタ１ｂＬとキャスタ１ｂＲを接地した状態である。なお、６輪が接地し、かつ重心が６つの車輪の内側に入っていれば第１胴体リンク２と第２胴体リンク４の角度、第２胴体リンク４の角度と第１脚リンク１ｄＬの角度、第１脚リンク１ｄＬと第２脚リンク2dLの角度、第２胴体リンク４の角度と第１脚リンク１ｄＲの角度、第１脚リンク１ｄＲと第２脚リンク２ｄＲの角度は自由に決定できる。   As shown in FIG. 4, the stable mode is a state in which the wheel 2bL, the wheel 3bL, the wheel 2bR, the wheel 3bR, the caster 1bL, and the caster 1bR are grounded. If the six wheels are grounded and the center of gravity is inside the six wheels, the angle of the first body link 2 and the second body link 4, the angle of the second body link 4 and the angle of the first leg link 1dL The angles of the first leg link 1dL and the second leg link 2dL, the angle of the second body link 4 and the angle of the first leg link 1dR, and the angles of the first leg link 1dR and the second leg link 2dR can be freely determined.

キャスタ１ｂＬおよびキャスタ１ｂＲは全方位移動できるものが望ましいがステアリング（方向転換）機能を備えたキャスタでもよい。床が平坦でなく、多少の凹凸がある場合、キャスタ１ｂＬの荷重を力センサ１ｃＬで、キャスタ１ｂＲの荷重を力センサ１ｃＲで、車輪２ｂＬ，３ｂＬの荷重を力センサ２ｃＬ，１ｃＬで、車輪２ｂＲ，３ｂＲの荷重を力センサ２ｃＲで、それぞれ検知することにより、それぞれに所定の荷重を分配するよう各アクチュエータに対して所定の制御を行う。また、急な加減速等で転倒の恐れが生じる場合も各車輪の荷重を検知し、各アクチュエータに対して所定の制御を行う。   The casters 1bL and 1bR are preferably capable of moving in all directions, but may be casters having a steering (direction change) function. When the floor is not flat and has some unevenness, the load of the caster 1bL is the force sensor 1cL, the load of the caster 1bR is the force sensor 1cR, the load of the wheels 2bL, 3bL is the force sensor 2cL, 1cL, the wheel 2bR, By detecting the load of 3bR by the force sensor 2cR, each actuator is subjected to predetermined control so as to distribute the predetermined load. In addition, even when there is a risk of falling due to sudden acceleration / deceleration or the like, the load of each wheel is detected and predetermined control is performed on each actuator.

２足型移動機構は安定モードと倒立モードを状況に応じて切り替え、常に脚先の車輪を安定モードでは駆動輪、倒立モードでは倒立２輪として駆動に用いることにより、つまり、力センサ１ｃＬ，１ｃＲ，２ｃＬ，２ｃＲからの情報を基とにキャスタ１ｂＬ，１ｂＲと車輪２ｂＬ，３ｂＬ，２ｂＲ，３ｂＲを接地すること、または車輪のみ接地することを選択することにより、少ない自由度の２足型移動機構において整地での安定した移動能力および床投影面積が小さく小回りに優れている能力および段差乗り越え能力を両立できる。   The biped movement mechanism switches between the stable mode and the inverted mode according to the situation, and always uses the wheel at the tip of the leg as a driving wheel in the stable mode and as an inverted two wheel in the inverted mode, that is, the force sensors 1cL and 1cR. , 2cL, 2cR based on the information from the casters 1bL, 1bR and the wheels 2bL, 3bL, 2bR, 3bR, or by selecting only the wheels to be grounded, a two-legged moving mechanism with a small degree of freedom Can achieve both the ability to move stably on leveling, the ability to have a small floor projection area and excellent turning, and the ability to climb over steps.

本発明による一実施の形態による倒立モードを示す斜視図。The perspective view which shows the inverted mode by one embodiment by this invention. 一実施の形態による片足１車輪を示す斜視図。The perspective view which shows one leg 1 wheel by one embodiment. 一実施の形態による安定モードを示す斜視図。The perspective view which shows the stable mode by one embodiment. 一実施の形態による接地した安定モードを示す斜視図。The perspective view which shows the grounding stable mode by one Embodiment.

符号の説明Explanation of symbols

１…被搬送物、２…第１胴体リンク、３…胴体アクチュエータ、４…第２胴体リンク、１ａＬ,１ａＲ…第１脚アクチュエータ、２ａＬ,２ａＲ…第２脚アクチュエータ、３ａＬ，３ａＲ…第３脚アクチュエータ、１ｂＬ，１ｂＲ…キャスタ、１ｃＬ，１ｃＲ，２ｃＬ，２ｃＲ…力センサ、１ｄＬ，１ｄＲ…第１脚リンク、２ｄＬ，２ｄＲ…第２脚リンク、２ｂＬ，３ｂＬ，２ｂＲ，３ｂＲ…車輪。

DESCRIPTION OF SYMBOLS 1 ... Conveyed object, 2 ... 1st body link, 3 ... Body actuator, 4 ... 2nd body link, 1aL, 1aR ... 1st leg actuator, 2aL, 2aR ... 2nd leg actuator, 3aL, 3aR ... 3rd leg Actuator, 1bL, 1bR ... caster, 1cL, 1cR, 2cL, 2cR ... force sensor, 1dL, 1dR ... first leg link, 2dL, 2dR ... second leg link, 2bL, 3bL, 2bR, 3bR ... wheel.

Claims (8)

第１脚アクチュエータと、第１脚リンクと、第２脚アクチュエータと、第２脚リンクとを有する左足及び右足と、を備え、前記第１脚リンク及び前記第２脚リンクを揺動することによって移動する２足型移動機構において、
被搬送物が載置され胴体アクチュエータの出力軸に取り付けられる第１胴体リンクと、
前記胴体アクチュエータを中央部に備え前記左足及び右足が取り付けられる第２胴体リンクと、
前記第２脚リンクの前記第１脚リンク側に取り付けられ方向が可変とされたキャスタと、
前記第２脚リンクの反前記第１脚リンク側に取り付けられた車輪と、
前記胴体アクチュエータで前記第１胴体リンクを揺動して左右方向の重心移動を行う制御手段と、
を備えたことを特徴とする２足型移動機構。 A left leg and a right leg having a first leg actuator, a first leg link, a second leg actuator, and a second leg link, and swinging the first leg link and the second leg link In the moving biped type moving mechanism,
A first fuselage link on which an object to be conveyed is placed and attached to the output shaft of the fuselage actuator;
A second torso link provided with the torso actuator in the center and to which the left foot and the right foot are attached;
A caster attached to the first leg link side of the second leg link and having a variable direction;
Wheels attached to the first leg link side opposite to the second leg link;
Control means for swinging the first body link with the body actuator to move the center of gravity in the left-right direction;
A bipedal movement mechanism characterized by comprising: 請求項１に記載のものにおいて、前記キャスタ及び前記車輪を接地して移動を行うことを特徴とする２足型移動機構。   2. The biped moving mechanism according to claim 1, wherein the caster and the wheel are grounded to move. 請求項１に記載のものにおいて、少なくとも前記左足及び右足のいずれかにおいて、前記キャスタ及び前記車輪を接地して移動を行うことを特徴とする２足型移動機構。   2. The biped type moving mechanism according to claim 1, wherein at least one of the left foot and the right foot moves while grounding the caster and the wheel. 請求項１に記載のものにおいて、前記左足及び右足のいずれかにおいて、前記キャスタ及び前記車輪を接地し、前記胴体アクチュエータで前記第１胴体リンクを揺動して左右方向の重心移動を行いながら移動することを特徴とする２足型移動機構。   2. The apparatus according to claim 1, wherein the caster and the wheel are grounded on either the left foot or the right foot, and the first body link is swung by the body actuator while moving in the center of gravity in the left-right direction. A bipedal movement mechanism characterized by: 請求項１に記載のものにおいて、前記キャスタは力センサを介して前記第２脚リンクへ取り付けられていることを特徴とする２足型移動機構。   2. The biped type moving mechanism according to claim 1, wherein the caster is attached to the second leg link via a force sensor. 請求項１に記載のものにおいて、前記キャスタは力センサを介して前記第２脚リンクへ取り付けられ、前記力センサで検知される荷重に基づいて前記胴体アクチュエータを制御することを特徴とする２足型移動機構。   2. The pair of feet according to claim 1, wherein the caster is attached to the second leg link via a force sensor and controls the trunk actuator based on a load detected by the force sensor. Mold moving mechanism. 請求項１に記載のものにおいて、前記キャスタは力センサを介して前記第２脚リンクへ取り付けられ、前記力センサからの情報をもとに前記キャスタ及び前記車輪を接地すること、前記車輪のみを接地すること、を選択することを特徴とする２足型移動機構。   2. The caster according to claim 1, wherein the caster is attached to the second leg link via a force sensor, and the caster and the wheel are grounded based on information from the force sensor. A two-legged moving mechanism characterized by selecting to be grounded. 請求項１に記載のものにおいて、前記キャスタ及び前記車輪を接地する安定モードと、前記車輪のみを接地する倒立モードと、を備え、車輪が駆動されることにより移動することを特徴とした２足型移動機構。
The two-legged device according to claim 1, comprising a stable mode in which the caster and the wheel are grounded, and an inverted mode in which only the wheel is grounded, and is moved by driving the wheel. Mold moving mechanism.
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