JP2010184311A - Legged mobile robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a legged mobile robot which is structurally simple and can be inexpensively equipped with a tiptoe part on a foot. <P>SOLUTION: The legged mobile robot 1 includes an upper body 3, two legs 2 connected with the upper body 3 via a joint to be capable of driving, and the foot 22 connected to a tip of the leg 2 via a joint to be capable of driving. The foot 22 has a sole 100 serving as a ground contacting part of the foot 22. A curved part 112 thinner than the tiptoe part 102 is formed entirely laterally at a constant distance from a tiptoe 110 of the sole 100. The curved part 112 includes a groove 114 with a predetermined width in the fore-and-aft direction of the sole 100. The groove 114 is formed such that a width in the fore-and-aft direction of the sole 100 extends from the rear end of the tiptoe part 102 toward the front end to the middle of the tiptoe part 102. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a legged mobile robot in which a toe is provided on a foot, which is a tip of a leg connected to an upper body, to improve movement performance.

  2. Description of the Related Art Conventionally, as a legged mobile robot as described above, one having a foot as follows is known.

  First, it has a finger joint portion that passively and freely connects the foot tip portion at a position offset from the ground contact surface of the foot portion (see Patent Document 1).

  Second, the base part is fixedly attached to the lower end of the corresponding leg part, the collar part fixedly disposed near the rear end of the base part, and the base part substantially aligned forward. It is comprised from a pair of foot tip part extended and supported so that rocking | fluctuation to the up-down direction was possible (refer patent document 2).

  Third, a foot part having a landing surface disposed at the lowermost end of the movable leg, and a joint axis having a mounting direction different from the pitch axis direction of the body of the legged mobile robot at the substantially front end edge of the foot part And a plurality of toe portions attached in a rotatable manner (see Patent Document 3).

  Fourth, it includes two foot portions that are relatively swingably connected and an actuator that relatively swings the two foot portions, and the first foot portion is the lower leg of the walking robot. The second foot portion has a ground contact surface, and the swinging shaft of the two foot portions extends in the left-right direction near the front end of the first foot portion. The ground contact surface extends over both the front and rear of the swing shaft in the grounded state (see Patent Document 4).

JP 2003-048178 A JP 2004-090194 A JP 2005-153038 A JP 2005-169544 A

  The above-described conventional technology has a problem that the structure is complicated and the cost is increased because the foot has a joint that is rotatable to provide the toe portion.

  An object of the present invention is to provide a legged mobile robot that has a simple structure and can form a toe portion of a foot at low cost.

  The present invention includes an upper body, a plurality of leg portions that are drivably connected to the upper body via a joint, and a foot portion that is drivably connected to a distal end of the leg portion via a joint. In the legged mobile robot, the foot portion has a foot portion that is a ground contact end of the foot portion, and is located at a predetermined distance from the toe portion of the foot portion, based on the thickness of the toe portion across the entire width. A thin bent portion is formed, and the bent portion includes a groove having a predetermined width in the front-rear direction of the foot portion, and the groove has a width in the front-rear direction of the foot portion from the rear end of the toe portion. It is formed to extend to the middle of the toe portion toward the front end.

  According to the present invention, the bent portion that is thinner than the thickness of the toe portion is formed across the entire width at a portion spaced apart from the toe portion of the foot portion, so that the structure is simple and the foot portion is inexpensive. A toe portion can be formed.

  Further, when the toe part of the foot part bends in the groove of the bent part, it flexes flexibly at an arbitrary part in the groove of the bent part.

  The present invention also includes an upper body, a plurality of legs connected to the upper body via a joint so as to be drivable, and a foot connected to the tip of the leg via a joint so as to be drivable In the legged mobile robot, the foot portion has a foot portion that is a grounded end of the foot portion, and the toe portion of the toe portion extends across the entire side at a portion spaced apart from the toe of the foot portion. A bent portion that is thinner than a thickness is formed, and the bent portion includes a groove having a predetermined width in the front-rear direction of the foot portion, and the groove protrudes from the upper surface of the foot portion and has a cross-section in the front-rear direction. Is formed in an inverted U-shaped protrusion.

  According to the present invention, the bent portion that is thinner than the thickness of the toe portion is formed across the entire width at a portion spaced apart from the toe portion of the foot portion, so that the structure is simple and the foot portion is inexpensive. A toe portion can be formed.

  Further, when the toe portion of the foot portion is bent by the groove of the bent portion, the foot portion is flexibly bent by the elasticity of the protruding portion.

It is a front view showing an example of a legged mobile robot according to the present invention. FIG. 2 is a side view of the legged mobile robot shown in FIG. 1. It is explanatory drawing which shows the leg type mobile robot shown in FIG.1 and FIG.2 with a skeleton. It is a perspective view which shows the foot part of FIG. It is a perspective view which shows the foot part of FIG.

  As shown in FIG. 1, a legged mobile robot (hereinafter referred to as “robot”) 1 includes a plurality of (in this case, two) leg portions 2, and a body 3 is provided above the leg portions 2. A head 4 is formed further above the upper body 3, and two arms 5 are connected to both sides of the upper body 3. As shown in FIG. 2, a storage unit 6 is provided on the back of the upper body 3, and an electronic control unit (described later), a battery, and the like are accommodated therein. The robot 1 shown in FIGS. 1 and 2 is covered with a cover for protecting the internal structure.

  FIG. 3 is an explanatory diagram showing the robot 1 in a skeleton. The internal structure of the robot 1 will be described with reference to the figure. As shown in the figure, the robot 1 has six legs powered by eleven electric motors on the left and right legs 2 and arms 5, respectively. Provide joints.

  That is, the robot 1 has electric motors 10R, 10L (R on the right side and L on the left side) that drive joints that rotate the leg 2 about the vertical axis (Z axis or vertical axis) to the hip joint of the waist (crotch). And the electric motor 12 that drives the joint that swings the leg 2 in the pitch (advance) direction (around the Y axis), and the leg. An electric motor 14 that drives a joint that rotates 2 in the roll (left and right) direction (around the X axis) and a knee joint that rotates the lower part of the leg 2 in the pitch direction (around the Y axis) are driven at the knee. An electric motor 16 is provided, and an electric motor 18 that drives a foot (ankle) joint that rotates the tip side of the leg 2 in the ankle in the pitch direction (around the Y axis) and a foot that rotates in the roll direction (around the X axis) Ankle) Electric motor to drive the joint Equipped with a 0.

  As described above, in FIG. 3, the joint is indicated by the rotation axis of the electric motor that drives the joint (or a transmission element such as a pulley that is connected to the electric motor and transmits its power). A foot 22 is attached to the tip of the leg 2.

  As described above, the electric motors 10, 12, and 14 are arranged at the hip joints of the leg 2 so that the rotation axes thereof are orthogonal to each other, and the electric motors 18 and 20 are rotated at the ankle joint (ankle joint). It arrange | positions so that an axis line may orthogonally cross. The hip joint and knee joint are connected by a thigh link 24, and the knee joint and ankle joint are connected by a crus link 26.

  The leg 2 is connected to the upper body 3 via a hip joint, but the upper body 3 is simply shown as an upper body link 28 in FIG. As described above, the arm portion 5 is connected to the upper body 3.

  The arm part 5 is also configured similarly to the leg part 2. That is, the robot 1 includes an electric motor 30 that drives a joint that rotates the arm 5 in the pitch direction and an electric motor 32 that drives a joint that rotates in the roll direction at the shoulder joint of the shoulder, and the free end side thereof. An electric motor 34 that drives a joint that rotates the arm and an electric motor 36 that drives a joint that rotates the subsequent part on the elbow, and an electric motor 38 that drives a wrist joint that rotates the joint on the tip side. Prepare. A hand (end effector) 40 is attached to the tip of the wrist.

  That is, the electric motors 30, 32, and 34 are arranged at the shoulder joints of the arm portion 5 so that their rotation axes are orthogonal to each other. The shoulder joint and the elbow joint are connected by an upper arm link 42, and the elbow joint and the wrist joint are connected by a lower arm link 44.

  Although illustration is omitted, the hand 40 includes a driving mechanism for five fingers (finger) 40a, and is configured to be able to perform operations such as gripping an object with the finger 40a.

  The head 4 is connected to the upper body 3 via an electric motor 46 (which constitutes a neck joint) around a vertical axis and a head swing mechanism 48 that rotates the head 4 around an axis orthogonal thereto. . As shown in FIG. 3, two CCD cameras 50 are arranged in the head 4 so as to be freely viewed in stereo, and an audio input / output device 52 is arranged.

  With the above configuration, the leg 2 has six joints for the left and right legs and is given a total of 12 degrees of freedom. By driving the six joints at appropriate angles (joint displacement), the leg 2 A desired movement can be given to the robot 1 and the robot 1 can be arbitrarily walked in a three-dimensional space. Also, the arm portion 5 has five joints for the left and right arms and is given a total of 10 degrees of freedom, and can drive the five joints at appropriate angles (joint displacement) to perform a desired work. Can do. Further, the head 4 is provided with a joint or swing mechanism having two degrees of freedom, and the head 4 can be directed in a desired direction by driving these at an appropriate angle.

  Each of the electric motors 10 and the like is provided with a rotary encoder (not shown), and outputs a signal indicating at least one of an angle, an angular velocity, and an angular acceleration of a corresponding joint through rotation of a rotating shaft of the electric motor. Note that the electric motor 10 and the like are specifically DC servo motors.

  A known six-axis force sensor (hereinafter referred to as “force sensor”) 56 is attached to the foot portion 22, and among the external forces acting on the robot, the three-direction component Fx of the floor reaction force acting on the robot 1 from the ground contact surface, A signal indicating the three-direction components Mx, My, Mz of Fy, Fz and moment is output. As is well known, the force sensor 56 connects two flange portions for transmitting a load, and a plurality of strain detection elements are attached thereto, and the force acting on the sensor reference point based on the output signals is It has a structure that calculates and outputs each component of moment.

  A force sensor (six-axis force sensor) 58 of the same kind is attached between the wrist joint and the hand 40, and an external force other than the floor reaction force acting on the robot 1, specifically, an external force acting on the hand 40 from the object. Signals indicating the three-direction components Fx, Fy, Fz of (object reaction force) and the three-direction components Mx, My, Mz of moment are output.

  The body 3 is provided with a tilt sensor 60, and the amount of state such as the tilt (tilt angle) of the body 3 with respect to the vertical axis and the angular velocity thereof, that is, the tilt (posture) of the body 3 of the robot 1 is measured. The signal shown is output.

  The output group of these force sensors 56 and the like is sent to an electronic control unit (Electric Control Unit; hereinafter referred to as “ECU”) 70 composed of a microcomputer housed in the storage unit 6 (on the right side of the robot 1 for convenience of illustration). Only the input and output are illustrated). The ECU 70 includes a microcomputer including a CPU, a memory, an input / output interface, and the like, and controls the driving of the electric motor 10 and the like constituting each joint by calculating a joint angle displacement command so that the robot 1 can move in a stable posture. To do. The storage unit 6 accommodates a drive circuit (motor driver) 72 such as the electric motor 10 as a circuit unit, and also accommodates a wireless system 74 and a battery 76.

  The ECU 70 is connected to an operation ECU 78 including a microcomputer via a wireless system 74 so as to be communicable. The operation ECU 78 includes an operation user I / F 78 a, and a command such as an emergency stop input by the user (operator) from the operation user I / F 78 a is sent to the ECU 70 through the wireless system 74.

  In the configuration described above, the ECU 70 generates a gait for the walking (movement) of the robot 1 based on the gait parameters stored in the memory, and the displacement amount (drive amount) of each joint based on the generated gait. And the corresponding electric motor is driven via the drive circuit 72 so that the determined amount of displacement is obtained. In addition, when an operation command is input via the operation ECU 78, the ECU 70 performs an operation such as a stop in response thereto.

  According to the present invention, the foot portion 22 of the robot 1 is configured as follows.

  First, as shown in FIGS. 4 and 5, the foot portion 100 is formed in a rectangular shape, and a box-shaped side surface 106 rising from the bottom surface 104 is provided in the center portion. In the box-shaped side surface 106, the lower end portion of the foot portion 22 that is drivably connected to the upper body 3 via the ankle joint is inserted and fixed to the distal end of the leg portion 2 that is drivably connected to the upper body 3 via the hip joint. The

  Before and after the box-shaped side surface 106, a toe portion 102 and a collar portion 108 extending a predetermined distance are provided.

  As shown in FIG. 4, the toe portion 102 is formed with a bent portion 112 that is thinner than the thickness of the toe portion 102 over the entire width at a portion spaced apart from the toe 110 by a certain distance.

  The bent portion 112 includes a groove 114 having a predetermined width in the front-rear direction of the foot portion 100. The groove 114 is formed such that the width in the front-rear direction of the foot part 100 extends from the rear end of the toe part 102 to the middle of the toe part 102 toward the front end.

  According to the present invention, since a pivotable joint is not used to provide the toe portion 102 on the foot portion 22, the toe portion 102 of the foot portion 22 can be formed at a low cost with a simple structure.

  Further, when the toe portion 102 of the foot portion 100 bends in the groove 114 of the bent portion 112, the toe portion 102 bends flexibly at an arbitrary portion in the groove 114 of the bent portion 112.

  That is, it begins to bend from the thinnest part in the groove 114, but the entire arbitrary part including the thinnest part in the groove 114 can be flexibly bent, and all the parts in the groove 114 are entirely bent. Since it can bend flexibly, a ground contact area can be easily secured.

  Further, as shown in FIG. 5, the toe portion 102 is formed with a bent portion 112 that is thinner than the toe portion 102 across the entire width at a portion spaced apart from the toe 110 by a predetermined distance.

  The bent portion 112 includes a groove 114 having a predetermined width in the front-rear direction of the foot portion 100. The groove 114 protrudes from the upper surface of the foot part 100 and is formed in a protruding part 116 having a reverse U-shaped cross section in the front-rear direction.

  According to the present invention, since a pivotable joint is not used to provide the toe portion 102 on the foot portion 22, the toe portion 102 of the foot portion 22 can be formed at a low cost with a simple structure.

  Further, when the toe portion 102 of the foot portion 100 is bent by the groove 114 of the bent portion 112, the foot portion 100 is flexibly bent by the elasticity of the protruding portion 116.

  In addition, the following effect is acquired by having the toe part 102 in the foot part 22.

  First, since the foot portion 22 has a flexible structure, the center of gravity of the robot moves smoothly and the stability of the apparatus is improved.

  Second, since the ground contact area can be easily secured, the swing joint angle of the ankle joint to which the foot part 100 is attached can be reduced during walking.

  Thirdly, even if the swing joint angle is small, it is possible to walk stably. Therefore, if the swing joint angle is increased, the stride is increased and the running speed can be increased. In addition, it is possible to move up and down stairs with large steps.

  Fourth, it is possible to raise the heel of the grounded leg (support leg) before the heel of the non-grounded leg (free leg) arrives, and to take a longer time to stand on the toe for walking timing Because it can be changed, it can be made to walk like a human.

  Fifth, since the free leg can be kicked out, the assist force of the swing motion can be obtained.

  The robot of the illustrated embodiment has been described above, but the present invention is not limited to this, and can be applied to an arbitrary form of legged mobile robot.

  DESCRIPTION OF SYMBOLS 1 ... Leg type mobile robot, 2 ... Leg part, 3 ... Upper body, 4 ... Head, 5 ... Arm part, 6 ... Storage part, 10R, 10L, 12, 14, 16, 18, 20, 30, 32, 34, 36, 38, 46 ... Electric motor, 22 ... Foot, 24 ... Thigh link, 26 ... Lower leg link, 28 ... Upper body link, 40 ... Hand, 40a ... Finger, 42 ... Upper arm link, 44 ... Lower arm link , 48 ... head swing mechanism, 50 ... CCD camera, 52 ... voice input / output device, 56, 58 ... 6-axis force sensor, 60 ... tilt sensor, 70, 78 ... electronic control unit, 72 ... drive circuit, 74 ... Wireless system, 76 ... battery, 78 a ... user interface for operation, 100 ... foot part, 102 ... toe part, 104 ... bottom face, 106 ... side face, 108 ... heel part, 110 ... toe part, 112 ... bending part, 114 …groove.

Claims (2)

Upper body,
A plurality of legs that are drivably coupled to the upper body via joints;
In a legged mobile robot comprising a foot portion that is drivably coupled to the tip of the leg portion via a joint,
The foot part has a foot part that is a grounded end of the foot part,
Forming a bent portion thinner than the thickness of the toe portion over the entire lateral side at a certain distance from the toe of the foot portion,
The bent portion includes a groove having a predetermined width in the front-rear direction of the foot portion, and the groove has a width in the front-rear direction of the foot portion toward the front end from the rear end of the toe portion. A legged mobile robot characterized by extending to the middle of the robot. Upper body,
A plurality of legs that are drivably coupled to the upper body via joints;
In a legged mobile robot comprising a foot portion that is drivably coupled to the tip of the leg portion via a joint,
The foot part has a foot part that is a grounded end of the foot part,
Forming a bent portion thinner than the thickness of the toe portion over the entire lateral side at a certain distance from the toe of the foot portion,
The bent portion is formed of a groove having a predetermined width in the front-rear direction of the foot portion, and the groove is raised from the upper surface of the foot portion, and is formed into a projecting portion having a reverse U-shaped cross section in the front-rear direction. A legged mobile robot characterized by being formed.

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