JP3071028B2 - Walking control device for legged mobile robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking control device for a legged mobile robot, and more particularly, to a legged mobile robot that walks autonomously in accordance with a walking pattern based on preset position information. It relates to a gait that can be changed arbitrarily.

[0002]

2. Description of the Related Art A technique for calculating a gait in real time has been proposed as a technique for stably walking a legged mobile robot (Legged Robots on Rough Terrain; Experime).
nts inAdjusting Step Length, by Jessica Hodgins. I
EEE, 1988). However, this method requires an enormous amount of calculation, and at present, it is difficult to control such a multi-degree-of-freedom robot with a small and lightweight computer that can be mounted on a mobile robot. On the other hand, as a method to realize walking of a legged mobile robot, gaits are calculated in advance and stored in the memory of a computer mounted on the robot, and walking is performed by performing only simple data processing when walking. For example, a technique described in Japanese Patent Application Laid-Open No. 62-97006 can be cited.

[0003]

According to the latter technique, it is possible to control a multi-degree-of-freedom robot with a small and lightweight computer which can be mounted on a mobile robot.
In addition to walking based on a preset gait, it was not possible to change the gait such as the course, the traveling direction, the stride, and the walking speed in real time during the walking.

Accordingly, an object of the present invention is to control walking based on a walking pattern designed in advance using a small and lightweight computer, and to change the gait arbitrarily in real time during walking. It is another object of the present invention to provide a walking control device for a legged mobile robot.

[0005]

Means for Solving the Problems] The present invention to solve the problems described above is configured as shown in item 1 and item 2 請 Motomeko
Was. By way it is indicated by the representation of the embodiment described later, according
In item 1, the base 24 and the joints 10, 1
2,14R, L
Foot 22 connected to the end via joints 18, 20R, L
In the walking control device of the legged mobile robot 1 including a plurality of leg links 2 provided with R and L , at least a predetermined portion (specifically, a waist, a twister) near the base of the robot.
Physically, there is no proper fit between the hip joints (axis) 10R, L and the base 24.
Setting means (control unit 26, S16 to S16 ) for presetting time-series data including target position information of the center of gravity and target position information of the center of gravity.
20) calculating the position of the center of gravity at time t,
Of the center of gravity at time t + Δt.
A first correction amount of the position of the predetermined part based on the obtained difference
Correction amount calculating means (control unit 26,
S22 to S28) , and acts on the robot from the ground contact surface.
Road reaction force (specifically, foot load, more specifically load and
And / or moment) road surface reaction force detection means
(6-axis force sensor 36, control unit 26, S30), front
Weight to estimate the position of the center of gravity based on the detected road surface reaction force
Heart position estimating means (control unit 26, S32);
Between the determined center of gravity position and the target center of gravity position of the time-series data
A difference is obtained, and the predetermined portion is determined based on the obtained difference.
Second correction amount calculating means for calculating a second correction amount of the position
(From the control unit 26, S34 S36), the calculation of
Time t + Δ based on the obtained first correction amount and the second correction amount.
target position calculation for calculating a target position of the predetermined portion at t
Means (control unit 26, S38), the target joint angle calculating means for calculating a goal Angle of the joint based on the calculated target position (control unit 26, S40), and before
Serial goals angle degree of possible drive means for driving the joint (control
Control unit 26, S42) was composed as example Bei the. Ma
According to the second aspect, the base 24 and the base 24 are connected to the base 24.
Connected via the joints 10, 12, 14R, L
Both are connected to the tip via joints 18, 20R and L, respectively.
A plurality of leg links 2 having legs 22R, L to be tied
The walking control device of the legged mobile robot 1 comprising
And at least a predetermined portion (tool) near the base of the robot.
Physically hips, more specifically hip joints (axes) 10R, L
(Appropriate position between the base 24) and target position information of the center of gravity.
Setting means (control unit) for setting time-series data in advance
26, S206 to S210), the robot is grounded
Road reaction force (specifically, foot load, more specific
To detect the load and / or moment)
Force detecting means (6-axis force sensor 36, control unit 26, S
212), the center of gravity based on the detected road surface reaction force
Centroid position estimating means (control unit 26, S2
14) The position of the estimated center of gravity and the time-series data
The difference between the target centroid positions is obtained, and based on the obtained difference,
Correction amount calculating means for calculating a correction amount of the position of the predetermined portion
(Control unit 26, S216 to S218),
The predetermined portion at time t + Δt based on the issued correction amount
Position calculation means (control unit) for calculating the target position
26, S220), based on the calculated target position.
Joint angle calculating means for calculating a target angle of the joint by using
(Control unit 26, S222), and the target angle
Drive means (control unit 2) for driving the joints as much as possible
6, S224). In addition,
"Position" means "Position", "(Displacement) speed" and
The term “(displacement) acceleration” is used to include the meaning.

[0006]

The time series data including at least the target position information of the predetermined part of the robot and the center of gravity is set in advance, and the target joint angle is determined in real time during walking control.
The gait can be arbitrarily changed as needed. In addition, the difference between the calculated center of gravity position and the target center of gravity position
The calculated correction amount and / or whether the robot is on the ground
Road reaction force (specifically, foot load, more specifically
Is estimated based on the load and / or moment)
Calculated by the difference between the calculated center of gravity and the target center of gravity.
Based on the positive amount, a predetermined part (specifically, waist, more specifically
Is the desired position between the hip joint and the body)
And calculate the target joint angle based on it.
From can be accurately controlled by accurately determine the target joint angle.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below by taking a bipedal walking robot as an example of a legged mobile robot. FIG.
FIG. 1 is an explanatory skeleton diagram showing the robot 1 as a whole, and includes six joints (axes) in each of left and right leg links 2 (for convenience of understanding, each joint (axis) is electrically driven to drive it). Motors). The six joints (shafts) are, in order from the top, joints (shafts) 10R and 10L for hip rotation.
(R is the right side, L is the left side; the same applies hereinafter), joints (axis) 12R, 12L in the waist pitch direction (x direction), joints (axis) 14R, 14L in the same roll direction (y direction), knee The joints (axes) 16R, 16L in the pitch direction of the joints, the joints (axes) 18R, 18L in the pitch direction of the ankles, and the joints (axes) 20R, 20L in the same roll direction, and the foot (foot) Flats 22R and 22L are attached, and a body (base) 24 is provided at the top, and a control unit 26 is housed inside. In the above description, the hip joint is composed of joints (axis) 10R (L), 12R (L), 14R (L), and the ankle joint is joints (axis) 18R (L), 2R.
0R (L). The thigh links 28R and 28L are connected between the waist joint and the knee joint, and the crus links 30R and 30L are connected between the knee joint and the ankle joint.

Here, the leg link 2 is provided with six degrees of freedom for each of the left and right feet,
× 2 = 12 joints (axes) can be driven at appropriate angles to give desired movement to the entire foot,
It is configured so that it can walk in a three-dimensional space arbitrarily. As described above, the above-mentioned joint is formed of an electric motor, and further includes a speed reducer that boosts the output thereof,
For details, refer to the application proposed by the present applicant (Japanese Patent Application No.
No. 24218, Japanese Patent Laid-Open No. 3-184772) and the like are not the subject of the present invention, and therefore, further description is omitted.

Here, in the robot 1 shown in FIG.
A known six-axis force sensor 36 is provided at the ankle, and a force component F in the x, y, and z directions transmitted to the robot via the foot.
x, Fy, Fz and moment components Mx,
My and Mz are measured, and the presence or absence of landing on the foot and the magnitude and direction of the force applied to the support leg are detected. A well-known capacitance-type ground switch 38 is provided at each of the four corners of the foot.
Detects the presence or absence of grounding. Furthermore, on the upper part of the body part 24,
A pair of inclination sensors 40 and 42 are provided to detect the inclination with respect to the z-axis in the xz plane and its angular velocity, as well as the inclination with respect to the z-axis in the yz plane and its angular velocity. The electric motor of each joint is provided with a rotary encoder for detecting the amount of rotation (only the electric motor for an ankle joint is shown in FIG. 1). The outputs of these sensors 36 and the like are sent to the control unit 26 in the body 24 described above.

FIG. 2 is a block diagram showing the details of the control unit 26, which comprises a microcomputer. The output of the inclination sensors 40 and 42 is A
The digital value is converted by the / D converter 50, and the output is sent to the RAM 54 via the bus 52. The output of the encoder arranged adjacent to each electric motor is
6 and the output of the ground switch 38 and the like via the waveform shaping circuit 58.
Stored in the AM 54. The control unit includes first and second arithmetic units 60 and 62 each including a CPU. The first arithmetic unit 60 reads a walking pattern stored in a ROM 64 and changes a gait as described later. When a command is issued, it is corrected, the target values for the joint angle and the link angle are calculated and sent to the RAM 54 (where the link angle is the absolute angle of the link with respect to the direction of gravity, and the joint angle is the relative angle between the links). Angle). Further, the second arithmetic unit 62 reads the target value and the detected actual value from the RAM 54 as described later, calculates a control value necessary for driving each joint, and transmits the control value via the D / A converter 66 and the servo amplifier. Output to the electric motor that drives each joint. In the drawing, reference numeral 70 denotes a joystick for commanding a gait change such as a course and a stride, reference numeral 72 denotes an origin switch for correcting the inclination sensor output, and reference numeral 74 denotes a limit switch for failure.

Next, the operation of the control device will be described.

FIG. 3 is a flow chart showing a joint angle command value determining operation performed by the first arithmetic unit 60 in the operation of the control device. Referring to FIG.
At 10, each part of the apparatus is initialized, and after confirming that the walking is not completed at S12, the process proceeds to S14 to wait for a timer interrupt. This interruption is performed every Δt, for example, every 5 ms. When the timer interruption is performed, the process proceeds to S16, and the walking pattern at the current time t (n) is read. The walking pattern includes the center of gravity position, the position of each foot, the direction of each foot,
The inclination of each foot is described by time-series data or a function of time. As shown in FIG. 4, the position of the center of gravity G on the x-, y-, and z-axes in the absolute coordinate space is calculated offline in advance as Gx, Gy, Gz and set in the ROM. Here, for convenience of understanding, it is assumed that the value on the z-axis does not matter. Position Rx, Ry, Rz, L of each foot 22R, L
As shown in FIGS. 5 and 6, x, Ly, and Lz are also xy, x-
The position in the z, yz space is set in advance (the left side of FIG. 6 shows the case where the walking pattern is the toe position, and the right side of FIG. 6 shows the case where the walking pattern is the heel position. Are set in the absolute coordinate space, and FIGS. 5 and 6 are diagrams in which coordinate conversion has been performed for calculating each joint angle described later.) Direction θR of each foot
Z and θLZ are also set on the xy space as shown in FIGS. 7 and 8, and the inclination θRX, θRY, θLX, and θLY of each foot are also shown in FIG.
Etc. are individually set as shown.

Next, in step S18, the traveling direction, course, etc. are input, and in step S20, the walking pattern set when the walking pattern is corrected is corrected. In step S22, the current time t (n), ie, the waist position, is corrected. Calculate the joint angle when the position is not moved.

Here, this control will be summarized. In this control, the walking pattern is set not by the joint angle and the link angle but by the position information of a higher concept. Therefore,
The joint angle and the link angle are calculated every moment during walking, but in order to calculate them at a certain time and determine the command value, it is necessary to first determine the posture of the robot.
Since the bipedal walking robot according to the embodiment has a total of 12 degrees of freedom in total with both legs, its posture is the waist position, the upper body (the torso).
If the orientation of the body, the inclination of the upper body, the position of each foot, the orientation of each foot, and the inclination of each foot are determined, the twelve parameters are determined based on the waist position. Is necessary and sufficient. In this control, the joint angle and the link angle are calculated in real time in this way, and then the command value of each joint is calculated and controlled.

Here, the waist position Cz is, as shown in FIG.
It is set at an appropriate position between the hip joints (axes) 10R and 10L and the body 24. Note that in FIG.
Indicates the length of each link such as L, R, etc., and Rnx, Rny, Rnz
Indicates a joint angle on the right foot side, and Lnx, Lny, and Lnz indicate joint angles on the left foot side. Also, as shown in FIG. 7, the direction θCZ of the body is an average value of the directions θRZ and θLZ of each foot. Body tilt θ
CX and θCY can be detected from the output value of the inclination angle sensor as shown in FIG. In determining the posture angle, the inclination of the body is set to zero in both the left and right directions (around the x axis) and the front and rear directions (around the y axis). As a result, from the absolute angle of the body and the relative detection angle of the encoder on the leg link side,
Positioning in absolute coordinates is also possible on the leg link side. The position, direction, and inclination of each foot are determined from the walking data.

Therefore, in S22, such parameters are determined and the joint angle at the current time t (n) is calculated. FIG. 12 shows an example of the calculation in the xz, yz space. As illustrated, an angle is calculated by a geometrical method while performing coordinate transformation. As shown therein, the waist position is different between the case where the knee is extended (FIGS. 12 and 14) and the case where the knee is bent (FIG. 13). Therefore, in this embodiment, the vertical position of the waist is determined such that either or both knees extend. This will be specifically described with reference to FIG. FIG. 9 shows x ', y',
It is expressed using the z ′ coordinate, but x ″,
It can be expressed in the same manner as in FIG. 9 using the y ″, z ″ coordinates. L = L3 + L4 (see FIG. 10) LRx = aRx 'LRy = aRy' LLx = aLx "LLy = aLy" LRz 2 = a ^{L 2 -LRx 2 -LRy 2 LLz 2} = L 2 -LLx 2 -LLy 2 LRz = LLz Sometimes both knees extend. When Cz = aRz + LRz + L2 = aLz + LLz + L2LRz <LLz, the right knee extends. When Cz = aRz + LRz + L2LLz <LRz, the left knee extends. Cz = aLz + LLz + L2 That is, since at least one of the knees can always be considered to be extended during walking, the position of the waist is determined by using one of the above conditional expressions. Can be.

Next, at S24, the current time t
(N), that is, the position of the center of gravity when the position of the waist is not moved is calculated. That is, the waist position C is set at the current time t (n) in FIG.
5 at positions Cx (n) and Cy (n), and at the next time t (n + 1), positions Cx (n + 1) and Cy shown in FIG.
When shifting to (n + 1), the center of gravity, Gxa, Gya, is calculated while keeping the waist position, which is the core in determining the posture, as it is, and the process proceeds to S26 to proceed to the next time t (n + 1). ), The target center of gravity position Gxc (n +
1), Gyc (n + 1) and the current center of gravity position Gxa, Gy
The deviations dGx and dGy from a are calculated as shown in FIG.
Then, the process proceeds to S28, wherein the deviation is set to a predetermined coefficient kx, ky.
To calculate the movement correction amounts dCx and dCy of the waist position. The coefficients kx and ky are set as appropriate, but may be varied as kx = 0.1, ky = 0.9, etc., for example, depending on the walking speed.

Subsequently, the program proceeds to S30, in which the foot loads Fz-R, Fz
-L is input, and the program proceeds to S32, where the actual barycentric positions Gx-s and Gy-s are estimated from the input values. That is, FIG. 18 (Robot 1
As shown in FIG. 19 when viewed from the side in the traveling direction and FIG. 19 (view when the robot 1 is viewed from the traveling direction), a road surface reaction force (external force Fz in the z direction) acts on the robot 1. This is Robot 1
Since the load acts on the position of the center of gravity of the robot 1, the actual position of the center of gravity of the robot 1 shown in FIG. 20 can be estimated by detecting this load. Then, as shown in S32, the loads acting on the left and right leg links detected through the above-described six-axis force sensor 36 and the distances Lx (Rx), Ly (R) from the predetermined positions to the grounding points of the left and right leg links.
y) multiplied by the estimated value G of the actual center of gravity position in the xy plane
Find x-s and Gy-s. Subsequently, the process proceeds to S34, in which the difference dG from the target center of gravity position Gxc (n + 1), Gyc (n + 1) is determined.
x-s and dGy-s are calculated, and the process proceeds to step S36. The coefficients kx-s and ky-s (coefficients similar to those used in step S28) are used again for the calculated difference, and the waist position movement correction amount is used. dCx-s, d
Recalculate Cy-s. Then, the process proceeds to S38, in which the difference dCx, dCy between the current waist position Cx (n), Cy (n) and the movement correction amount centroid position of the waist position obtained in S28 and the correction amount dCx− obtained in S36. s, dCy-s and the simple average value are added, and the waist position Cx (n + 1), C at the next time t (n + 1) is added.
Calculate y (n + 1) (FIG. 21 shows the waist position between the current time and the next time). Then, the process proceeds to S40, in which the joint angle is calculated based on the new posture thus determined, and
At 42, the joint angle command value is determined based on the calculated value and output to the RAM 54 as described above. At S44, the time t is updated by Δt to the next time t (n + 1). After waiting for the timer interrupt of S14,
The same operation is repeated for the next time t + Δt, which is updated after proceeding to No. 6. If it is determined in step S12 that the walking has been completed, the process advances to step S46 to perform necessary post-processing and terminate the program.

Next, a servo control value determining operation performed by the second arithmetic unit 62 based on the determined joint angle command value will be described with reference to a flowchart of FIG.

First, initial settings are made in S100, and S1
Proceeding to 02 and confirming that walking is not completed, S104
To wait for a timer interrupt. Then, when a timer interrupt is performed, the process proceeds to S106 to read out the joint angle command value from the RAM 54, and proceeds to S108 to detect the state of the robot from the output of the sensor group. Then S11
0, calculate a servo control value necessary for driving each joint from the command value and the detected value (actually measured value), and then proceed to S112 to calculate D
The control value is output to the servo amplifier via the / A converter 66. If it is determined in step S102 that walking has ended, the process proceeds to step S1.
At 14, necessary post-processing is performed, and the program ends.

In this embodiment, for example, when a request to change the landing position to 10 cm ahead is made in the middle of walking, a deviation between the target center of gravity position corresponding to the changed landing position and the current center of gravity position is obtained. Then, when the posture is determined, the corrected movement amount of the waist position, which is a core parameter, is estimated to determine the posture and the joint angle is calculated, so that the gait can be arbitrarily changed during walking. That is, as the walking data, the center of gravity position, the landing position, and the like are set in advance, the posture is appropriately determined according to the walking state, the joint angle is calculated, and the joint is driven based on the calculated joint angle. Also, the calculation of the joint angle is configured to be simply obtained by a geometric method as shown in the figure, so that it can be easily realized by a small and lightweight control device. Also, when the waist position is determined, the vertical (z-axis) direction is not restricted, so that the posture determination and the calculation of the joint angle are further simplified. In addition, since positioning in absolute coordinates is enabled, the posture angle of the robot can be accurately detected, and stable walking can be realized.

Also, when calculating the movement correction amount of the waist position, the movement correction amount is obtained by a simple average value of the value calculated from the design value (S28) and the value calculated from the actual detected value (S36). Even if the actual posture deviates from the set value due to disturbance, the amount of the load, or the like, it can be corrected well, and the target joint angle can be accurately detected by accurately obtaining the waist position. Note that a weighted average or the like may be used instead of the simple average.

FIG. 23 shows the operation of determining the joint angle command value.
6 is a flowchart showing a second embodiment of the present invention. Explaining only the differences from the first embodiment, S20
After correcting the walking pattern from 0 to S210 (only when it is necessary to correct), the foot load is input in S212, the position of the center of gravity is estimated in S214, the difference from the target position of the center of gravity is calculated in S216, and S218 is performed. In the following, the waist position is calculated based on it, and the joint angle is calculated. That is, in the case of this embodiment, the position of the center of gravity is estimated from only the detected values, and the position of the waist is corrected. The configuration including the remaining steps is the same as in the first embodiment. The effect is the same as that of the first embodiment except that the calculation is simplified.

Although the position of the center of gravity is used in the above,
The center of gravity speed, the center of gravity acceleration, or a combination thereof may be used. Although the external force Fz is used as the road surface reaction force, a moment may be used.

Although the present invention has been described by taking a bipedal legged mobile robot as an example, the present invention is not limited to this and is applicable to a legged mobile robot having three or more legs.

[0026]

According to the first aspect of the present invention, the substrate and the
Connected via joints
In walking legged mobile robot control system comprising a plurality of legs link with a foot portion connected through, small
At least a predetermined site near the base of the robot (specifically,
The waist, more specifically, the appropriate position between the hip joint (axis) and the base
Setting means for presetting the time-series data including a target position information of the location) centroid, calculates the center-of-gravity position at time t, the time
Find the difference from the position of the center of gravity at time t + Δt of the series data
The position of the predetermined part based on the obtained difference.
First correction amount calculating means for calculating a first correction amount, the Robo
Surface reaction force acting on the ground from the ground (specifically,
Weight, more specifically, load and / or moment)
Road surface reaction force detecting means for detecting the road surface reaction force
Centroid position estimating means for estimating the centroid position based on the
Between the determined center of gravity position and the target center of gravity position of the time-series data
A difference is obtained, and the predetermined portion is determined based on the obtained difference.
Second correction amount calculating means for calculating a second correction amount of the position ,
Based on the calculated first correction amount and second correction amount
An eye for calculating a target position of the predetermined part at time t + Δt
Target position calculating means, the target joint angle calculating means for calculating a goal Angle of the joint on the basis of the calculated target position, and the goals Angle and possible driving means for driving the joint
Owing to this arrangement comprises, it is possible to modify any gait during the walking control, the target joint angle can also be accurately controlled by accurately determined.

[0027] In the second aspect, the base and the base are connected to each other.
Connected via the joints to be connected
Legs with feet connected to the
Walking control device for legged mobile robots
And at least a predetermined portion (tool) near the base of the robot.
Physically waist, more specifically between the hip joint (axis) and the base
Time-series data including target position information of the center of gravity and the center of gravity
Setting means for setting in advance, the robot is operated from the ground surface.
Road reaction force to be used (specifically, foot load, more specifically load
Road reaction force detection to detect the weight and / or moment)
Means for estimating the position of the center of gravity based on the detected road surface reaction force.
Means for estimating the position of the center of gravity,
The difference between the target centroid position of the time-series data is obtained,
And calculating a correction amount of the position of the predetermined portion based on the difference.
Correction amount calculating means, based on the calculated correction amount,
A target for calculating a target position of the predetermined part at an instant t + Δt
Position calculating means, based on the calculated target position,
Target joint angle calculation means for calculating a target angle of the joint; and
Driving means for driving the joint so as to reach the target angle
Since the configuration is provided so as to provide, the calculation can be simplified in addition to the effects described above.

[Brief description of the drawings]

FIG. 1 is a schematic view showing the entire walking control device of a legged mobile robot according to the present invention.

FIG. 2 is an explanatory block diagram of a control unit shown in FIG.

FIG. 3 is a flowchart showing a joint angle command value determination operation in the operation of the control device.

FIG. 4 is an explanatory diagram showing the position of the center of gravity in the absolute coordinate space.

FIG. 5 is an explanatory diagram showing a position of a foot in an xy space.

FIG. 6 is an explanatory diagram showing a position of a foot in an xz space.

FIG. 7 is an explanatory diagram showing directions of a body and a foot in an xy space.

FIG. 8 is an explanatory view showing the direction of a foot in an xy space in the same manner.

FIG. 9 is an explanatory view showing the inclination of the foot in the xz space.

FIG. 10 is an explanatory diagram showing a waist position and the like.

FIG. 11 is an explanatory diagram showing the inclination of the body and the like.

FIG. 12 is an explanatory diagram showing a method of calculating a joint angle in a state where a knee is extended in an xz space.

FIG. 13 is an explanatory diagram showing a method of calculating a joint angle in a state where a knee is bent in an xz space.

FIG. 14 is an explanatory diagram showing a method of calculating a joint angle in a state where a knee is bent in a yz space.

FIG. 15 is an explanatory diagram showing the movement of the waist and the center of gravity in the xy space.

FIG. 16 is an explanatory diagram showing the movement of the waist and the center of gravity in the xy space as in FIG. 15;

FIG. 17 is an explanatory diagram showing the movement of the waist and the center of gravity in the xy space as in FIG. 15;

FIG. 18 is an explanatory view showing a state where a road surface reaction force is acting in the side view of the robot 1 shown in FIG. 1;

19 is an explanatory view showing a state in which a road surface reaction force is acting in the front view of the robot 1 shown in FIG. 1. FIG.

FIG. 20 is an explanatory diagram showing a plan view of the state of FIGS. 18 and 19;

FIG. 21 is a plan view illustrating movement of the waist position between the current time and the next time.

FIG. 22 is a flowchart showing a servo control value determination operation in the operation of the control device.

FIG. 23 is a flowchart showing a second embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Legged mobile robot (biped robot) 2 Leg link 10R, 10L Leg rotation joint (axis) 12R, 12L Crotch pitch direction joint (axis) 14R, 14L Crotch roll direction joint (Axis) 16R, 16L Joint in the pitch direction of the knee (axis) 18R, 18L Joint in the pitch direction of the ankle (axis) 20R, 20L Joint in the roll direction of the ankle (axis) 22R, 22L Foot 24 Body 26 control unit 36 6-axis force sensor

Continuation of front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 5/00 B25J 9/10 G05D 3/12 305

Claims (2)

(57) [Claims] 1. A base and connected to the base via a joint.
At the same time, the foot connected to the tip via a joint
A walking control device for a legged mobile robot comprising a plurality of leg links provided with : a. Predetermined site and heavy near the base of at least the robot
Setting means for presetting time-series data including target position information of the heart ; b. The position of the center of gravity at time t is calculated, and the time-series data
Obtains a difference between the center of gravity position location at time t + Δt, said demand
Calculating a first correction amount for the position of the predetermined part based on the difference;
First correction amount calculating means to be issued; c. Detects road surface reaction force acting on the robot from the ground contact surface
Road surface reaction force detecting means , d. Estimating the center of gravity based on the detected road surface reaction force
Center of gravity position estimating means to be executed , e. The estimated position of the center of gravity and the target of the time-series data
The difference of the position of the center of gravity is obtained, and based on the obtained difference,
A second correction amount for calculating a second correction amount at the position of the predetermined part
Calculating means , f. Based on the calculated first correction amount and second correction amount
To calculate the target position of the previous Symbol predetermined portion of the at time t + Δt to have
Target position calculating means , g . Goal of the joint on the basis of the calculated target position
Target joint angle calculating means for calculating angles, and h. Walk controller of a legged mobile robot is characterized in that example Bei a driving means for driving as much as possible the joint and the goals Angle. 2. A base and connected to the base via a joint.
At the same time, the foot connected to the tip via a joint
Legged mobile robot with multiple leg links
In the walking control device of a . At least a predetermined part near the base of the robot
Setting to set in advance the time series data including the target position information of the heart
Setting means, b . Detects road surface reaction force acting on the robot from the ground contact surface
Road surface reaction force detecting means , c . Estimating the center of gravity based on the detected road surface reaction force
A center of gravity position estimating means for performing d . The estimated position of the center of gravity and the target of the time-series data
The difference of the position of the center of gravity is obtained, and based on the obtained difference,
Correction amount calculation detecting means for calculating a correction amount of the position of a given site, e. At time t + Δt based on the calculated correction amount,
Target position calculating means for calculating a target position of the predetermined part ; f . The target of the joint based on the calculated target position
Target joint angle calculating means for calculating an angle, and g . A driving hand for driving the joint to reach the target angle
Stage walk controller of a legged mobile robot comprising the.