JP3522741B2 - Motion control device and motion control method for legged mobile robot, and robot device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation control apparatus and an operation control method for a legged mobile robot having a large number of joint degrees of freedom, and a robot apparatus, and more particularly, to a basic standing state having a plurality of movable legs. The present invention relates to a motion control device and a motion control method for a legged mobile robot having a posture, and a robot device.

More specifically, the present invention relates to ZMP (Zero).
Moment Point) is used as a posture stability determination criterion to stabilize and control the posture of a moving aircraft, and particularly to a motion control device and a motion control method for a legged mobile robot.
Motion control of the entire robot body while in the process of falling reduces damage to the robot as much as possible, and motion control of a legged mobile robot that recovers the standing posture from the floor posture such as supine or prone by stable movement with relatively little torque The present invention relates to a device, an operation control method, and a robot device.

[0003]

2. Description of the Related Art A mechanical device that uses an electrical or magnetic action to perform a motion similar to a human motion is called a "robot". The origin of the word robot is the Slavic word "ROB".
It is said that it is derived from "OTA (slave machine)." In Japan, robots began to be popular since the end of the 1960s, but most of them were aimed at automating and unmanning production work in factories. It was an industrial robot such as a manipulator and a transfer robot.

Recently, a model of the body mechanism and motion of a pet robot that imitates the body mechanism and motion of a four-legged animal such as a dog or cat, or an animal that performs two-leg upright walking such as a human. Research and development on legged mobile robots such as "humanoids" or "humanoids" designed in accordance with the above have progressed, and expectations for their practical application are increasing.

It is possible to understand the significance of researching and developing a legged mobile robot which is called a humanoid or a humanoid and which stands upright on two legs from the following two viewpoints, for example.

[0006] One is a human science point of view. That is, a mechanism of a human's natural motion including walking is created through a process of creating a robot having a structure similar to that of a human lower limb and / or an upper limb, devising a control method thereof, and simulating a human walking motion. Can be elucidated by engineering. Such research results can be greatly contributed to the progress of various other research fields dealing with human movement mechanisms, such as ergonomics, rehabilitation engineering, and sports science.

The other is the development of a practical robot that supports life as a human partner, that is, supports human activities in various situations in daily life such as living environment. In various aspects of human living environments, this kind of robot needs to learn from humans how to adapt to humans or environments with different personalities, and to further grow in terms of functions. At this time, it is considered that the robot having the “human shape”, that is, the same shape or the same structure as that of the human functions effectively in performing smooth communication between the human and the robot.

For example, in the case of teaching a robot how to pass through a room while avoiding obstacles that should not be stepped on, the person to be taught, such as a crawler type or four-legged type robot, has a completely different structure from oneself. than,
A bipedal robot having the same appearance should be much easier for the user (worker) to teach and also for the robot (for example, "Control of a bipedal robot" by Takanishi). (See Automotive Engineering Society Kanto Branch <High Plastics> No.25, 1996 APRIL).

A number of techniques have already been proposed for posture control and stable walking for a robot of the type that performs legged movement by bipedal walking. Stable “walking” can be defined as “moving with legs without falling”.

The posture stability control of the robot is very important for avoiding the fall of the robot. Because a fall means that the robot interrupts the work it is doing,
In addition, considerable effort and time are required to get up from the fall state and restart the work. Above all, there is a risk that the fall may cause fatal damage to the robot body itself or an object on the other side that collides with the falling robot. Therefore, in designing and developing a legged mobile robot, posture stability control during walking or other legged work is one of the most important technical issues.

At the time of walking, gravity, an inertial force, and these moments act on the road surface from the walking system due to gravity and acceleration generated by the walking motion. According to the so-called "D'Alembert's principle", they balance the floor reaction force and floor reaction force moment as a reaction from the road surface to the walking system. As a result of the mechanical reasoning, there is a point where the pitch and roll axial moment are zero, that is, "ZMP (Zero Moment Point)" on or inside the side of the supporting polygon formed by the plantar ground contact point and the road surface.

Most of the proposals regarding the posture stability control of a legged mobile robot and the fall prevention during walking use this ZMP as a criterion for determining the stability of walking. The bipedal walking pattern generation based on the ZMP standard has an advantage that the sole landing point can be set in advance, and it is easy to consider the kinematic constraint condition of the toes according to the road surface shape. Also, Z
The use of MP as the stability determination criterion means that the trajectory is treated as the target value for motion control, not the force, and therefore technical feasibility is enhanced. Regarding the concept of ZMP and the point that ZMP is applied to the stability criterion for walking robots, see "LEGGED LOCOMOTION" by Miomir Vukobratovic.
ROBOTS "(" Walking Robot and Artificial Feet "by Ichiro Kato.
(Nikkan Kogyo Shimbun)).

In general, a biped robot such as a humanoid has a higher center of gravity position than a quadruped locomotion.
Moreover, the ZMP stable region during walking is narrow. Therefore, such a problem of posture variation due to a change in road surface condition is particularly important in a bipedal walking robot.

There are already some proposals using ZMP as a posture stability determination criterion of a bipedal walking robot.

For example, the legged mobile robot described in Japanese Unexamined Patent Publication (Kokai) No. 5-305579 is designed to perform stable walking by matching a point on the floor where ZMP becomes zero with a target value.

In the legged mobile robot described in Japanese Patent Laid-Open No. 5-305581, the ZMP has at least a predetermined margin from the end of the supporting polygon inside the supporting polyhedron (polygon) or when landing or leaving the floor. It is configured to be in a position having. In this case, the ZMP has a margin for a predetermined distance even when subjected to a disturbance or the like, and the stability of the airframe during walking is improved.

Further, Japanese Patent Laid-Open No. 5-305583 discloses that the walking speed of a legged mobile robot is controlled by the ZMP target position. That is, using the walking pattern data set in advance, ZMP
The leg joint is driven so as to match the target position, the inclination of the upper body is detected, and the discharge speed of the walking pattern data set according to the detected value is changed.
For example, when the robot leans forward by stepping on an unknown unevenness,
The posture can be recovered by increasing the discharge speed. Further, since the ZMP is controlled to the target position, there is no problem even if the discharge speed is changed during the both-leg supporting period.

Further, Japanese Patent Application Laid-Open No. 5-305585 discloses that the landing position of the legged mobile robot is controlled by the ZMP target position. That is, the legged mobile robot described in the publication detects a deviation between the ZMP target position and the actual measurement position and drives one or both of the legs so as to eliminate it, or a moment around the ZMP target position. Is detected and the legs are driven so that it becomes zero, achieving stable walking.

Further, Japanese Laid-Open Patent Publication No. 5-305586 discloses that the tilted posture of the legged mobile robot is controlled by the ZMP target position. That is, ZM
A moment around the P target position is detected, and when a moment is generated, the legs are driven so that the moment becomes zero, so that stable walking is performed.

Basically, the posture stability control of a robot using ZMP as a criterion for stability determination is based on the point where the moment is zero on or inside the side of the supporting polygon formed by the foot contact point and the road surface. To explore.

As described above, in legged mobile robots, ZMP is introduced as a posture stability criterion, and the maximum effort is made to prevent the robot from falling during walking or other motion pattern execution. Is being poured.

Needless to say, the state of falling means that the robot suspends the work in progress, and that much labor and time are required to get up from the overturned state and restart the work. Above all, there is a risk that the fall may cause fatal damage to the robot body itself or the object on the other side that collides with the falling robot.

Despite the maximum posture stability control so as not to fall, the control is inadequate or an unexpected external factor (for example, collision with an unexpected object, road surface such as protrusions or depressions on the floor surface). Depending on the situation, appearance of obstacles, etc., the posture may become unstable and the movable legs alone cannot support it, and the robot may fall.

Particularly, in the case of a humanoid robot such as a humanoid that moves on two legs, the center of gravity is high, and the upright stationary state itself is unstable.
If the robot falls, there is a danger that the robot itself or the other party colliding due to the fall may be fatally damaged.

For example, in Japanese Patent Laid-Open No. 11-48170, a legged mobile robot is likely to fall, and the fall causes damage to the robot and damage to the object on the other side with which the robot collides during the fall. A control device for a legged mobile robot that can be reduced as much as possible is disclosed.

However, this publication only proposes to control the robot so that the center of gravity of the robot is lowered at the time of landing accompanying a fall, and when the robot actually falls, damage is minimized. In order to suppress it, there is no discussion about how to operate the entire body including not only the legs but also the body and arms.

Further, in the case of an upright walking type legged mobile robot, the reference posture in consideration of the body movement such as walking is a standing posture in which two legs stand up. For example, the most stable state (that is, the minimum point of instability) among the standing postures can be positioned as the basic standing posture.

In such a basic standing posture, in order to maintain the posture in a stable manner, it is necessary to execute posture stabilization control and generate torque of the joint shaft motor of the leg or the like according to the control instruction. In other words, since the standing posture is never stable in the non-power-supply state, it is considered preferable that the robot starts the physically physically most stable posture on the floor such as on the back or on the prone position.

However, if the robot cannot stand up autonomously even when the power of the robots on the floor is turned on, the operator must lend a hand to lift the machine. ,troublesome.

When the robot once stands and walks or performs other autonomous leg work, basically, it is necessary to use the legs to move without falling, but dare to do so. You may fall. A "fall" is unavoidable when a robot operates in a human living environment that includes various obstacles and unexpected situations. In the first place, human beings fall down. Even in such a case, it is troublesome for the operator to lend a hand to lift the machine body.

If the robot cannot stand up by itself each time the robot takes a posture on the floor, it means that the robot cannot work in an unmanned environment after all, that is, the work is not self-sufficient. It cannot be placed in a computerized environment.

[0032]

SUMMARY OF THE INVENTION An object of the present invention is to reduce damages to a robot infinitely by controlling motion of the entire body including not only legs but also body and arms when falling or falling. An object of the present invention is to provide an excellent legged mobile robot and a motion control method of the legged mobile robot during a fall.

It is a further object of the present invention to provide an excellent legged mobile robot operation control device and operation control method and a robot device capable of autonomously recovering the standing posture from a posture on the floor such as a supine or prone position. To do.

A further object of the present invention is to provide an excellent legged mobile robot motion control apparatus and motion control method capable of recovering a standing posture from a floor posture such as a supine or prone position by a stable operation with a relatively small torque. And to provide a robot apparatus.

[0035]

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above problems. A first side surface of the present invention is equipped with movable legs and is capable of performing legged work in a standing posture. A robot motion control apparatus or motion control method, wherein the legged mobile robot has a plurality of postures or states, and an area S of a support polygon formed by a ground point of the airframe and a road surface.
And a second means or step for calculating the change ΔS / Δt of the area S of the supporting polygon per time Δt, and the area S of the supporting polygon or its changing speed ΔS. / Δt, and a third means or step for determining the motion of the machine body when the posture or state is transited, and a motion control device or motion control method for a legged mobile robot. .

In many legged mobile robots, ZM
By using P as the stability determination criterion, the posture stability of the machine body is maintained during a period of a specific legged work such as walking. According to the motion control device or the motion control method for a foot-type mobile robot according to the first aspect of the present invention, a robot that is walking or standing upright may fall over,
Or, after falling down or getting up from other sleeping postures,
When the robot transits its posture or state, it sequentially determines the motion pattern of the airframe based on the area S of the support polygon formed by the grounding point of the airframe and the road surface and its change speed ΔS / Δt. Thus, the falling motion and the rising motion can be realized so as to be more efficient and reduce the load.

Here, the third means or step is
At the time of a fall, a landing site searching means or step for searching a landing site based on a change in the area S of the supporting polygon formed by the airframe and the road surface per time Δt, and the grounding point of the airframe and the road surface Time Δt of the area S of the supporting polygon to be formed
Target landing point setting means or step for setting a target landing point at which the part selected by the landing part searching means or step should land so that the change ΔS / Δt per hit is minimized; There may be provided a part landing means for landing the part selected by the floor part searching means or step onto the target landing point set by the target landing point setting means or step.

The legged mobile robot uses a floor reaction force sensor or an acceleration sensor provided on the sole of the foot or an acceleration sensor provided at the waist position of the torso while performing legged work in a standing posture. The external force applied to the aircraft is detected. Then, based on these detected external forces, a ZMP equilibrium equation is established, and a ZMP that balances the moment applied to the aircraft is placed on or inside the supporting polygon formed by the plantar ground contact point and the road surface. In addition, the attitude stability control of the airframe is performed by always planning the ZMP trajectory.

However, the moment error in the ZMP balance equation cannot be canceled because the external force applied to the airframe is excessive or the condition of the road surface is unfavorable. Placement of the ZMP within the polygon may be difficult or impossible. In such a case, the legged mobile robot according to the present invention gives up the attitude stabilization control of the machine body and executes a predetermined overturning operation to minimize damage to the machine body when it falls to the floor surface. It has become.

That is, at the time of a fall, a search is made for a portion where the change ΔS / Δt of the area S of the supporting polygon formed by the ground plane of the airframe and the road surface per unit time Δt is minimum, and the ground plane of the airframe and the road surface are Area S of supporting polygon to be formed
The target landing point at which the selected site should land is set so that the change ΔS / Δt per time Δt of Δ is minimized, and the site is landed. Then, the support polygon newly formed by landing is further expanded.

Then, until the tipping motion is minimized and the potential energy of the airframe is minimized, a part where ΔS / Δt is minimized is searched for, and the part is landed on the target landing point where ΔS / Δt is minimized. The operation of flooring and the operation of expanding the newly formed support polygon are repeatedly executed.

Thus, the time t of the area S of the supporting polygon is
By minimizing the amount of change ΔS / Δt per hit and maximizing the support polygon when the floor surface falls, the impact received from the floor surface during the fall is dispersed throughout the body, and damage is minimized. Can be suppressed. When the legged mobile robot is viewed as a link structure in which a plurality of joint axes having substantially parallel joint degrees of freedom are connected in the lengthwise direction, it is possible to set a target as a part having a link that maximizes the number of wakeup links. It is possible to reduce the impact force.

The legged mobile robot comprises, for example, a link structure in which a plurality of joint axes having substantially parallel joint degrees of freedom are connected in the longitudinal direction, and the third means or step is the legged mobile robot. When the mobile robot returns from a fall state, it is formed with the smallest number of links in the ground contact polygon formed by the floor contact link in the on-floor posture in which two or more links including the center of gravity link that is the center of gravity of the aircraft touch the floor. Means or step for searching for the narrowest supporting polygon, a means or step for leaving the floor contact link other than the searched supporting polygon in the ground contact polygon, and bending two or more continuous leaving links. Means or steps for landing the ends of the link ends to form a narrower grounding polygon and one end of the link structure in response to the supporting polygon becoming sufficiently narrow. From a means or step is upright first aircraft off the floor and a predetermined number or more links may be provided with a.

Here, at least the shoulder joint pitch axis, the trunk pitch axis, the hip joint pitch axis, and the knee pitch axis are connected to the link structure in the height direction of the machine body. Of course, the body of the legged mobile robot may be provided with a joint pitch axis other than these, and each joint part may be provided with a rotational degree of freedom around the roll axis and the yaw axis other than the pitch axis. Good.

A polygon formed by the ends of a plurality of aircraft contacting the floor is called a grounded polygon. Also, ZM
A grounded polygon in which P exists is called a support polygon. Z
The stable region of MP is a region in which the posture of the robot can be stably controlled within the support polygon.

In a legged mobile robot, in a basic on-floor posture such as supine or prone, all the links connecting these joint pitch axes, trunk pitch axes, hip joint pitch axes, and knee pitch axes are in contact with the floor. There is. Further, in a basic standing posture or walking posture, all the links connecting the joint pitch axis, the trunk pitch axis, the hip joint pitch axis, and the knee pitch axis are out of bed and aligned in a substantially vertical direction.

At the time of getting up from the floor posture to the standing posture, a higher torque output is required for the related joint actuators as compared with the case where the normal standing posture is maintained or the walking motion is performed. According to the present invention, the rising motion is performed by using a posture in which the ZMP supporting polygon is minimized, thereby realizing the rising motion with less driving torque.

First, in the on-floor posture in which almost all links are in contact with the floor, the narrowest support polygon is searched for in the ground contact polygon formed by the floor contact links. At this time, it is determined whether ZMP can be planned when at least two or more links are taken off the floor from one end side of the airframe.

For example, a narrower supporting polygon is searched for with the link connecting the trunk pitch axis and the hip joint pitch axis used as the center-of-gravity link in the ground contact state. The ZMP planning possibility can be determined in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like. Then, an attempt is made to leave two or more links that are continuous from one end side including the shoulder joint pitch axis.

Next, leaving the floor-contacting links that form the supporting polygons, two or more continuous links are separated from one end of the grounded polygon. Then, one or more leaving links are bent from one end side and the ends of the link ends are landed to form a narrower ground contact polygon.

For example, two or more links including a shoulder joint are separated from one end side of the link structure as links that do not participate in the support polygon. Then, while two or more links including the shoulder joint are out of bed, bend at the shoulder joint pitch axis,
The hand, which is the end of the link end, is brought into contact with the floor. And
By gradually approaching the tip of the hand to the trunk pitch axis side, which is the body weight center position, a ground contact polygon that is narrower than the original posture on the floor is formed.

Further, in this ground contact polygon, the narrowest supporting polygon is searched. Now at least 2 from the other end
It is determined whether ZMP can be planned by leaving the above-mentioned links. The planning possibility of ZMP is determined in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like.

For example, with the center of gravity link connecting the trunk pitch axis and the hip joint pitch axis kept in the floor contact state, it is attempted to leave two or more continuous links from the other end side including the knee joint pitch axis.

Then, leaving the floor-contacting link which becomes the support polygon, two or more continuous links are separated from the other end of the ground contact polygon. Then, one or more leaving links are bent from the other end side and the ends of the link ends are landed to form a narrower ground contact polygon.

For example, in a state where two or more links including the knee joint are out of bed, the knee joint pitch axis is bent to bring the sole of the link end into contact with the floor. Then, by gradually approaching the sole to the hip joint pitch axis side, which is the center of gravity of the body weight, a ground contact polygon that is narrower than the original floor posture is formed.

Then, it is determined whether or not the supporting polygon has become sufficiently narrow depending on whether or not the center-of-gravity link can leave the floor while both ends of the link of the grounded polygon are in contact with each other. Whether or not the center-of-gravity link can leave the bed depends on the movable angle of the link structure,
Judgment is made in consideration of torque, joint force, angular velocity, angular acceleration, etc. of each joint actuator connecting the links.

For example, in the state where the hands and soles as the end portions of both link ends of the grounded polygon are in contact with the floor, the center of gravity link connecting the trunk pitch axis and the hip joint pitch axis is supported depending on whether it is possible to leave the floor. Determine if the polygon is narrow enough.

Then, in response to the support polygon of the machine body becoming sufficiently narrow, the center of gravity link is separated from the floor while both ends of the link of the support polygon are in contact with the floor, and both ends of the link are attached. While maintaining the ZMP within the support polygon formed by the floor links, the ZMP is moved to the other end of the link structure by reducing the spacing between the ends of both link ends of the support polygon. At this time, whether or not the ZMP can be moved to the other end side is determined by considering the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like. .

For example, the center of gravity link that connects the trunk pitch axis and the hip joint pitch axis is released from the floor while the hands and soles as the ends of both link ends of the grounded polygon are in contact with the floor, and The ZMP is gradually reduced and the ZMP is moved toward the sole.

Then, from the other end of the link structure to the second
In response to the ZMP plunging into the grounding polygon formed only by the grounding links of not more than the predetermined number, the first to the ZMP are accommodated in the grounding polygon from one end side of the link structure. The wake-up operation is completed by leaving a predetermined number or more of the links and extending the leave-links in the length direction.

For example, in response to the ZMP plunging into the ground contact polygon constituted by the sole, the ZMP is accommodated in the ground contact polygon while the ZMP is moved from the shoulder pitch axis to the knee pitch axis. It is possible to complete the standing-up motion by removing the links up to and extending the leaving links in the length direction.

At the final stage of getting up, when extending the leaving link in the longitudinal direction, it is effective in terms of operating the aircraft to actively use the knee joint pitch axis having a larger mass operation amount. Is good.

In order to form a narrower ground contact polygon, the following formula should be satisfied when the leaving link is bent at the shoulder joint pitch axis to bring the end of the link end into contact with the floor. The arm may be operated. However, the length of the upper arm is l ₁ , the length of the forearm is l ₂ , the shoulder roll angle is α, the elbow pitch angle is beta, the length from the shoulder to the hand is l ₁₂ , the angle formed by the line connecting the shoulder to the hand is Is γ and the shoulder height is h.

[0064]

[Equation 3]

That is, by bending the elbow pitch axis instead of operating the shoulder roll axis, it is possible to land the left and right hands on the rear of the body with a smaller use volume.

Further, the means or step for generating the narrower ground contact polygon may be stepped on the hand or foot depending on whether or not two or more links not related to the smallest support polygon can be released from the floor. Either a motion or a dragging motion with the floor may be selectively utilized to form a narrower grounded polygon.

In the process of successively forming smaller ground contact polygons, when only the stepping action of the hand or foot is used, the hand or the foot is out of bed in order to realize the stepping action. It is necessary to have two or more links that are not involved in the supporting polygon, and it may not be possible to perform a stepping motion depending on the attitude of the aircraft, in which case the rising motion itself will fail. On the other hand, by further utilizing the dragging motion of the hand or foot, it is possible to reduce the chance that the rising motion will fail.

A second aspect of the present invention is an operation control device or an operation control method for a legged mobile robot having movable legs and performing legged work in a standing posture, wherein the machine body is in each stage during a fall. Means or steps for calculating the impact moment applied to the vehicle, and means or steps for calculating the impact force that the aircraft receives from the floor surface at each stage of the fall,
Means or steps for calculating the area S of the supporting polygon formed by the ground point of the airframe and the road surface, and first selecting the next landing site so that the area S of the supporting polygon becomes minimum or constant.
And a second landing site searching means or step for selecting the next landing site so that the area S of the supporting polygon is increased. An operation control device or an operation control method for a legged mobile robot.

In such a case, by making the area S of the supporting polygon to be the minimum or constant by the first landing site searching means, the impact moment applied to the airframe can be received. In this case, the support surface itself may move as the machine body moves at all points or retracts. On the other hand, by selecting the landing site so that the area S of the supporting polygon is rapidly increased by the second landing site searching means, it is possible to mitigate the impact force that the aircraft receives from the floor surface during a fall. Therefore, if the impact force received from the floor surface by the aircraft is within a predetermined allowable value, the second landing site searching means or step causes the aircraft to fall, and if it is outside the allowable value, the first landing is performed. The overturning motion of the machine body may be performed by the part searching means or step.

Further, a third aspect of the present invention is a motion control device or motion control for controlling a series of motions related to falling and rising of a body in a legged mobile robot having movable legs and performing legged work in a standing posture. In the method, the legged mobile robot comprises a link structure in which a plurality of joint axes having substantially parallel joint degrees of freedom are connected in a longitudinal direction, and includes a center-of-gravity link which becomes a center of gravity of the machine body at the time of fall. Means or steps for searching for the narrowest support polygon formed by the smallest number of links in the ground contact polygon formed by the floor contact links in the above-mentioned floor posture in which the links contact the floor, and the minimum support polygon. A means or step for performing a fall motion by setting a ZMP in a part where the number of links not related to the maximum is set, and a link capable of leaving the bed in the fall posture of the aircraft is searched. A means or step, are all the ambulation possible links ambulation is allowed to get up means performs operations or steps and the operation controller or the operation control method for a legged mobile robot, characterized by comprising.

When the center of gravity of the airframe is present in the waist, the ZMP can be set in a portion where the number of links that does not contribute to the smallest supporting polygon is maximum. After such a fall / implantation motion, all the links that can be separated from the floor are separated from the bed, that is, both the lower limbs and the trunk are raised, and the upper body and the lower limbs are separated from the floor at the same time, and the feet and hands are landed. By doing so, it is possible to form a smaller ground contact polygon in a smaller number of steps, and thus it is possible to realize a higher-speed and efficient rising operation.

The fourth aspect of the present invention is to provide a trunk and
In a robot apparatus having a leg connected to the trunk and an arm connected to the trunk, a plurality of end portions in which the leg, the trunk, and / or the arm come into contact with a floor surface Supporting polygon detecting means for detecting a first supporting polygon formed by: and a supporting polygon changing means for reducing the area of the first supporting polygon by bending the legs toward the trunk Means for determining whether or not the ZMP located in the modified first support polygon can be moved to the grounded polygon formed by the bottom of the foot.
The MP movement control means and the ZMP movement control means
When it is determined that the MP can be moved, the ZMP is moved from the first supporting polygon to the basic posture while maintaining the ZMP within the ground contact polygon formed by the sole of the foot. A control unit and a robot apparatus.

Further, the fifth aspect of the present invention is to provide at least a body, one or more arm links connected to the upper side of the body via a first joint (shoulder), and a second body located below the body. A first leg link connected through the joint (hip joint) of
In a legged mobile robot comprising a second leg link connected to a tip end of the second leg link via a third joint (knee), a tip end of the arm link and a tip end of the second leg link. Means for bringing the foot portion of the arm into contact with the floor to form a first supporting polygon, and while keeping the tip of the arm link and the foot portion in contact with the floor,
After the second joint is moved above the third joint in the direction normal to the floor surface, the area of the first supporting polygon is reduced, and the second supporting joint is placed within the ground contact polygon formed by the foot portion. Z
A legged mobile robot comprising: means for moving the MP; and means for erecting the body while maintaining the ZMP within a grounded polygon formed by the legs.

According to the robot apparatus of the present invention, the area of the supporting polygon is reduced and the posture of the joint such as the leg is restored to the standing posture while the area of the supporting polygon is reduced. be able to.

Further objects, features and advantages of the present invention are as follows.
It will be apparent from the embodiments of the present invention described later and the more detailed description based on the accompanying drawings.

[0076]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below in detail with reference to the drawings.

A. Mechanical Configuration of Legged Mobile Robot FIG. 1 and FIG. 2 show front and rear views of a “humanoid” or “humanoid” legged mobile robot 100 used for carrying out the present invention. It shows the view from above. As shown in the figure, the legged mobile robot 100 includes a body, a head, left and right upper limbs, and left and right 2 which perform legged movement.
It is composed of the lower limbs of the foot, and for example, the operation of the machine body is comprehensively controlled by a control unit (not shown) built in the body.

The left and right lower limbs have a thigh, a knee joint, and
It is composed of a shin, an ankle, and a foot, and is connected by a hip joint at approximately the lowermost end of the trunk. Each of the left and right upper limbs is composed of an upper arm, an elbow joint, and a forearm, and is connected by shoulder joints at the left and right side edges above the trunk. The head is connected to the center of the uppermost end of the trunk by a neck joint.

The control unit controls the drive of each joint actuator and each sensor (which will be described later) constituting the legged mobile robot.
It is a housing that mounts a controller (main control unit) that processes external input from devices such as a power supply circuit and other peripheral devices. The control unit may also include a communication interface and a communication device for remote operation.

The legged mobile robot thus configured can realize bipedal locomotion by the whole-body coordinated motion control by the control unit. Such bipedal walking is generally performed by repeating a walking cycle divided into the following operation periods. That is,

(1) Single leg support period with left leg with right leg lifted (2) Double leg support period with right foot grounded (3) Single leg support period with right leg lifted (4) Left leg supported Grounded both legs support period

The walking control in the legged mobile robot 100 is realized by planning the target trajectory of the lower limb in advance and correcting the planned trajectory in each of the above periods. That is, in the two-leg support period, the correction of the lower limb trajectory is stopped, and the hip height is corrected to a constant value using the total correction amount for the planned trajectory. In the single-leg support period, a corrected trajectory is generated so that the corrected relative positional relationship between the ankle and the waist of the leg is returned to the planned trajectory.

In order to control the attitude stability of the airframe including the trajectory correction of the walking motion, generally, interpolation using a quintic polynomial is performed so that the position, velocity, and acceleration are continuous in order to reduce the deviation with respect to ZMP. Perform by calculation. ZMP
(Zero Moment Point) is used as a criterion for determining the walking stability. The stability discrimination criterion by ZMP is "Durhamber's principle" that gravity and inertial force from the walking system to the road surface, and these moments balance with the floor reaction force and floor reaction force moment as a reaction from the road surface to the walking system. based on. As a result of mechanical reasoning, the supporting polygon formed by the plantar ground contact point and the road surface (ie, ZMP stable region)
On the side of or inside the point where the pitch axis and roll axis moments are zero, that is, "ZMP (Zero Moment
Point) ”exists.

FIG. 3 schematically shows the joint degree-of-freedom structure of the legged mobile robot 100. As shown in the figure, the legged mobile robot 100 connects an upper limb including two arms and a head 1, a lower limb composed of two legs for realizing a moving motion, and an upper limb and a lower limb. It is a structure having a plurality of limbs, which is composed of a trunk.

The neck joint (Neck) that supports the head has four degrees of freedom: the neck joint yaw axis 1, the first and second neck joint pitch axes 2A and 2B, and the neck joint roll axis 3. There is.

The degrees of freedom of each arm are a shoulder joint pitch axis 4 at the shoulder (Shoulder), a shoulder joint roll axis 5, an upper arm yaw axis 6, and an elbow joint pitch axis 7 at the elbow (Elbow). , A wrist joint yaw axis 8 in the wrist (Wrist) and a hand portion. The hand is
In reality, it is a multi-joint, multi-degree-of-freedom structure including a plurality of fingers.

The trunk portion (Trunk) has two degrees of freedom: the trunk pitch axis 9 and the trunk roll axis 10.

Further, each leg constituting the lower limb has a hip joint yaw axis 11 in a hip joint (Hip), a hip joint pitch axis 12, a hip joint roll axis 13, and a knee joint pitch axis 14 in a knee (Knee). Ankle joint pitch axis 15 and ankle joint roll axis 16 in the ankle
And a foot part.

However, the legged mobile robot 100 for entertainment need not be equipped with all the above-mentioned degrees of freedom, or is not limited to this. It goes without saying that the degree of freedom, that is, the number of joints, can be appropriately increased or decreased in accordance with design / manufacturing constraints, required specifications, and the like.

Each degree of freedom of the legged mobile robot 100 as described above is actually implemented by using an actuator. It is preferable that the actuator be small and lightweight in view of demands such as eliminating extra bulges in appearance to approximate a natural human body shape and performing posture control for an unstable structure of bipedal walking. . In this embodiment, a small AC servo actuator of a gear direct connection type and a servo control system integrated into one chip and incorporated in a motor unit is mounted (this type of AC is used).
The servo actuator is disclosed, for example, in Japanese Patent Laid-Open No. 2000-299970, which has been assigned to the present applicant). In the present embodiment, by adopting the reduction speed gear as the direct connection gear, the passive characteristic of the drive system itself required for the robot of the type that emphasizes physical interaction with humans is obtained.

B. Control System Configuration of Legged Mobile Robot FIG. 4 schematically shows the control system configuration of the legged mobile robot 100. As shown in the figure, the legged mobile robot 100 is an adaptive control for realizing the coordinated operation between the mechanical units 30, 40, 50R / L, 60R / L representing the human limbs and the mechanical units. (Wherein R and L are suffixes indicating right and left respectively, and so on).

The operation of the entire legged mobile robot 100 is totally controlled by the control unit 80. The control unit 80 sends and receives data and commands to and from a main control unit 81 including main circuit components (not shown) such as a CPU (Central Processing Unit) and a memory, and a power supply circuit and each component of the robot 100. A peripheral circuit 82 including an interface (neither of which is shown) and the like.

In implementing the present invention, the installation place of the control unit 80 is not particularly limited. Although it is mounted on the trunk unit 40 in FIG. 4, it may be mounted on the head unit 30. Alternatively, the control unit 80 may be provided outside the legged mobile robot 100 to allow the legged mobile robot 100 to operate.
It may be possible to communicate with the body of the vehicle by wire or wirelessly.

The degree of freedom of each joint in the legged mobile robot 100 shown in FIG. 3 is realized by an actuator corresponding to each joint. That is, in the head unit 30,
A neck joint yaw axis actuator A ₁ , a first and a second neck joint pitch axis actuator A that respectively represent the neck joint yaw axis 1, the first and second neck joint pitch axes 2A and 2B, and the neck joint roll axis 3. _2A , A _2B and a neck joint roll axis actuator A ₃ are provided respectively.

Further, the trunk unit 40 includes a trunk pitch axis actuator A ₉ and a trunk roll axis actuator A which respectively represent the trunk pitch axis 9 and the trunk roll axis 10.
₁₀ have been deployed.

The arm unit 50R / L is subdivided into an upper arm unit 51R / L, an elbow joint unit 52R / L, and a forearm unit 53R / L, but the shoulder joint pitch axis 4 and the shoulder joint roll axis are included. 5, a shoulder joint pitch axis actuator A ₄ , a shoulder joint roll axis actuator A ₅ , an upper arm yaw axis actuator A ₆ , an elbow joint pitch axis which respectively represent the upper arm yaw axis 6, the elbow joint pitch axis 7, and the wrist joint yaw axis 8. An actuator A ₇ and a wrist joint yaw axis actuator A ₈ are provided.

The leg unit 60R / L is subdivided into a thigh unit 61R / L, a knee unit 62R / L, and a tibial unit 63R / L.
1. Hip joint yaw axis actuator A representing each of hip joint pitch axis 12, hip joint roll axis 13, knee joint pitch axis 14, ankle joint pitch axis 15, and ankle joint roll axis 16.
₁₁ , a hip joint pitch axis actuator A ₁₂ , a hip joint roll axis actuator A ₁₃ , a knee joint pitch axis actuator A ₁₄ , an ankle joint pitch axis actuator A ₁₅ , and an ankle joint roll axis actuator A ₁₆ .

Actuators A ₁ used for each joint,
More preferably, A ₂ , A ₃ ... Are small-sized AC servo actuators of the type that are directly connected to the gears and the servo control system is made into one chip and mounted in the motor unit (described above).
Can be composed of

Head unit 30, trunk unit 40,
For each mechanism unit such as the arm unit 50 and each leg unit 60, the sub-control unit 3 for actuator drive control is provided.
5,45,55,65 are deployed.

An acceleration sensor 95 is attached to the trunk 40 of the fuselage.
And an attitude sensor 96 are provided. Acceleration sensor 95
Are arranged in the X-, Y-, and Z-axis directions. By arranging the acceleration sensor 95 on the waist of the machine body, the waist, which is a region where the amount of mass operation is large, is set as the control target point, and the posture and acceleration at that position are directly measured to perform posture stability control based on ZMP. Can be done.

Further, grounding confirmation sensors 91 and 92 and acceleration sensors 93 and 94 are arranged on each of the legs 60R and 60L. The ground contact confirmation sensors 91 and 92 are configured, for example, by mounting a pressure sensor on the sole of the foot,
Whether or not the sole of the foot has landed can be detected by the presence or absence of the floor reaction force. Further, the acceleration sensors 93, 94 are arranged at least in the X and Y axis directions. By disposing the acceleration sensors 93 and 94 on the left and right feet, it is possible to assemble the ZMP equation directly on the feet closest to the ZMP position.

When the acceleration sensor is arranged only in the waist, which is a region where the mass operation amount is large, only the waist is set as the control target point, and the state of the foot is relatively determined based on the calculation result of the control target point. It must be calculated, and it is assumed that the following conditions are satisfied between the foot and the road surface.

(1) The road surface does not move under any force or torque. (2) The friction coefficient for translation on the road surface is sufficiently large,
No slippage occurs.

On the other hand, in the present embodiment, the reaction force sensor for directly applying the ZMP force to the foot which is the contact portion with the road surface.
A system (floor reaction force sensor, etc.) is installed, and local coordinates used for control and an acceleration sensor for directly measuring the coordinates are installed. As a result, the ZMP equation can be directly assembled with the foot portion closest to the ZMP position, and more strict posture stability control that does not depend on the above-described prerequisites can be realized at high speed. As a result, even if the road surface moves when a force or torque is applied, such as on gravel or a carpet with long fluff, or even the tiles of a dwelling house where the friction coefficient of translation cannot be sufficiently secured and slipping easily occurs, It is possible to guarantee stable walking (exercise).

The main controller 80 can dynamically correct the control target in response to the outputs of the sensors 91 to 96. More specifically, the sub-control units 35, 45, 55,
Adaptive control is performed on each of the 65 to realize a whole-body movement pattern in which the upper limbs, the trunk, and the lower limbs of the legged mobile robot 100 are cooperatively driven.

The whole body motion of the robot 100 on the body is
The foot movement, ZMP (Zero Moment Point) trajectory, trunk movement, upper limb movement, waist height, etc. are set, and commands for instructing movements according to these setting contents are issued to the sub-control units 35, 45, 55. , 65. The sub-control units 35, 45, ... Interpret the received command from the main control unit 81, and each of the actuators A ₁ , A ₂ , A ₃
The drive control signal is output to. Say "ZM
“P” refers to a point on the floor where the moment due to the floor reaction force during walking becomes zero, and “ZMP trajectory” refers to a locus of movement of ZMP during the walking motion of the robot 100, for example. means.

C. Basic state transition of motion system of legged mobile robot
The control system of the legged mobile robot 100 according to the transfer this embodiment, defines a plurality of basic position. The basic posture of each is
It is defined in consideration of stability of the airframe, energy consumption, and transition to the next state, and the motion of the airframe can be efficiently controlled by the form of transition between basic postures.

FIG. 5 shows the basic state transition of the motion system of the legged mobile robot 100 according to this embodiment.
As shown in the figure, the legged mobile robot has a basic supine posture, a basic standing posture, a basic walking posture, a basic sitting posture, and a basic prone posture when lying on its back, standing up, preparing to walk, sitting down, and prone. The stability of the aircraft in
It is defined in consideration of energy consumption and transition to the next state.

These basic postures are positioned on the platform of the motion control program of the machine. In addition, legged mobile robots can walk, jump,
Various performances using whole body motions such as dance are performed, and the device control program is positioned as an application running on the platform. These application programs are loaded from the external storage at any time and executed by the main control unit 81.

FIG. 6 shows the basic supine posture of the legged mobile robot 100. In the present embodiment, when the power of the machine is turned on, the body is placed in the basic supine posture, and it is possible to start from the most stable state in terms of mechanical movement without fear of falling. In addition, the legged mobile robot returns to the basic supine posture not only at the time of starting but also at the end of the system operation. Therefore, since the work is mechanically kinematically started in the most stable state and the work is finished in the most stable state, the operation operation of the legged mobile robot is self-contained.

Of course, even when the machine body is overturned, after returning to the basic supine posture once after a predetermined motion on the floor, the prescribed standing motion is executed, so that when the work is suspended through the basic standing posture. The original posture can be restored.

The legged mobile robot 100 according to the present embodiment has a basic prone posture as shown in FIG. 7 in addition to the basic supine posture as the basic posture on the floor. Like the basic supine posture, this basic prone posture is the state in which the machine body is the most stable in terms of mechanical kinematics, and the posture stability can be maintained even in a weakened state in which the power is cut off. For example, in a legged work, when the aircraft falls due to an unexpected external force or the like, it is not known whether the aircraft falls on its back or on its stomach. Therefore, this embodiment defines two basic postures on the floor in this way. .

Between the basic supine posture and the basic prone posture, it is possible to reversibly transit through various postures on the floor. Conversely speaking, the state can be smoothly changed to various postures on the floor based on the basic supine posture and the basic prone posture.

The basic supine posture is the most stable basic posture in terms of mechanical kinematics, but when considering leg work,
A smooth state transition cannot be performed. Therefore, FIG.
The basic standing posture shown in is defined. By defining the basic standing posture, it is possible to smoothly shift to the subsequent leg work.

The basic standing posture is the most stable state in the standing state, and is a posture in which the computer load and power consumption for posture stabilization control are minimized or minimized. Minimizes motor torque to maintain. It is possible to smoothly perform a state transition from this basic standing posture to various standing postures, and to perform, for example, a dance performance using the upper limbs.

On the other hand, the basic standing posture is excellent in posture stability, but is not optimized for shifting to leg work such as walking. Therefore, the legged mobile robot according to the present embodiment defines a basic walking posture as shown in FIG. 9 as another basic posture in the standing state.

In the basic standing posture, the hip joint, knee joint,
Further, the pitch axes 12, 14, 15 of the ankle joint are driven to make the position of the center of gravity of the body slightly lowered, thereby transitioning to the basic walking posture. In the basic walking posture, it is possible to smoothly transition to various legged movements including normal walking movements. However, only by bending the knee,
Since extra torque is required to maintain this posture, the basic walking posture consumes more power than the basic standing posture.

As for the basic standing posture, the ZMP position of the machine is ZM.
It is in the vicinity of the center of the P stable region and has a posture in which the bending angle of the knee is small and the energy consumption is low. On the other hand, in the basic walking posture, the ZMP position is near the center of the stable region, but the knee bending angle is set relatively large in order to ensure high road surface adaptability and high external force adaptability.

In the legged mobile robot 100 according to this embodiment, the basic sitting posture is further defined. In this basic sitting posture (not shown), the posture is such that the computer load and power consumption for posture stabilization control are minimized or minimized when sitting on a predetermined chair. As mentioned above,
It is possible to reversibly transition from the basic supine posture, the basic prone posture, and the basic standing posture to the basic posture.
Further, it is possible to smoothly shift from the basic sitting posture and the basic standing posture to various sitting postures, and it is possible to demonstrate various performances using only the state in the sitting posture.

D. Posture Stabilization Control of Legged Mobile Robot Next, in the legged mobile robot 100 according to the present embodiment, posture stabilization processing at the time of legged work, that is, execution of whole body coordinated movement including foot, waist, trunk, and lower limb movements. The procedure of the posture stabilization process at the time will be described.

The posture stabilization control according to this embodiment is performed by ZMP
Is used for attitude stabilization control. The posture stability control of a robot using ZMP as a stability determination criterion is basically to search for a point where the moment is zero on or inside the side of the supporting polygon formed by the plantar ground contact point and the road surface. It is in. That is, the ZMP equation describing the balance relationship of each moment applied to the robot body is derived, and this ZM equation is derived.
Modify the target trajectory of the airframe to cancel the moment error that appears on the P equation.

In this embodiment, a region where the amount of mass operation is maximum, for example, a waist, is set as the local coordinate origin as a control target point on the robot body. Then, a measuring means such as an acceleration sensor is arranged at this control target point, and the posture and acceleration at that position are directly measured to perform posture stable control based on ZMP. Furthermore, by arranging an acceleration sensor on the foot which is a contact point with the road surface, the local coordinates used for control and the coordinates are directly measured, and the ZMP
Assemble the ZMP equation directly on the foot closest to the position.

D-1. Introduction of ZMP Equation The legged mobile robot 100 according to the present embodiment is an infinite or continuous collection of mass points. However, here, the calculation amount for the stabilization process is reduced by replacing the approximation model with a finite number of discrete mass points. More specifically, physically, a legged mobile robot 100 having the multi-joint degree of freedom configuration shown in FIG.
As shown in 0, it is replaced with a multi-mass point approximation model. The illustrated approximation model is a linear and non-interference multi-mass point approximation model.

In FIG. 10, the O-XYZ coordinate system represents the roll, pitch, and yaw axes in the absolute coordinate system, and the O'-X'Y'Z 'coordinate system is the roll in the motion coordinate system that moves together with the robot 100. , Pitch and yaw axes. However, the meaning of the parameters in the figure is as follows. Also, it should be understood that the symbol with a dash (') describes the motion coordinate system.

[0125]

[Equation 4]

In the multi-mass model shown in the same figure, i is a subscript representing the i-th given mass point, m _i is the mass of the i-th mass point, and r _i 'is the position vector of the i-th mass point ( However, it represents the motion coordinate system). The center of gravity of the legged mobile robot 100 according to the present embodiment exists near the waist.
That is, the waist is a mass point at which the amount of mass operation is the maximum, and in FIG. 10, its mass is m _h , and its position vector (however, motion coordinate system) is r ′ _h (r ′ _hx , r ′ _hy , r ′). _hz ). Further, the ZMP position vector of the airframe (however, the motion coordinate system) is _r'zmp ( _r'zmpx , _r'zmpy , _r'zmpz ).

The world coordinate system O-XYZ is an absolute coordinate system and is invariant. Legged mobile robot 1 according to the present embodiment
00 is the acceleration sensor 9 on the waist and the legs of both legs.
3, 94 and 96 are arranged, and the waist and standing legs and the relative position vector rq of the world coordinate system are directly detected by the outputs of these sensors. On the other hand, in the motion coordinate system, that is, the local coordinate system of the aircraft, O-X'Y'Z 'is
The robot moves together.

The multi-mass model is, so to speak, a representation of a robot in the form of a wireframe model. Figure 1
As can be seen from 0, the multi-mass point approximation model is set with mass points on each of the shoulders, elbows, wrists, trunk, waist, and both ankles. In the inexact multi-mass approximation model shown, the moment equation is written in the form of a linear equation,
The moment equation does not interfere with the pitch and roll axes. The multi-mass point approximation model can be generally generated by the following processing procedure.

(1) Obtain the mass distribution of the entire robot 100. (2) Set the mass point. The method of setting the mass point may be either manual input by the designer or automatic generation according to a predetermined rule. (3) The center of gravity is calculated for each region i, and the position of the center of gravity and the mass m _i are assigned to the corresponding mass point. (4) Each mass point m _i is displayed as a sphere centered at the mass point position r _i and having a radius proportional to its mass. (5) Connect mass points, that is, spheres, which are actually connected.

The rotation angles (θ _hx , θ _hy , θ _hz ) in the waist information of the multi-mass model shown in FIG. 10 represent the posture of the waist of the legged mobile robot 100, that is, the rotation of the roll, pitch, and yaw axes. It is specified (see FIG. 11 for an enlarged view around the waist of the multi-mass model, so check it).

The ZMP equation of the airframe describes the equilibrium relation of each moment applied at the control target point. As shown in FIG. 5 represent the body in a number of mass points m _i, when the these control target points, obtaining the sum of the moments applied at all the control target point m _i Formula is ZMP equation.

The ZMP equation of the airframe described in the world coordinate system (O-XYZ) and the local coordinate system of the airframe (O-
X'Y'Z ') are as follows.

[0133]

[Equation 5]

The above equation expresses the ZMP rotation (radius r _i −) generated by the acceleration component applied at each mass point m _i .
the sum of the moments of r _ZMP), the sum of external force moment M _i applied to the mass points mi, ZMP around produced by an external force F _k of (a point of action of k-th external force F _k and s _k) It describes that the sum of moments is balanced.

This ZMP balance equation includes the total moment compensation amount, that is, the moment error component T. By suppressing this moment error to zero or within a predetermined allowable range, the attitude stability of the airframe is maintained. In other words, it is the essence of posture stability control that uses ZMP as the stability criterion to correct the body motion (foot motion and trajectory of each part of the upper body) so that the moment error becomes zero or less than the allowable value. is there.

In this embodiment, since the acceleration sensors 96, 93 and 94 are provided on the waist and the left and right feet respectively, the acceleration measurement results at these control target points are used directly and with high accuracy. The above ZMP balance equation can be derived. As a result, high-speed and more strict posture stability control can be realized.

D-2. Posture stabilization control of whole body cooperation type In FIG.
The flowchart shows a processing procedure for generating a body motion capable of stable walking by using the above as a stability determination criterion. However, in the following description, each joint position and motion of the legged mobile robot 100 will be described using a linear / non-interfering multi-mass point approximation model as shown in FIGS.

First, the foot movement is set (step S1). The foot movement is motion data in which poses of two or more bodies are connected in time series.

The motion data is composed of, for example, joint space information representing the displacement of each joint angle of the foot and Cartesian space information representing the joint position. The motion data can be manually input on the console screen, or can be constructed by direct teaching (direct teaching) to the machine, for example, on an authoring system for motion editing.

Next, ZMP is performed based on the set foot movement.
A stable region is calculated (step S2). ZMP is a point at which the moment applied to the airframe becomes zero, and is basically present on or inside the side of the supporting polygon formed by the plantar ground contact point and the road surface. The ZMP stable area is an area set further inside the supporting polygon, and by accommodating the ZMP in the area, the airframe can be made highly stable.

Then, the ZMP trajectory during the foot movement is set based on the foot movement and the ZMP stable region (step S3).

Further, each part of the upper half of the body (above the hip joint) is set in groups such as the waist, the trunk, the upper limbs, and the head (step S11).

Then, a desired trajectory is set for each region group (step S12). As with the case of the feet, the desired activation of the upper body can be set manually on the console screen or by direct teaching (direct teaching) to the machine, for example, on the authoring system for motion editing. You can

Next, adjustment (regrouping) of group settings of each part is performed (step S13), and priority is given to these groups (step S1).
4). The priority order referred to here is the order to be put into the processing calculation for performing the attitude stabilization control of the machine body, and is assigned according to the mass operation amount, for example. As a result, a desired orbital group with priorities for each part of the upper body of the fuselage is completed.

Further, for each body part group of the upper body of the body,
A mass that can be used for moment compensation is calculated (step S15).

Then, based on the foot movement, the ZMP trajectory, and the desired activation group for each body group of the upper body, the movement pattern of each body group is input to the posture stabilization process in accordance with the priority order set in step S14. To do.

In this posture stabilizing process, first, the initial value 1 is substituted into the process variable i (step S20). And
The moment amount on the target ZMP, that is, the total moment compensation amount at the time of setting the target trajectory for the region groups from the top to the i-th priority group is calculated (step S21). The desired trajectory is used for the part for which the target trajectory has not been calculated.

Then, the amount of moment compensation is set using the mass calculated in step S15 and available for the moment compensation of the part (step S2).
2) Calculate the moment compensation amount (step S2)
3).

Next, by using the calculated moment compensation amount of the i-th part, the ZMP equation for the i-th part is derived (step S24), and the moment compensation motion of the part is calculated (step S24). S2
5) It is possible to obtain target trajectories for the parts from the top to the i-th priority.

By carrying out such processing for all the site groups, a whole-body movement pattern capable of stable movement (eg, walking) is generated.

Since the acceleration sensors 96, 93 and 94 are provided on the waist and the left and right feet respectively, the above ZMP balance equation is directly and highly accurately used by using the acceleration measurement results at these control target points. Can be derived. As a result, the posture stabilization control based on the ZMP stability determination criterion can be executed at high speed and more strictly according to the processing procedure as shown in FIG.

E. Fall operation of a legged mobile robot
As described in the previous section D, the legged mobile robot 100 according to the present embodiment basically performs posture stability control during walking or other standing work based on the ZMP stability determination standard. We are trying to minimize the occurrence of situations where the aircraft falls.

However, if a fall cannot be avoided, a fall motion having an operation pattern for preventing damage to the machine body is performed. For example, in the above ZMP balance equation, when an excessive external force F or external moment M is applied to the machine body, the moment error component T cannot be canceled only by the machine body motion, and the stability of the posture cannot be maintained.

FIG. 13 shows, in the form of a flowchart, a schematic processing procedure of motion control of the machine body during legged work in the legged mobile robot 100 according to this embodiment.

During the operation of the machine, the ground contact confirmation (floor reaction force) sensors 91 and 92 and the acceleration sensor 93, which are arranged on the left and right feet, are provided.
94 and 94, the ZMP balance equation (described above) is established by using the sensor output of the acceleration sensor 96 arranged in the waist, and the waist and lower limb trajectories are constantly calculated (step S31).

For example, when an external force is applied to the body, whether or not the next waist and lower limb trajectories can be planned, that is, the moment due to the external force according to the action plan of the foot
It is determined whether the error can be resolved (step S32). Whether or not the waist or lower limb trajectory can be planned is determined in consideration of the movable angle of each joint of the leg, the torque of each joint actuator, the joint force, the angular velocity, the angular acceleration, and the like. Of course, when an external force is applied, the moment error may be eliminated not only by the next step, but also by a legged motion that extends over several steps.

At this time, if the foot can be planned, walking or other leg-type motion is continued (step S33).

On the other hand, when it becomes impossible to plan the legs due to the application of an excessive external force or external moment to the machine body, the legged mobile robot 100 starts the overturning motion (step S34).

In the case of the legged robot of the upright walking type as shown in FIGS. 1 and 2, if the center of gravity is high, if the robot is accidentally dropped on the floor during a fall, the robot itself or the other side colliding with the fall. Even there is a danger of causing fatal damage.

Therefore, in this embodiment, the predetermined orbital motion is executed by changing the planned trajectory of the machine body before the overturning to a posture in which the ZMP supporting polygon is minimized.
Basically, the fall motion is searched based on the following two policies.

(1) Time t of the area S of the supporting polygon of the machine body
The amount of change ΔS / Δt per hit is minimized. (2) The supporting polygon should be maximized when it falls on the floor.

Here, minimizing the amount of change ΔS / Δt corresponds to maintaining (or decreasing) the supporting area at the time of tipping (however, in the case of decreasing, a driving force may be required). . By maintaining the support area when the machine body falls, it is possible to carry away the impact moment applied to the machine body. FIG. 14 illustrates the principle of maintaining the support area when the machine body falls. As shown in the same figure, just like the sphere rolling, the supporting surface keeps the area minimum, and receives the impact moment. As shown, the same effect can be obtained even if the support surface moves. For example, when the impact force received from the floor at the time of landing is obtained and this exceeds an allowable value, the overturning method in which the machine rolls so as to keep the area of the supporting polygon constant is preferable.

The fact that the supporting polygon becomes maximum when the floor is dropped corresponds to that the impact force is interfered by receiving with the wider supporting polygon as shown in FIG. For example, when the impact force received from the floor at the time of landing is obtained, and this is within the allowable value, the overturning method in which the machine rolls so as to keep the area of the supporting polygon constant is preferable.

16 and 17, when the legged mobile robot 100 falls backward, that is, in the supine posture, the operation of maintaining the change amount ΔS / Δt of the support polygon to the minimum, that is, maintaining the support area at the time of the fall. It shows an example of realizing. This is a motion similar to the passive motion in judo and other martial arts, and the impact moment at the time of falling can be favorably dissipated. As shown in FIG. 17, the amount of change ΔS / Δt of the supporting polygon is minimized by moving the foot off the floor. When the center of gravity of the airframe is present in the waist, the ZMP can be set in a portion where the number of links that does not contribute to the smallest supporting polygon is maximum. After such a fall / landing operation, all the links that can be released from the bed are released from the bed, that is, in the example shown, both the lower limbs and the trunk are raised, and the upper body and the lower limbs are simultaneously released from the bed
By landing the feet, hands, etc., a smaller ground contact polygon can be formed in a smaller number of steps, so that a higher-speed and efficient standing-up motion can be realized.

18 and 19, when the legged mobile robot 100 falls forward, that is, in the prone posture, the operation of maintaining the change amount ΔS / Δt of the support polygon at the minimum, that is, maintaining the support area at the time of the fall. Examples of realizing the above are shown as viewed from the side and diagonally forward right.
This is a motion similar to the forward motion in mechanical exercises and the like, and the impact moment at the time of falling can be favorably dissipated. As shown in each figure, the amount of change ΔS / Δt of the support polygon is minimized by moving the foot off the floor.

By adopting the falling method as described above, it is possible to minimize the damage by dispersing the shock received from the floor surface at the time of dropping to the whole body.

FIG. 20 shows, in the form of a flowchart, a processing procedure for the legged mobile robot 100 according to the present embodiment to perform a fall motion due to unplanned feet.
The fall motion is realized by synchronously and cooperatively driving the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 connected in the height direction according to the above-described basic policy. It Such a processing procedure is
Actually, it is realized by executing a predetermined machine body operation control program in the main control unit 81 and drivingly controlling each unit.

First, the time t of the area S of the supporting polygon of the machine body
A link that minimizes the change amount ΔS / Δt per hit is searched for (step S41).

Then, the target landing point of the link that minimizes the change amount ΔS / Δt is searched for in the link selected in step S41 (step S42). By keeping the support area of the airframe to the floor surface to a minimum, it is possible to carry the impact moment (see above and FIG. 14).

Next, it is necessary to land the link selected in the preceding step at the target landing point due to the constraints of the machine hardware (movable angle of each joint, torque of each joint actuator, joint force, angular velocity, angular Acceleration, etc.) and whether or not they can be executed are mainly determined by the impact force moment (step S43).

If it is determined that the link selected in the preceding step cannot land on the target landing point, the time change amount Δt is incremented by a predetermined value (step S44). ), And returns to step S41 to reselect the link and reset the target landing point of the link.

On the other hand, if the link selected in the preceding step can be landed on the target landing point, the selected link is landed on the target landing point (step S45).

Next, it is judged whether or not the potential energy of the machine body is minimum, that is, whether or not the overturning motion is completed (step S46).

If the potential energy of the airframe is not yet the minimum, the time change amount Δt is further incremented by a predetermined value (step S47), and the next target landing point is set so as to enlarge the support polygon. Yes (step S48). By enlarging the supporting polygon, it is possible to reduce the impact force applied to the airframe when landing (see the above and FIG. 15).

Next, it is necessary to land the selected link at the target landing point due to the constraints of the machine hardware (movable angle of each joint, torque of each joint actuator, joint force, angular velocity, angular acceleration, etc.). The impact force is mainly discriminated as to whether or not it can be executed (step S49). When it is determined that it is impossible to land the link selected in the preceding step on the target landing point, the process returns to step S41 to reselect the link and the target landing point on the link. Reset.

On the other hand, if the link selected in the preceding step can be landed on the target landing point, the process proceeds to step S45 to land the selected link on the target landing point. To do.

When the potential energy of the machine body is minimized (step S46), it means that the landing on the floor surface of the machine body is completed, so that the entire processing routine is ended.

Next, the falling operation of the legged mobile robot 100 will be described with reference to the actual operation.

In FIG. 21, the legged mobile robot 100 has a shoulder joint pitch axis 4, a trunk pitch axis 9, and a hip joint pitch axis 1.
2. Modeled as a link structure composed of a plurality of substantially parallel joint axes connected in the height direction such as the knee joint pitch axis 14 and driving each joint pitch axis in a synchronously emphasized manner toward a supine posture. It shows the motion of falling. Basically, the impact force received from the floor surface is reduced by setting the target portion at the link where the number of leaving links is maximum.

It is assumed that the robot stands upright only at the soles of the links, which are the link ends of the link structure (FIG. 21 (1)).

At this time, the application of the external force or the external force moment causes the moment error term T of the ZMP balance equation.
ZMP that can not be canceled and is formed only by the sole of the foot
In response to the ZMP deviating outside the stable region, ZM
The falling motion is started while P is maintained in the supporting polygon.

In the overturning motion, first, a link that minimizes the amount of change ΔS / Δt in the area S of the support polygon of the machine body per unit time t is searched for, and the amount of change ΔS / Δt is minimized in the links including the hand. Search for the target landing point of the hand. Then, it is necessary to land the selected link on the target landing point due to the constraints of the aircraft hardware (movable angle of each joint,
The torque of each joint actuator, joint force, angular velocity, angular acceleration, etc.) and whether or not they can be executed are determined.

If it is feasible on the machine hardware, other links land in addition to the foot links that have already landed. Then, the ZMP is moved into the minimum support polygon formed by these landing links (FIG. 21 (2)).

Then, as long as the machine hardware allows, the landing point is moved to expand the support polygon (FIG. 21 (3)).

Then, when it is no longer possible to move the landing point due to the constraints of the aircraft hardware such as the movable angle of each joint, the torque of each joint actuator, the joint force, the angular velocity, and the angular acceleration, this time, the landing point can be moved. It is determined whether the leaving link sandwiched between the inside links can be landed.

When it is possible to land the leaving links between the landing links on the machine hardware, these are landed to increase the number of landing links (FIG. 21 (4)).

Further, as long as the machine hardware permits, the landing point is moved to expand the support polygon (FIG. 21 (5)).

Finally, from the one end side of the link structure consisting of a plurality of substantially parallel joint axes connected in the height direction,
The ZMP supporting polygon with the above links and two or more links apart from the other end separated from each other, and one or more links located in the middle between them landed and the feet further landed While maintaining inside, the posture that maximizes the support polygon is formed. In this posture, if the potential energy of the machine body is minimum, the overturning motion is complete.

22 to 38 and FIGS. 39 to 55 show how the actual machine falls from the standing posture to the supine posture.

In this case, the body link including the hip joint pitch axis is selected as the link that minimizes the change amount ΔS / Δt of the area S of the support polygon of the machine body per time t, and the target landing point is searched. And falls to the rear of the body (see FIGS. 22 to 31 and FIGS. 39 to 48).
With the knee joint folded, the amount of change in the support polygon at the time of landing is minimized, that is, ΔS / Δt is minimized.

Then, as the link that minimizes the amount of change ΔS / Δt in the area S of the support polygon of the machine body per time t, a trunk link including the trunk pitch axis 9 and the shoulder joint pitch axis 4 is selected, and Search for the target landing point, and further fall deeply behind the aircraft. At this time, since the hip joint pitch axis 12 has already landed, the body link including the trunk pitch axis 9 and the shoulder joint pitch axis 4 is landed with this as the center of rotation (FIGS. 32 to 33, and FIG. 49 to 50).

Next, a head link connected by the neck joint pitch axis 2 is selected as a link that minimizes the amount of change ΔS / Δt of the area S of the supporting polygon of the machine body per time t, and its target is selected. Searching for a landing point, and further deeply falling behind the aircraft. At this time, since the neck joint pitch axis 2 has already landed, the head is landed around this center of rotation (see FIGS. 34 to 38 and FIGS. 51 to 55). In this posture, since the potential energy of the machine body is the minimum, the overturning motion is completed.

Further, FIG. 56 shows a legged mobile robot 10.
0 is modeled as a link structure consisting of a plurality of substantially parallel joint axes connected in the height direction, such as a shoulder joint pitch axis 4, a trunk pitch axis 9, a hip joint pitch axis 12, and a knee joint pitch axis 14, The figure shows an operation in which each joint pitch axis is driven in a synchronously emphasized manner and falls toward a prone position.

It is assumed that the robot is standing only on the soles of the links, which are the link ends of the link structure (FIG. 56 (1)).

At this time, the application of the external force or the external force moment causes the moment error term T of the ZMP balance equation.
ZMP that can not be canceled and is formed only by the sole of the foot
In response to the ZMP deviating outside the stable region, ZM
The falling motion is started while P is maintained in the supporting polygon.

In the overturning motion, first, a link that minimizes the amount of change ΔS / Δt in the area S of the support polygon of the machine body per unit time t is searched for, and the amount of change ΔS / Δt is minimized in the links including the hand. Search for the target landing point of the hand. Then, it is necessary to land the selected link on the target landing point due to the constraints of the aircraft hardware (movable angle of each joint,
The torque of each joint actuator, joint force, angular velocity, angular acceleration, etc.) and whether or not they can be executed are determined.

When it is feasible on the machine hardware, other links are landed in addition to the foot links already landed. Then, the ZMP is moved into the minimum support polygon formed by these landing links (FIG. 56 (2)).

Next, as long as the machine hardware allows, the landing point is moved to expand the support polygon (FIG. 56 (3)).

Then, when it is no longer possible to move the landing point due to the constraints of the machine hardware such as the movable angle of each joint, the torque of each joint actuator, the joint force, the angular velocity, and the angular acceleration, this time, the landing point can be moved. It is determined whether the leaving link sandwiched between the inside links can be landed.

If it is possible to land the landing links between the landing links on the machine hardware, these are landed to increase the number of landing links (FIG. 56 (4)).

Further, as long as the machine hardware permits, the landing point is moved to expand the support polygon (FIG. 56 (5)).

Finally, from the one end side of the link structure consisting of a plurality of substantially parallel joint axes connected in the height direction,
The ZMP supporting polygon with the above links and two or more links apart from the other end separated from each other, and one or more links located in the middle between them landed and the feet further landed While maintaining inside, the posture that maximizes the support polygon is formed. In this posture, if the potential energy of the machine body is minimum, the overturning motion is complete.

FIGS. 57 to 73 and FIGS. 74 to 90 show how the actual machine falls from the standing posture to the supine posture.

In this case, the arm tip including the shoulder joint pitch axis 4 is selected as the link that minimizes the amount of change ΔS / Δt in the area S of the support polygon of the machine body per time t, and the target landing is performed. Search for a point and fall forward of the aircraft (see FIGS. 57-70 and 74-87).

At this time, at the shortest time increment Δt,
In order to minimize the change amount ΔS of the supporting polygon at the time of landing,
The knee joint pitch axis 14 is in a folded posture, and the place where the hands land is set to a position closer to the sole.

Next, a leg link including the knee joint pitch axis 14 is selected as a link that minimizes the amount of change ΔS / Δt of the area S of the support polygon of the machine body per time t, and its target landing point is selected. Search for and further fall deep in front of the aircraft. At this time, since the foot has already landed, the lower leg rotates around the ankle pitch axis as the center of rotation and the knee lands (FIGS. 70 to 71 and 88 to 8).
9).

Further, the hands and knees as the landing points are moved away from the sole of the foot, and the support polygon is enlarged as long as the machine hardware allows (see FIGS. 72 and 89). . As a result, the torso link is also landed following the hands and knees (see FIGS. 73 and 90). In this posture, since the potential energy of the machine body is the minimum, the overturning motion is completed.

F. Getting up from the position on the floor
The legged mobile robot 100 is used to perform a standing-up operation in order to perform activation from a supine position such as a supine position or a prone position, or for self-sufficiency of the work of standing up and resuming work independently when a fall occurs. It is necessary to realize.

However, when trying to get up due to an unplanned trajectory, an excessive moment of external force is applied, and the joint actuator requires high output torque.
As a result, it is necessary to increase the size of the motor and drive power consumption increases accordingly. In addition, the weight of the machine increases and the manufacturing cost increases. The increased weight makes it more difficult to get up and move. Alternatively, there may be a situation in which the stability of the posture cannot be maintained by the external force moment generated in the process of getting up and the user cannot get up in the first place.

Therefore, in the present embodiment, the legged mobile robot 100 is supposed to perform the rising motion having the motion pattern that minimizes the external force moment. this is,
This can be realized by time-sequentially combining the postures that minimize the ZMP supporting polygon.

Further, the legged mobile robot 100 according to this embodiment has the same structure as the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 (see FIG. 3). A link structure in which a plurality of pitch axes are connected in series in the height direction (however, when viewed from the lateral direction). Therefore, the plurality of joint pitch axes 4 to 14 are synchronously and cooperatively driven in a predetermined sequence to realize a rising motion according to a motion pattern that minimizes the ZMP supporting polygon.

F-1. Getting up from a basic supine position
Operation FIG. 91 shows a legged mobile robot 100 according to this embodiment.
Shows a processing procedure for driving the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 in a synchronously emphasized manner to perform a rising motion in the form of a flowchart. Such a processing procedure is actually realized by the main control unit 81 executing a predetermined machine body operation control program to drive and control each unit.

In FIG. 92, the legged mobile robot 100 according to the present embodiment drives the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 in a synchronously emphasized manner. The articulated link model shows how to move up from the supine posture. Although the legged mobile robot 100 according to the present embodiment includes the trunk pitch axis 9, the legged mobile robot of the type that does not include the trunk pitch axis has a supine posture due to synchronous drive of a plurality of joint pitch axes. FIG. 93 shows how to perform the rising operation from the start. However, in the illustrated link structure, the position of the center of gravity of the entire body is set to the link connecting the trunk joint and the hip joint, and this link will be referred to as the “center of gravity link” below. The “centroid link” is used in the narrow sense with the above definition, but in a broad sense, it may be a link in which the position of the center of gravity of the entire body exists. For example,
In an aircraft having no trunk axis, this corresponds to a link including the tip of the trunk where the center of gravity of the entire aircraft is located.

The operation of raising the body from the basic supine posture will be described below with reference to the flow chart shown in FIG.

First, in the on-floor posture, the posture with the smallest potential energy is searched for (step S1). this is,
This is equivalent to the basic supine posture, and is shown in FIG. 92 (1) and FIG.
As shown in (1), all the links connecting the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 used for the rising motion are all in contact with the floor. The state of the actual machine at this time is shown in FIGS.
2 shows. By taking the posture with the smallest potential energy, it is possible to measure the inclination and shape of the road surface and confirm whether or not the standing motion is possible.

In this basic supine posture, the narrowest supporting polygon is searched for in the ground contact polygon formed by the floor contacting link (step S52). At this time, when at least two or more links are separated from one end of the airframe, ZMP
Determine if the trajectory can be planned. The ZMP planning possibility can be determined in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like.

Next, of the ground contact polygons, two or more links that do not participate in the narrowest support polygon are released (step S53).

Step S53 corresponds to FIG. 92 (2) and FIG.
This corresponds to 3 (2). On the actual machine, the lower body side including the center of gravity link connecting the trunk joint and the hip joint is extracted as a support polygon, and two or more other links from the shoulder joint to the trunk joint are taken out as links that do not participate in the support polygon. To do.

The operation of the actual machine at this time is shown in FIGS.
And FIGS. 113 to 114. In the illustrated example, first, the left and right arms are lifted, and then the trunk joint pitch axis actuator A ₉ is driven to raise the upper body. By lifting the arm first,
The moment can be reduced to reduce the required maximum torque.

Next, one or more leaving links are bent from one end to land the ends of the link ends to form a narrower ground polygon (step S54).

Step S54 corresponds to FIG. 92 (3) and FIG.
Equivalent to 3 (3). On an actual machine, in a state where two or more links including a shoulder joint are out of bed, the link is bent at the shoulder joint pitch axis to bring the end of the link end into contact with the floor.
Then, by gradually approaching the tip of the hand to the trunk pitch axis side which is the center of gravity of the body weight, a ground contact polygon narrower than the original posture on the floor is formed.

The operation of the actual machine at this time is shown in FIGS.
1 and FIGS. 115 to 119. In the example shown in the figure, the left and right arm joints are spread laterally by driving the left and right shoulder joint roll axes A ₅ , and then the arm portions are once rotated 180 degrees by driving the upper arm yaw axis A ₆ (see FIG. 98-FIG. 9
9, FIG. 116 to FIG. 117), the arm portion is gradually lowered by driving the shoulder joint pitch axis A ₄ . Then, by landing the hands, a narrower ground contact polygon is formed (FIGS. 101 and 119).

When the new ground polygon is formed in this way, it is checked whether ZMP can be set in the ground polygon (step S55). This is determined in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like. Then, the ZMP is moved to the grounded polygon to form a new support polygon (step S56).

Here, it is determined whether or not the supporting polygon has become sufficiently narrow (step S57). This judgment determines whether the center of gravity link connecting the trunk pitch axis and the hip joint pitch axis can be released from the bed, or whether the ZMP can be moved into the ZMP stable region that can be formed only by the foot.
The judgment is made in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like. The detailed procedure for determining whether the supporting polygon has become sufficiently narrow will be given later.

In the posture of the actual machine shown in FIGS. 101 and 119, the supporting polygon cannot be said to be sufficiently narrow. Therefore,
After moving the landing point to reduce the support polygon (step S50), the process returns to step S52 to retry the formation of a narrower support polygon.

In the postures shown in FIGS. 101 and 119, the narrowest support polygon is searched for in the ground contact polygon formed by the floor contacting link (step S52). This time, when at least two or more links are taken off the floor from the other end of the aircraft,
Determine if ZMP can be planned. The ZMP planning possibility can be determined in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like.

Next, among the floor contact polygons, two or more links that do not participate in the narrowest support polygon are left (step S53). This is shown in FIGS. 92 (4) to (5) and FIG.
It corresponds to (4) to (5). On the actual machine, two or more links continuous from the other end side including the knee joint pitch axis are separated from the bed as links that do not participate in the support polygon.

Then, one or more leaving links are bent from one end side and the ends of the link ends are landed to form a narrower ground contact polygon (step S54).

The operation of the actual machine at this time will be described with reference to FIGS.
5 and 120 to 123. In the illustrated example, first, the hip joint pitch axis A ₁₂ of the right leg is driven to lift the right leg, and then the knee joint actuator A ₁₄ is driven to bend the right leg to land the sole of the foot. Next, the hip joint pitch axis A ₁₂ of the leg is driven to lift the right leg, and the knee joint actuator A ₁₄ is driven to bend the left leg to land the sole of the foot. In this way, by gradually approaching the sole to the hip joint pitch axis 12 side which is the center of gravity of the body weight, it is possible to form a ground contact polygon that is narrower than the original posture on the floor.

When a new ground polygon is formed in this way, it is checked whether ZMP can be set in the ground polygon (step S55). This is determined in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like. Then, the ZMP is moved to the grounded polygon to form a new support polygon (step S56).

Here, it is again determined whether or not the supporting polygon has become sufficiently narrow (step S57). This determination is based on whether the center-of-gravity link connecting the trunk pitch axis and the hip joint pitch axis can leave the floor or can be formed only by the foot.
Whether or not the ZMP can be moved within the stable region is determined in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like. In the posture of the actual machine shown in FIGS. 105 and 123, it is determined that a sufficiently narrow support polygon is formed. Regarding the angle of the arm when the supporting polygon is reduced, it is desirable that the angle formed by the perpendicular line drawn from the shoulder axis to the floor surface and the central axis of the arm is within a predetermined angle based on the torque amount.

Then, in response to the support polygon of the airframe becoming sufficiently narrow, the center of gravity link is separated from the floor while both ends of the link of the support polygon are in contact with each other, and both link ends are attached. While maintaining the ZMP within the support polygon formed by the floor link, the ZMP is moved to the other end side of the link structure by reducing the distance between the ends of both link ends forming the support polygon. (Step S58). This is shown in FIG.
This corresponds to (6) to (7) and FIGS. 93 (6) to (7).

On the actual machine, the center of gravity link connecting the trunk pitch axis and the hip joint pitch axis was left in the state where the hands and soles as the ends of both link ends of the grounded polygon were in contact with the floor, and the hands were further separated. And gradually reduce the space between the soles,
Move the ZMP towards the sole. Further, the operation of the actual machine at this time will be described with reference to FIGS.
~ Shown in FIG. 127.

From the other end of the link structure to the second
In response to the ZMP plunging into the grounding polygon formed only by the grounding links of not more than the predetermined number, the first to the ZMP are accommodated in the grounding polygon from one end side of the link structure. A predetermined number or more of links are separated from the bed, and the separation links are extended in the lengthwise direction to complete the rising motion (step S59). This is shown in FIG.
And corresponds to FIG. 93 (8).

On the actual machine, in response to the ZMP plunging into the grounding polygon composed of the soles, the ZMP is accommodated in the grounding polygon while the shoulder pitch shaft 4 moves to the knee pitch shaft 14. The wake-up motion is completed by removing the links from the farthest and extending the wake-up links in the longitudinal direction. In addition, the operation of the actual machine at this time is shown in FIGS.
1 and 128 to 129.

At the final stage of getting up, that is, when extending the leaving link in the longitudinal direction, it is effective in terms of aircraft operation to actively use the knee joint pitch axis having a larger mass operation amount. Is good.

If, in step S53, two or more links that do not participate in the smallest supporting polygon cannot be released from the floor, the innermost two supporting polygons are used.
Attempt to leave the landing link above (step S
61).

If step S61 cannot be executed,
The rising operation is stopped (step S64). Also,
If step S61 can be executed successfully, the landing point is further moved to further reduce the support polygon (step S62).

If step S62 cannot be executed,
The rising operation is stopped (step S64). Also,
If step S62 can be successfully executed, it is checked whether the ZMP can be moved to a stable area that can be formed by the foot (step S63).
The detailed procedure for determining whether the supporting polygon has become sufficiently narrow will be given later. If the ZMP cannot be moved within this stable region, the process returns to step S61 and the same processing for reducing the support polygon is repeatedly executed. If the ZMP can be moved into this stable region, the process proceeds to step S58,
Performs a return motion to the basic posture.

By the way, in steps S53 to S54, in order to land the left and right hands behind the body to form a narrower ground contact polygon, FIGS.
As shown in FIG. 116, the operation of spreading the left and right arm parts right next to each other using the shoulder roll shaft is performed. This unnecessarily increases the volume used for the legged mobile robot 100 to get up and perform work. Therefore, the series of operations shown in FIGS. 96 to 101 and FIGS. 113 to 119 are replaced with the operations shown in FIGS. 130 and 131 in which the shoulder roll shaft is not operated and the elbow pitch shaft is bent instead, and The left and right hands may be landed behind the body with a small volume.

In the above-mentioned rising operation procedure, it is necessary to judge in steps S57 and S63 whether or not the supporting polygon has become sufficiently narrow. FIG. 173 shows, in the form of a flowchart, a processing procedure for determining whether or not the support polygon has become sufficiently narrow.

First, the ZMP deviation ε (ε _x , ε _y , ε _z ),
That is, the center position (x ₀ ,
The difference between y ₀ , z ₀ ) and the current ZMP position (x, y, z) is obtained (step S71).

Next, this ZMP deviation ε (ε _x , ε _y , ε
_z ) multiplied by a predetermined gain G (G _x , G _y , G _z ) is added to the current waist position r (r _{hx (t)} , r _{hy (t)} , r _{hz (t)} ) , The target waist position r at the next time t = t + Δt
(R _{hx (t + Δt)} , r _{hy (t + Δt)} , r _{hz (t + Δt)} ) (= r
(R _{hx (t)} , r _{hy (t)} , r _{hz (t)} ) + G (G _x , G _y , G _z )
X ε (ε _x , ε _y , ε _z )) (step S72).

Then, it is determined whether or not the current support polygon can be formed at the next target waist position (step S73). This determination is performed by calculating the next target waist position while maintaining the landing point of the landing link. That is, the inverse kinematics calculation is performed from the waist position and the landing point, and it is determined that it is feasible if it is within the movable angle and within the allowable torque of the joint actuator.

If the current support polygon cannot be formed at the next target waist position, it is impossible to move the ZMP into the stable region where the foot can be formed, and the entire processing routine is ended. To do.

On the other hand, if the current support polygon can be formed at the next target waist position, the ZMP when the waist is moved to the next target waist position (that is, the next) is further calculated (step). S74).

Next, in the stable region where the foot can be formed, Z
It is determined whether MP exists (step S7).
5). If the determination result is affirmative, it is determined that the ZMP can be moved into the stable region where the foot can be formed (step S76), and the entire processing routine is ended.
On the other hand, if the determination result is negative, the next waist position is set to the current waist position, the next ZMP is set to the current ZMP, and the process returns to step S71 to repeat the same processing.

In the operation examples shown in FIGS. 130 and 131, the length of the upper arm is l ₁ , the length of the forearm is l ₂ , the shoulder roll angle is α, the elbow pitch angle is β, and the length from the shoulder to the hand is long. Sa
_{12. If} the angle formed by the line connecting the shoulders to the hands is γ and the height of the shoulders is h (Fig. 132), the following formulas should be satisfied during the operation period of landing the left and right hands behind the trunk. By operating the elbow pitch shaft 7, the hand does not collide with the floor surface.

[0249]

[Equation 6]

In addition, the standing up motion pattern shown in FIG. 92 is a link in which the body of the legged mobile robot is connected with the shoulder joint pitch axis, the trunk pitch axis, the hip joint pitch axis, and the knee pitch axis in the height direction of the body. The model shows a rising motion by modeling the structure. In FIG. 133, the legged mobile robot is generalized to a link structure in which a plurality of joint axes having substantially parallel joint degrees of freedom are connected in the longitudinal direction, and a standing up motion is shown.

The link structure shown in the figure is constructed by connecting a plurality of joint axes having substantially parallel joint degrees of freedom in the longitudinal direction. A rising motion from the on-floor posture in which all the links are in contact with the floor is realized by using link A, link B, link C, link D, link E, and link F.

However, each of the links A to F does not have to be a single link, and in reality, a plurality of links are connected through the joint shaft, but the joint shaft operates during the rising motion. Without including the straightness between links, it also includes the case where it behaves as if it were a single link. For example, the link A includes links from the link end to the h-th link, the link B includes links from the h-th to i-th links, the link C includes the i-th to j-th links, and the link D includes the j-th link. The link E includes the links up to the kth, the link E includes the links from the kth up to the lth,
The link F is the l-th to the m-th (or the other end of the link)
Including a link up to.

First, a ground polygon is formed between the Fth link and the Ath link, and ZMP is set in this ground polygon (FIG. 133 (1)).

Then, ZMP is set in the grounded polygon between the Eth link and the Ath link (FIG. 133).
(2)). At this time, the movement of the F-th link may be used such as leaving two or more links from the link end.

Next, a narrower grounding polygon is newly formed between the Fth link and the Ath link, and ZMP is set in this grounding polygon (FIG. 133 (3)). For example, a new grounding polygon is formed by bending the F-th link during leaving the floor and landing the end thereof.

Next, a grounding polygon is newly formed between the Fth link and the Dth or Cth link, and ZMP is set in this grounding polygon (FIG. 133 (4)). At this time, the movement of the A-th link may be used such as leaving two or more links from the other link end.

Next, the Dth link is grounded, a grounding polygon is newly formed by the Fth link and the Ath link, and ZMP is set in this grounding polygon (FIG. 133).
(5)). For example, a new grounding polygon is formed by bending the A-th link while leaving the floor and landing its end.

Next, a grounding polygon is newly formed by the Fth link and the Ath link, and the ZMP is formed in this grounding polygon.
Is set (FIG. 133 (6)). For example, with the end points of both link ends still landing, the D-th link being landed is left.

Then, by making the end points of both link ends F and A coincide with each other, the ZMP is moved into the support polygon formed only by the A-th link (FIG. 133).
(7)).

Finally, while setting ZMP in the support polygon formed only by the A-th link, each link is moved to the basic standing posture (FIG. 133 (8)).

F-2. Getting up from the basic prone position
Operation FIG. 134 shows the legged mobile robot 10 according to the present embodiment.
A joint link model shows that 0 causes the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 to synchronously emphasize and perform a rising motion.

The legged mobile robot 100 according to the present embodiment.
Basically, similarly to the case of rising from the supine position, the user can also get up from the prone position by following the processing procedure shown in the form of a flowchart in FIG.
Hereinafter, referring to the flowchart shown in FIG. 91,
The operation of raising the aircraft from the basic prone position will be explained.

First, the posture on the floor has the smallest potential energy (step S51). This corresponds to the basic prone position, and as shown in FIG. 134 (1), the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 are used for the rising motion.
All the links connecting the two are in contact with each other. The state of the actual machine at this time is shown in FIGS. 135 and 154.

In this basic prone posture, the narrowest support polygon is searched for in the ground contact polygon formed by the floor contacting link (step S52). At this time, when at least two links are taken off the floor from one end of the machine, ZM
Determine if P is planable. The ZMP planning possibility can be determined in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like.

Next, of the ground contact polygons, two or more links that do not participate in the narrowest support polygon are released (step S53). Step S53 corresponds to FIG. 134 (2). On the actual machine, the lower body side including the center of gravity link connecting the trunk joint and the hip joint is extracted as a support polygon, and two or more other links from the shoulder joint to the trunk joint are taken out as links that do not participate in the support polygon. To do.

The operation of the actual machine at this time will be described with reference to FIGS.
4 and FIGS. 155 to 163. In the illustrated example, first, the shoulder roll shaft actuators A ₅ of the left and right arms are actuated to slide on the floor surface to move the shoulder roll shaft actuators approximately 9 degrees.
Rotate only 0 degrees (see FIGS. 136-137 and FIG.
55-FIG. 156), and then actuating the upper arm yaw axis actuator A ₆ to move each arm about 180 degrees around the upper arm yaw axis.
It is rotated by a degree (FIGS. 138 and 157). Then, the shoulder roll shaft actuator A ₅ is further actuated to slide and swivel about the shoulder roll shaft by about 90 degrees,
Move each arm to the side of the head (FIGS. 138 to 14)
1, and FIGS. 157 to 160).

In a series of operations shown in FIGS. 136 to 141 and FIGS. 165 to 170, the left and right arms are in a shape of drawing a semicircle on the floor surface. At this time, the presence or absence of obstacles on the road surface around the machine body can be detected to secure a safe work area required for the standing up motion.

Next, one or more leaving links are bent from one end side to land the end portions of the link ends to form a narrower ground polygon (step S54). Step S54
Corresponds to FIG. 134 (3).

When a new ground polygon is formed,
It is checked whether ZMP can be set for the grounded polygon (step S55). This is determined in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like. Then, the ZMP is moved to the grounded polygon to form a new support polygon (step S56).

On the actual machine, with the elbow pitch shaft 7 fixed,
With the left and right arms straightened out, this time operate the shoulder pitch axis actuator A ₄ , the trunk pitch axis actuator A ₉ , the hip joint pitch axis A ₁₂ , and the knee joint pitch axis actuator A ₁₄ to move the fingers. And a supporting polygon having a closed link posture in which both left and right knees are in contact with each other (FIGS. 142 to 144, and FIGS. 161 to 163).

In the posture of the actual machine shown in FIGS. 144 and 153, the support polygon cannot be said to be sufficiently narrow. Therefore,
Move the landing point to reduce the support polygon (step S
60). Regarding the angle of the arm when the supporting polygon is reduced, it is desirable that the angle formed by the perpendicular line drawn from the shoulder axis to the floor surface and the central axis of the arm is within a predetermined angle based on the torque amount.

On the actual machine, with the left and right arms kept straight, the hands are gradually brought closer to the other sole, the sole side, to form the narrower supporting polygon ( 145 to 148, and 164 to 16
7).

Here, it is determined whether or not the supporting polygon has become sufficiently narrow (step S57). This judgment determines whether the center of gravity link connecting the trunk pitch axis and the hip joint pitch axis can be released from the bed, or whether the ZMP can be moved into the ZMP stable region that can be formed only by the foot.
The judgment is made in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like. In the posture of the actual machine shown in FIGS. 148 and 165, it is judged that a sufficiently narrow support polygon is formed.

Then, in response to the support polygon of the fuselage becoming sufficiently narrow, the support polygon formed while maintaining the ZMP in the support polygon formed by the landing links at both link ends. Reduce the distance between the ends of the links to
P is moved to the other end of the link structure (step S58). This corresponds to FIGS. 134 (6) to 134 (7).

On the actual machine, with the hands and soles as the ends of both link ends of the grounded polygon in contact with the floor, the distance between the hands and soles was gradually reduced, and the ZMP was moved toward the soles. Move it. Further, the operation of the actual machine at this time is shown in FIGS. 149 to 150 and 168 to 169.

Then, from the other end of the link structure to the second
In response to the ZMP plunging into the grounding polygon formed only by the grounding links of not more than the predetermined number, the first to the ZMP are accommodated in the grounding polygon from one end side of the link structure. A predetermined number or more of links are separated from the bed, and the separation links are extended in the lengthwise direction to complete the rising motion (step S59). This is shown in Figure 134 (8).
Equivalent to.

On the actual machine, in response to the ZMP plunging into the grounding polygon composed of the soles, the ZMP is accommodated in the grounding polygon while the shoulder pitch shaft 4 moves to the knee pitch shaft 14. The wake-up motion is completed by removing the links from the farthest and extending the wake-up links in the longitudinal direction. Also, the operation of the actual machine at this time will be described with reference to FIGS.
3 and 170 to 172.

At the final stage of getting up, that is, when extending the wake-up link in the longitudinal direction, it is effective in terms of operating the aircraft to actively use the knee joint pitch axis having a larger mass operation amount. Is good.

F-3. Of other uprising operations
Example In the rising operation shown in Fig. 91, ZMP
By combining the postures that minimize the support polygon in a time series, we decided to perform a rising motion consisting of a motion pattern that minimizes the external force moment.
In this operation, the stepping operation of the hand or foot is used in the process of successively forming smaller supporting polygons. However, in order to realize the stepping motion, it is necessary for the hand or foot to leave the floor, there must be two or more links that do not participate in the supporting polygon, and the stepping motion may be performed depending on the attitude of the aircraft. In some cases, there is no case, and in this case, the rising motion itself fails (step S64 in FIG. 91).

On the other hand, in the process of successively forming smaller supporting polygons, when the stepping operation of the hand or foot cannot be realized, the dragging operation of the hand or foot is used. , It is possible to reduce the chance that the rising motion will fail. In the following, a standing up operation using a stepping movement of a hand or a foot and a dragging movement will be described in the process of successively forming smaller supporting polygons.

FIG. 174 shows a stand-up operation in the form of a flow chart using the stepping operation of the hand or foot and the dragging operation. Hereinafter, this rising operation procedure will be described. FIG. 175 to FIG. 191 sequentially show how the body rises while using the stepping motion or the drag motion of the hand or foot from the basic prone position. In the following, each drawing will be referred to as appropriate.

First, the posture on the floor has the smallest potential energy (step S81). This corresponds to the basic prone position, and the state of the actual machine at this time is shown in Fig. 1.
75.

However, in the case where the rising motion is performed continuously after the falling motion, the rising motion can be completed in a short time by omitting step S81 (described later).

In this basic prone posture, the narrowest support polygon is searched for in the ground contact polygon formed by the floor contacting link (step S82). At this time, when at least two links are taken off the floor from one end of the machine, ZM
Determine if P is planable. The ZMP planning possibility can be determined in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like.

Here, it is determined whether or not two or more links that are not involved in the smallest supporting polygon can be left (step S83). If two or more links that are not involved in the smallest supporting polygon can be released from the bed, the process proceeds to the next step S84, and a smaller ground contact polygon is formed by the stepping operation of the hand or foot. On the other hand, if it is not possible to get out of bed, step S91
Then, the smaller ground contact polygon is formed by utilizing the dragging operation of the hand or foot.

In step S84, two or more links that are not involved in the smallest supporting polygon are separated from the floor, and further,
The leaving link is bent and landed to form a smaller ground contact polygon (step S85).

For example, FIGS. 179 to 181, and FIG.
In FIG. 84 to FIG. 186, a robot in the process of getting up by grounding both hands and feet bends and wears the leaving link as shown in FIGS. 175, 182 to 183, 185, and 187 while stepping between the left and right feet. We are trying to form a smaller grounding polygon by flooring.

When a new ground polygon is formed,
It is checked whether ZMP can be set for the grounded polygon (step S86). This is determined in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like. Then, the ZMP is moved to the grounded polygon to form a new support polygon (step S87). If the ZMP cannot be set for the grounded polygon, the process returns to step S83 to check again whether the stepping operation of the hand or foot or the dragging operation should be executed.

Here, it is determined whether or not the supporting polygon has become sufficiently narrow (step S88). This judgment determines whether the center of gravity link connecting the trunk pitch axis and the hip joint pitch axis can be released from the bed, or whether the ZMP can be moved into the ZMP stable region that can be formed only by the foot.
The judgment is made in consideration of the movable angle of the link structure, the torque of each joint actuator connecting the links, the joint force, the angular velocity, the angular acceleration, and the like.

Then, in response to the support polygon of the airframe being sufficiently narrowed, the support polygon formed while maintaining the ZMP in the support polygon formed by the landing links at both link ends. Reduce the distance between the ends of the links to
P is moved to the other end of the link structure (step S89).

On the actual machine, with the hands and soles as the ends of both link ends of the grounded polygon in contact with the floor, the distance between the hands and soles was gradually reduced, and the ZMP was directed toward the soles. Move it. The operation of the actual machine at this time is shown in FIGS. 188 to 189.

From the other end of the link structure to the second
In response to the ZMP plunging into the grounding polygon formed only by the grounding links of not more than the predetermined number, the first to the ZMP are accommodated in the grounding polygon from one end side of the link structure. A predetermined number or more of links are separated from the bed, and the separation links are extended in the lengthwise direction to complete the rising motion (step S90).

On the actual machine, in response to the ZMP plunging into the grounded polygon composed of the sole of the foot, the ZMP is accommodated in the grounded polygon while the shoulder pitch axis 4 moves to the knee pitch axis 14. The wake-up motion is completed by removing the links from the farthest and extending the wake-up links in the longitudinal direction. Also, the operation of the actual machine at this time will be described with reference to FIGS.
Is shown in.

At the final stage of getting up, when extending the bed leaving link in the longitudinal direction, it is effective in terms of machine operation to actively operate by using the knee joint pitch axis having a larger mass operation amount. Is good.

On the other hand, if it is determined in step S83 that two or more of the links that are not involved in the smallest supporting polygon cannot be released from the floor, the maximum movement is performed in order to perform the drag operation of the hand or foot. It is checked whether or not two or more landing links within the support polygon can be released (step S91).

Here, when it is not possible to leave two or more landing links within the maximum supporting polygon,
Further, it is determined whether the landing point can be moved to reduce the supporting polygon. If the supporting polygon cannot be made smaller, the rising operation is stopped (step S95). That is, the rising motion fails.

On the other hand, if it is possible to leave two or more lands on the floor that are within the maximum supporting polygon, remove two or more lands on the floor that are within the maximum supporting polygon. (Step S92), the landing point is moved by using the dragging operation of the hand or foot to reduce the support polygon (step S93).

For example, FIGS. 176 to 178 and FIG.
As shown in FIGS. 87 to 188, a robot in the process of getting up with both hands and both feet touching the ground gradually reduces the support polygon by dragging toward the feet while keeping both hands on the floor.

Thereafter, it is judged whether or not the supporting polygon has become sufficiently narrow (step S88). Then, in response to the support polygon of the airframe being sufficiently narrowed, the ZMP is maintained within the support polygon formed by the landing links at both link ends, while the ZMP of the both link ends forming the support polygon is maintained. The ZMP is moved toward the other end of the link structure by reducing the distance between the ends (step S89).

Then, from the other end of the link structure to the second
In response to the ZMP plunging into the grounding polygon formed only by the grounding links of not more than the predetermined number, the first to the ZMP are accommodated in the grounding polygon from one end side of the link structure. A predetermined number or more of links are separated from the bed, and the separation links are extended in the lengthwise direction to complete the rising motion (step S90).

In FIG. 199, in step S83,
A detailed processing procedure for searching for a link and its part that maximize the number of links that are not involved in the smallest supporting polygon is shown in the form of a flowchart.

First, in steps S101 and S102, the variables i and j and the array type variable M are initialized. Then, ZMP is set to the j-th part of the i-th link (step S103).

Here, it is determined whether the ZMP space is stable (step S104). If the ZMP space is stable, the number of links not involved in the smallest supporting polygon is calculated (step S105), and the number of leaving-bed leaves at the j-th site of the i-th link is substituted into L. If L is larger than M (step S106), M
Substituting L (i, j) into (A, B) (step S10)
7).

On the other hand, when the ZMP space is not stable, when L is not larger than M, or when L is set to M (A, B).
After substituting (i, j), j is incremented by 1 (step S108), and it is determined whether or not j exceeds the total number of parts J (step S109). If j has not reached the total number J of parts, the process returns to step S103 and the same process as described above is repeatedly executed.

Then, i is incremented by 1 (step S
110), it is determined whether i exceeds the total number of links I (step S111). If i has not reached the total number of links, the process returns to step S102 and the same processing as described above is repeatedly executed.

If i exceeds the total number of links I, the link is assigned to A and the site is assigned to B, and this processing routine is terminated.

[0307] As described above, in the case where the rising motion is continuously performed, the rising motion can be completed in a short time by omitting step S81.

For example, when the center of gravity of the airframe is present in the waist, ZMP can be set in a portion where the number of links that does not contribute to the smallest supporting polygon is the maximum. After such a fall / implantation motion, all the links that can be separated from the floor are separated from the bed, that is, both the lower limbs and the trunk are raised, and the upper body and the lower limbs are separated from the floor at the same time, and the feet and hands are landed. By doing so, it is possible to form a smaller ground contact polygon in a smaller number of steps, so that it is possible to realize a higher-speed and efficient rising operation.

FIGS. 192 to 198 show a series of operations of the machine body in the case where the standing motion and the rising motion are continuously performed.

From the standing posture shown in FIG. 192 to FIG.
As shown in FIG. 193, the fall motion is started toward the rear of the machine, and as shown in FIG. 194, the person falls on the waist where the body center of gravity exists.

In the example shown in FIG. 194, the ZMP is applied to the body portion that maximizes the number of links that are not involved in the smallest supporting polygon.
Is set. In addition, the characteristic feature is different from the example described with reference to FIGS. 23 to 38 and 39 to 55, and the fall motion is finished in a state in which the legs are out of bed instead of the basic supine position. There is a point.

In the subsequent standing up motion, as shown in FIG. 195, all the links, that is, the legs and the body, capable of leaving the floor are lifted up, and the standing up motion is started. Here, the upper body rises up as shown in FIGS. 196 to 197 by driving the pitch axis actuators of the hip joint and / or the trunk. Then, the hip joint pitch A ₁₂ of the right leg is driven to lift the right leg, and the knee joint actuator A ₁₄ is driven to bend the right leg to land the sole of the foot. Next, the hip joint pitch axis A ₁₂ of the leg is driven to lift the right leg, and the knee joint actuator A ₁₄ is driven to bend the left leg to land the sole of the foot. In this way, by gradually approaching the sole to the hip joint pitch axis 12 side, which is the body-centered position, as shown in FIG. 198, it is possible to form a ground contact polygon that is narrower than the original posture on the floor. .

When the rising motion is performed continuously with the falling motion, a smaller ground contact polygon should be formed in a smaller number of steps as compared with the examples described with reference to FIGS. 23 to 38 and 39 to 55. You can That is, it should be fully understood that according to this embodiment, a narrow grounding polygon can be formed more efficiently, and the rising operation is accelerated.

[Supplement] The present invention has been described in detail with reference to the specific embodiments. However, it is obvious that those skilled in the art can modify or substitute the embodiments without departing from the scope of the present invention.

The subject matter of the present invention is not necessarily limited to products called “robots”. In other words, the present invention similarly applies to a mechanical device that performs a motion similar to a human motion by using an electrical or magnetic action, even if the product belongs to another industrial field such as a toy. Can be applied.

In short, the present invention has been disclosed in the form of exemplification, and the contents described in this specification should not be construed in a limited manner. To determine the gist of the present invention,
The claims section mentioned at the beginning should be taken into consideration.

[0317]

According to the present invention, it is possible to reduce damage to a robot to an unlimited extent by controlling the movement of the entire body including not only the legs but also the torso and arms when falling or falling. It is possible to provide a motion control method for a fall type mobile robot and a leg type mobile robot during a fall.

Further, according to the present invention, an excellent legged mobile robot operation control apparatus and operation control method and a robot apparatus capable of autonomously recovering a standing posture from a posture on the floor such as a supine or prone position are provided. Can be provided.

Further, according to the present invention, an excellent legged mobile robot operation control device and operation control capable of recovering a standing posture from a floor posture such as a supine or prone position by a stable operation with a relatively small torque. Methods and robotic devices can be provided.

[Brief description of drawings]

FIG. 1 is a diagram showing a state in which a legged mobile robot used for implementing the present invention is upright as viewed from the front.

FIG. 2 is a view showing a state in which a legged mobile robot used for implementing the present invention is upright, as viewed from the rear.

FIG. 3 is a diagram schematically showing a joint degree of freedom configuration of a legged mobile robot.

FIG. 4 is a diagram schematically showing a control system configuration of the legged mobile robot 100.

FIG. 5 is a diagram showing basic state transitions of the motion system of the legged mobile robot 100.

6 is a diagram showing a basic supine posture of the legged mobile robot 100. FIG.

7 is a diagram showing a basic prone posture of the legged mobile robot 100. FIG.

8 is a diagram showing a basic standing posture of the legged mobile robot 100. FIG.

9 is a diagram showing a basic walking posture of the legged mobile robot 100. FIG.

10 is a diagram showing a multi-mass point approximation model of the legged mobile robot 100. FIG.

FIG. 11 is a diagram showing an enlarged view around the waist of the multi-mass model.

FIG. 12 is a flowchart showing a processing procedure for generating a body movement capable of stable walking in the legged mobile robot 100.

FIG. 13 is a flowchart showing a schematic processing procedure of motion control of a machine body during legged work in the legged mobile robot 100.

FIG. 14 is a diagram for explaining the principle of maintaining a support area when the machine body falls.

FIG. 15 is a diagram for explaining the principle of maximizing the supporting polygon when the airframe falls on the floor.

FIG. 16 is a diagram for explaining an operation of maintaining a supporting area at the time of a fall when the legged mobile robot 100 falls backward, that is, toward the back posture.

FIG. 17 is a diagram for explaining an operation of maintaining a supporting area at the time of a fall when the legged mobile robot 100 falls backward, that is, in a supine posture.

FIG. 18 is a diagram for explaining an operation of maintaining a supporting area at the time of a fall when the legged mobile robot 100 falls forward, that is, in a prone posture.

FIG. 19 is a diagram for explaining an operation of maintaining a supporting area at the time of a fall when the legged mobile robot 100 falls forward, that is, in a prone posture.

FIG. 20 is a flowchart showing a processing procedure for the legged mobile robot 100 according to the present embodiment to perform a fall motion due to unplanned feet.

FIG. 21 shows a legged mobile robot 100 including a plurality of substantially parallel joint axes connected in the height direction, such as a shoulder joint pitch axis 4, a trunk pitch axis 9, a hip joint pitch axis 12, and a knee joint pitch axis 14. It is a figure which modeled as a link structure and showed the operation which drives each joint pitch axis synchronously and emphasizes, and falls toward the posture of the back.

FIG. 22 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 23 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 24 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 25 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 26 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 27 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 28 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 29 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 30 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 31 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 32 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 33 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 34 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 35 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 36 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 37 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 38 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 39 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 40 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 41 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a supine posture.

42 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture. FIG.

43 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture. FIG.

FIG. 44 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 45 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 46 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 47 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 48 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 49 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 50 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 51 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 52 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 53 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 54 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 55 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a supine posture.

FIG. 56 shows a legged mobile robot 100 including a plurality of substantially parallel joint axes such as a shoulder joint pitch axis 4, a trunk pitch axis 9, a hip joint pitch axis 12, and a knee joint pitch axis 14, which are connected in the height direction. It is a figure which modeled as a link structure, and showed the operation which falls down toward a prone posture by driving each joint pitch axis in synchronous emphasis.

FIG. 57 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 58 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 59 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 60 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 61 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 62 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 63 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 64 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 65 is a side view showing how the legged mobile robot 100 falls from a standing posture to a prone posture.

66 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture. FIG.

FIG. 67 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

68 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture. FIG.

FIG. 69 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 70 is a side view showing how the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 71 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 72 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 73 is a side view showing how the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 74 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 75 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 76 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a prone posture.

77 is a perspective view showing the legged mobile robot 100 falling from a standing posture to a prone posture. FIG.

FIG. 78 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 79 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 80 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 81 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 82 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 83 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 84 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 85 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 86 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 87 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 88 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 89 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

FIG. 90 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture.

[FIG. 91] A legged mobile robot 100 according to an embodiment of the present invention drives the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 in a synchronously emphasized manner to get up. 6 is a flowchart showing a processing procedure for performing.

92 is a supine posture in which the legged mobile robot 100 according to one embodiment of the present invention drives the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 in a synchronously emphasized manner. It is the figure which showed a mode that a standing up motion is performed from a joint link model.

FIG. 93 is a diagram showing a manner in which a legged mobile robot of a type not provided with a trunk pitch axis performs a rising motion from a supine posture by synchronously driving a plurality of joint pitch axes.

FIG. 94 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 95 is a side view showing how the legged mobile robot 100 stands up from the basic supine posture.

96 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG.

FIG. 97 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 98 is a side view showing how the legged mobile robot 100 stands up from the basic supine posture.

FIG. 99 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 100 is a side view showing how the legged mobile robot 100 gets up from a basic supine posture.

101 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG.

FIG. 102 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 103 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 104 is a side view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 105 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 106 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 107 is a side view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 108 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 109 is a side view showing how the legged mobile robot 100 stands up from the basic supine posture.

FIG. 110 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 111 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 112 is a perspective view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 113 is a perspective view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 114 is a perspective view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 115 is a perspective view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 116 is a perspective view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 117 is a perspective view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 118 is a perspective view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 119 is a perspective view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 120 is a perspective view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 121 is a perspective view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 122 is a perspective view showing how the legged mobile robot 100 stands up from the basic supine posture.

FIG. 123 is a perspective view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 124 is a perspective view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 125 is a perspective view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 126 is a perspective view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 127 is a perspective view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 128 is a perspective view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 129 is a perspective view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 130 is a diagram showing a modified example of a series of operations for landing the left and right hands on the rear side of the body.

FIG. 131 is a diagram showing a modified example of a series of operations for landing the left and right hands behind the body.

132 is a diagram for explaining the operation of the arm shown in FIGS. 130 and 131; FIG.

FIG. 133 is a diagram showing the legged mobile robot shown in FIG. 92 by replacing it with a link structure and generalizing it.

FIG. 134 is a prone posture in which the legged mobile robot 100 according to one embodiment of the present invention drives the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 in a synchronously emphasized manner. It is the figure which showed a mode that a standing up motion is performed from a joint link model.

FIG. 135 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 136 is a side view showing how the legged mobile robot 100 stands up from the basic supine posture.

FIG. 137 is a side view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 138 is a side view showing how the legged mobile robot 100 stands up from the basic supine posture.

FIG. 139 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 140 is a side view showing a state where the legged mobile robot 100 stands up from the basic supine posture.

FIG. 141 is a side view showing a state in which the legged mobile robot 100 stands up from a basic supine posture.

FIG. 142 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 143 is a side view showing how the legged mobile robot 100 stands up from the basic supine posture.

FIG. 144 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 145 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 146 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 147 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 148 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 149 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 150 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 151 is a side view showing how the legged mobile robot 100 stands up from a basic supine posture.

FIG. 152 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 153 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture.

FIG. 154 is a perspective view showing how the legged mobile robot 100 stands up from a basic prone position.

FIG. 155 is a perspective view showing how the legged mobile robot 100 gets up from a basic prone position.

FIG. 156 is a perspective view showing a state in which the legged mobile robot 100 stands up from a basic prone position.

FIG. 157 is a perspective view showing how the legged mobile robot 100 gets up from a basic prone position.

FIG. 158 is a perspective view showing how the legged mobile robot 100 stands up from a basic prone position.

FIG. 159 is a perspective view showing how the legged mobile robot 100 gets up from a basic prone position.

FIG. 160 is a perspective view showing how the legged mobile robot 100 stands up from a basic prone position.

FIG. 161 is a perspective view showing how the legged mobile robot 100 stands up from a basic prone position.

162 is a perspective view showing how the legged mobile robot 100 gets up from a basic prone position. FIG.

FIG. 163 is a perspective view showing how the legged mobile robot 100 stands up from a basic prone position.

FIG. 164 is a perspective view showing how the legged mobile robot 100 gets up from a basic prone position.

FIG. 165 is a perspective view showing how the legged mobile robot 100 stands up from a basic prone position.

FIG. 166 is a perspective view showing how the legged mobile robot 100 gets up from a basic prone position.

FIG. 167 is a perspective view showing how the legged mobile robot 100 stands up from a basic prone position.

FIG. 168 is a perspective view showing how the legged mobile robot 100 gets up from a basic prone position.

FIG. 169 is a perspective view showing how the legged mobile robot 100 stands up from a basic prone position.

FIG. 170 is a perspective view showing how the legged mobile robot 100 gets up from a basic prone position.

FIG. 171 is a perspective view showing a state in which the legged mobile robot 100 stands up from a basic prone position.

FIG. 172 is a perspective view showing a state in which the legged mobile robot 100 stands up from a basic prone position.

FIG. 173 is a flowchart showing a processing procedure for determining whether or not the supporting polygon has become sufficiently narrow.

[FIG. 174] FIG. 174 is a flowchart showing a stand-up operation using a stepping operation of a hand or a foot and a dragging operation.

[FIG. 175] FIG. 175 is a side view showing how the legged mobile robot 100 gets up from a basic prone position while using a stepping operation and a dragging operation of a hand or a foot.

FIG. 176 is a side view showing a state in which the legged mobile robot 100 gets up from a basic prone posture while using a stepping operation and a dragging operation of a hand or a foot.

FIG. 177 is a side view showing a state in which the legged mobile robot 100 stands up from a basic prone posture while utilizing a stepping operation and a dragging operation of a hand or foot.

[FIG. 178] FIG. 178 is a side view showing how the legged mobile robot 100 gets up from a basic prone position while utilizing a stepping operation and a dragging operation of a hand or a foot.

FIG. 179 is a side view showing a state where the legged mobile robot 100 stands up from a basic prone position while using a stepping operation and a dragging operation of a hand or a foot.

FIG. 180 is a side view showing a state where the legged mobile robot 100 stands up from a basic prone position while using a stepping operation and a dragging operation of a hand or a foot.

FIG. 181 is a side view showing a state in which the legged mobile robot 100 stands up from a basic prone position while using a stepping operation and a dragging operation of a hand or foot.

FIG. 182 is a side view showing a state where the legged mobile robot 100 gets up from a basic prone posture while using a stepping operation and a dragging operation of a hand or a foot.

FIG. 183 is a side view showing a state where the legged mobile robot 100 stands up from a basic prone posture while utilizing a stepping operation and a dragging operation of a hand or foot.

184] FIG. 184 is a side view showing a state where the legged mobile robot 100 stands up from a basic prone position while using a stepping operation and a dragging operation of a hand or a foot. [FIG.

FIG. 185 is a side view showing a state where the legged mobile robot 100 stands up from a basic prone position while utilizing a stepping operation and a dragging operation of a hand or foot.

FIG. 186 is a side view showing a state in which the legged mobile robot 100 gets up from a basic prone position while utilizing a stepping operation and a dragging operation of a hand or a foot.

FIG. 187 is a side view showing a state where the legged mobile robot 100 stands up from a basic prone position while using a stepping operation and a dragging operation of a hand or foot.

FIG. 188 is a side view showing a state where the legged mobile robot 100 gets up from a basic prone posture while using a stepping operation and a dragging operation of a hand or a foot.

FIG. 189 is a side view showing a state where the legged mobile robot 100 stands up from a basic prone position while using a stepping operation and a dragging operation of a hand or foot.

FIG. 190 is a side view showing a state in which the legged mobile robot 100 gets up from a basic prone posture while using a stepping operation and a dragging operation of a hand or a foot.

FIG. 191 is a side view showing a state where the legged mobile robot 100 stands up from a basic prone position while using a stepping operation and a dragging operation of a hand or foot.

192] FIG. 192 is a diagram showing a series of operations of the machine body in a case where the user continues to get up after the falling operation.

FIG. 193 is a diagram showing a series of operations of the aircraft in the case where the user keeps rising up continuously with the overturning operation.

194] FIG. 194 is a diagram showing a series of operations of the machine body in the case where the operator keeps rising up continuously with the falling operation.

195] FIG. 195 is a diagram showing a series of operations of the aircraft in the case where the user keeps rising up continuously with the overturning operation.

196] FIG. 196 is a diagram showing a series of operations of the machine body when the user continues to get up and to fall up.

FIG. 197 is a diagram showing a series of operations of the aircraft in the case where the user continues to get up after the falling operation.

FIG. 198 is a diagram showing a series of operations of the aircraft in a case where the user keeps rising up continuously with the overturning operation.

FIG. 199 is a flowchart showing a processing procedure for searching for a link having the largest number of links not involved in the smallest supporting polygon and its portion.

[Explanation of symbols]

1 ... Neck joint yaw axis 2A ... 1st neck joint pitch axis 2B ... Second neck joint (head) pitch axis 3 ... Neck joint roll axis 4 ... Shoulder joint pitch axis 5 ... Shoulder joint roll axis 6 ... Upper arm yaw axis 7 ... Elbow joint pitch axis 8 ... Wrist joint yaw axis 9 ... Trunk pitch axis 10 ... Trunk roll axis 11 ... Hip joint yaw axis 12 ... Hip joint pitch axis 13 ... Hip roll axis 14 ... Knee joint pitch axis 15 ... Ankle joint pitch axis 16 ... Ankle joint roll axis 30 ... Head unit, 40 ... Trunk unit 50 ... Arm unit, 51 ... Upper arm unit 52 ... Elbow joint unit, 53 ... Forearm unit 60 ... Leg unit, 61 ... Thigh unit 62 ... knee joint unit, 63 ... shin unit 80 ... Control unit, 81 ... Main control unit 82 ... Peripheral circuit 91, 92 ... Grounding confirmation sensor 93, 94 ... Acceleration sensor 95 ... Attitude sensor 96 ... Acceleration sensor 100 ... Legged mobile robot

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI // G05B 11/36 G05B 11/36 F (72) Inventor Atsushi Miyamoto 6-735 Kita-Shinagawa, Shinagawa-ku, Tokyo Sony Incorporated (56) Reference JP 2000-61872 (JP, A) JP 2001-150370 (JP, A) JP 10-202562 (JP, A) JP 11-48170 (JP, A) JP-A-5-305583 (JP, A) JP-A-2001-277158 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B25J 5/00 B25J 13/08 G05D 1/08 G05B 11/36

Claims (13)

(57) [Claims] 1. A mobile robot apparatus having a trunk, a leg connected to the trunk and an arm connected to the trunk, wherein the leg and the arm of the mobile robot are controlled. Control means, means for calculating the area of the supporting polygon formed by the grounding point of the mobile robot device and the road surface, and based on the area of the supporting polygon, the impact force or impact moment is reduced or the load is reduced. And a means for deciding an operation of the mobile robot apparatus in which a part is landed so as to be reduced, the control means, based on the decided operation, the leg portion or the arm portion of the mobile robot apparatus. A mobile robot device characterized by controlling. 2. A mobile robot apparatus having a trunk, a leg connected to the trunk, and an arm connected to the trunk, wherein the leg and the arm of the mobile robot are controlled. Control means, means for calculating a change in the area of the supporting polygon over time, and an impact force or an impact moment is reduced or a load is reduced based on the changing speed of the area of the supporting polygon. And a means for deciding an operation of the mobile robot apparatus on which the site is landed, wherein the control means controls the leg portion or the arm portion of the mobile robot apparatus based on the decided movement. A mobile robot device characterized by. 3. A mobile robot apparatus having a trunk, a leg connected to the trunk, and an arm connected to the trunk, wherein the leg and the arm of the mobile robot are connected to each other. Control means for controlling; first means for calculating an area of a supporting polygon formed by a grounding point of the mobile robot device and a road surface; and second means for calculating a change in the area of the supporting polygon over time. And means for deciding the operation of the mobile robot apparatus on which the part is landed so that the impact force or the impact moment is reduced or the load is reduced based on the area of the supporting polygon and the changing speed of the area. A mobile robot apparatus comprising: a third means, wherein the control means controls a leg portion or an arm portion of the mobile robot apparatus based on the determined motion. 4. The third means is configured such that, at the time of tipping over, the change in the area of the support polygon formed by the ground contact point of the mobile robot device and the road surface per hour is minimized or the change amount is reduced. And a target landing point setting unit that sets a target landing point for landing on the floor surface of the mobile robot apparatus, wherein the control unit causes the mobile robot to land the set target landing point. The mobile robot apparatus according to claim 3, wherein the mobile robot apparatus controls the apparatus. 5. The third means is characterized in that, at the time of a fall, the mobile robot device is placed on the floor based on the change in the area of the supporting polygon formed by the ground contact point and the road surface of the mobile robot device per hour. A landing site searching means for searching a landing site to land on, so that the change per hour of the area of the support polygon formed by the grounding point and the road surface of the mobile robot device is minimized or the amount of change is reduced, A target landing point setting unit for setting a target landing point for landing on the floor surface in the site selected by the landing site searching unit; and the control unit landing the set target landing point. The mobile robot apparatus according to claim 3, wherein the mobile robot apparatus is controlled so as to cause the mobile robot apparatus to operate. 6. A support polygon enlarging means for moving a landing portion so as to further expand a newly formed support polygon by landing the target landing point of the mobile robot device. The mobile robot apparatus according to claim 5, wherein: 7. The landing operation of the part by the landing part searching means and the target landing point setting means, or the supporting polygon until the potential energy of the mobile robot device is minimum or the tipping motion is completed. The mobile robot apparatus according to claim 6, wherein the enlarging operation of the supporting polygon is repeatedly performed by the enlarging means. 8. The mobile robot apparatus comprises a link structure in which a plurality of links are connected in a lengthwise direction, and the target landing point setting means maximizes the number of landing links that can leave the floor. The mobile robot apparatus according to claim 4, wherein a floor point is set. 9. A method for controlling a mobile robot apparatus having a trunk, a leg connected to the trunk, and an arm connected to the trunk, the method comprising: a ground point and a road surface of the mobile robot. Calculating the area of the supporting polygon of the mobile robot device formed, and landing the part such that the impact force or the impact moment is reduced or the load is reduced based on the area of the supporting polygon. A step of determining an operation of the mobile robot apparatus, the control method of the mobile robot apparatus. 10. A method of controlling a mobile robot apparatus having a trunk, a leg connected to the trunk, and an arm connected to the trunk, the method comprising: Calculating a change, and determining an operation of the mobile robot apparatus in which a site is landed so that an impact force or an impact moment is reduced or a load is reduced based on a change speed of the area of the supporting polygon. A method of controlling a mobile robot apparatus, comprising: 11. A method for controlling a mobile robot apparatus having a trunk, a leg connected to the trunk, and an arm connected to the trunk, the method comprising: a ground point and a road surface of the mobile robot. A first step of calculating the area of the formed supporting polygon of the mobile robot apparatus; a second step of calculating the change of the area of the supporting polygon over time; and an area of the supporting polygon and its change. A third step of determining an operation of the mobile robot apparatus on which the part is landed so that the impact force or the impact moment is reduced or the load is reduced based on the speed; Control method for mobile robot device. 12. A method for generating a motion pattern of a mobile robot apparatus having a trunk, a leg connected to the trunk, and an arm connected to the trunk, the method comprising: a ground point of the mobile robot. The first step of calculating the area of the supporting polygon formed on the road surface, the second step of calculating the change in the area of the supporting polygon over time, and the area of the supporting polygon and the changing speed thereof. Based on the third step, the motion pattern is obtained by the third step of determining the operation of the mobile robot apparatus in which the site is landed so that the impact force or the impact moment is reduced or the load is reduced. Method for generating motion pattern of mobile robot device. 13. A motion control program for controlling an operation of a mobile robot apparatus having a trunk, a leg connected to the trunk, and an arm connected to the trunk, the mobile robot comprising: A first step of calculating an area of a supporting polygon formed by a ground point of the device and a road surface, a second step of calculating a change of the area of the supporting polygon over time, and an area of the supporting polygon And a third step of determining an operation of the mobile robot apparatus on which the part is to be landed so that the impact force or the impact moment is reduced or the load is reduced based on the change speed thereof. A motion control program for a mobile robot device characterized by: