JP3528171B2 - Mobile robot apparatus and overturn control method for mobile robot apparatus - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mechanism of a realistic robot configured by modeling a mechanism or a motion of a living body, and particularly modeling a body mechanism of a legged mobile animal such as a human or a monkey. The mechanism of the legged mobile robot.

More specifically, the present invention relates to a control mechanism for a legged mobile robot to lose its stable state and to fall down while executing a motion pattern such as walking, running or jumping with its movable legs. In particular, the present invention relates to a control method mechanism for a legged mobile robot capable of reducing damages to the robot when it falls.

[0003]

2. Description of the Related Art The origin of the word robot is Slavic ROBO.
It is said that it comes from TA (slave machine). In Japan, robots began to be popular since the end of the 1960s, but most of them were automated and automated in the factory.
Industrial robots (industrial robots) such as manipulators and transfer robots for the purpose of unmanned operation
ot).

In recent years, research and development of legged mobile robots imitating the body mechanism and motions of animals such as humans and monkeys that perform upright bipedal walking have progressed, and expectations for their practical application are increasing. Leg-type movement with two feet upright is more unstable than crawler type, four-legged or six-legged type, and posture control and walking control are difficult, but flexible walking, such as stair climbing and climbing over obstacles, It is excellent in that it can realize running motion.

For example, Japanese Patent Laid-Open No. 3-184782 discloses a joint structure applied to a structure corresponding to a lower part of a body of a legged walking robot.

[0006] A legged mobile robot that emulates the human biological mechanism and movement is referred to as "humanoid",
Or a "humanoid" robot (humanoid r
bot). The humanoid robot can perform, for example, life support, that is, support for human activities in various situations in the living environment and other daily life.

The significance of researching and developing a humanoid or a robot called humanoid can be understood from the following two viewpoints, for example.

[0008] 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 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 form”, 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, when 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 user (worker) should be much easier to teach a bipedal robot that has the same appearance, and it should be easier for the robot to learn (eg, Takanishi, "Control of a bipedal robot"). (See Automotive Engineering Association Kanto Branch <High Plastics> No. 25, 1996 APRIL). In the first place, most of the human living environment is formed according to the form and behavior of human beings,
It can be said that the robot has a humanoid form in order to improve affinity with the human living environment.

One of the uses of the humanoid robot is to perform various difficult tasks in industrial activities, production activities, etc. For example, maintenance work in nuclear power plants, thermal power plants, and petrochemical plants, parts transportation / assembly work in manufacturing plants, cleaning in high-rise buildings, agency of dangerous work / difficult work such as rescue at fire sites and the like. . However, a robot specialized in this kind of industrial use is the supreme subject in designing and manufacturing to realize a specific use or function, and although it is premised on bipedal walking, it stands upright for humans and monkeys. It is not always necessary to faithfully reproduce the physical mechanism and movement of a walking animal as a mechanical device. For example, while strengthening the flexibility and movement function of the hand to realize a specific application, the degree of freedom of the head, trunk (spine, etc.), waist, etc., which are relatively unrelated to the application, is limited. It should be allowed to some extent to omit the margin. As a result, although it is a so-called bipedal locomotion, human appearance may remain unnatural for the appearance of the work and motion of the robot, but such a point must be compromised.

As another application of the humanoid robot,
Rather than being a life support such as acting for difficult tasks, it can be used for life-oriented type, that is, for "symbiosis" with humans. This kind of robot faithfully reproduces the whole-body coordinated movement mechanism originally possessed by animals such as humans and monkeys that walk upright on two legs, with the ultimate aim of achieving that movement smoothly. To do. Moreover, since it emulates a highly intelligent upright animal such as a human being or a monkey, it is desirable that the expressiveness of the motion using the limbs be rich. In addition to simply faithfully executing the pre-entered movement pattern, the other person's words and attitudes (“praise” or “scold”,
It is also required to realize lively motion expressions in response to "striking" and the like. In this sense, an entertainment robot that imitates a human is exactly what we call a "humanoid robot."

As is well known, the human body has hundreds of joints, or hundreds of degrees of freedom. In order to give the legged mobile robot a motion as close to a human as possible, it is preferable to give almost the same degree of freedom, but this is technically extremely difficult. For this reason, it is necessary to arrange at least one actuator for each degree of freedom. However, mounting hundreds of actuators on a mechanical device called a robot also reduces weight and weight. It is impossible from the viewpoint of design such as size. Further, if there are many degrees of freedom, the amount of calculation for position / motion pattern control, posture stabilization control, etc. of the robot increases exponentially.

Therefore, it is general to construct a humanoid robot with a degree of freedom of about tens of joints, which is far smaller than that of the human body. Therefore, it can be said that how to realize a more natural motion using a small degree of freedom is one of the important issues in the design and control of a humanoid robot.

It is already clear from the viewpoint of ergonomics, that a flexible mechanism such as the spine is important for performing various complex movements in human life. The degree of freedom of the trunk joint, which means the spine, has little existence value for industrial use, but is important for entertainment and other humanoid robots closely attached to daily life. Furthermore, it is required that the flexibility can be actively adjusted according to the situation.

A legged mobile robot that walks upright on two legs is excellent in that it can realize flexible walking / running movements (for example, ascending / descending stairs and climbing over obstacles), but has a high center of gravity. Therefore, the posture control and the stable walking control become difficult accordingly. In particular, in the case of a robot closely attached to life, it is necessary to control the posture and stable walking while richly expressing the natural motions and emotions of intelligent animals such as humans and monkeys.

A number of techniques have already been proposed for posture control and stable walking of a robot of the type that performs legged movement by bipedal walking. The stable "walking" referred to here is
It could be defined as "moving with your legs, without falling".

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 inference, there is a point where the pitch and roll axial moment become 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.

Many proposals for stable walking of robots 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 a foot landing point can be set in advance and it is easy to consider a kinematic constraint condition of the toes according to a road surface shape.

For example, Japanese Patent Application Laid-Open No. 5-305579 discloses a walking control device for a legged mobile robot. The walking control device described in the publication is ZMP (Zer
o Moment Point), that is, the point on the floor where the moment due to the floor reaction force when walking is zero is controlled to match the target value.

Further, in the legged mobile robot described in JP-A-5-305581, the ZMP is at least inside the supporting polyhedron (polygon), or at least from the end of the supporting polyhedron (polygon) at the time of landing and leaving the floor. It is configured to be in a position having a predetermined margin. As a result, there is a ZMP margin for a predetermined distance even when a disturbance or the like is received, and the stability of walking can be 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, the legged mobile robot described in the publication uses the preset walking pattern data to drive the leg joints so as to match the ZMP with the target position, and detect the inclination of the upper body, The discharge speed of the walking pattern data set according to the detected value is changed. As a result, when the robot steps forward on an unexpected bump and tilts forward, the posture can be recovered by increasing the discharge speed.
Further, since the ZMP can be controlled to the target position, there is no problem even if the discharge speed is changed in the both-leg supporting period.

Further, Japanese Patent 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 disclosed in the publication detects a deviation between the ZMP target position and the actual measurement position and drives one or both of the legs to eliminate the deviation, or moves around the ZMP target position. By detecting the moment and driving the legs so that it becomes zero, stable walking is performed.

Further, Japanese Patent Laid-Open No. 5-305586 discloses that the tilted posture of the legged mobile robot is controlled by the ZMP target position. That is, the legged mobile robot described in the publication detects a moment around the ZMP target position, and when a moment is generated, it drives the legs so that the moment becomes zero so that stable walking is performed. It has become.

[0025]

As described above, in legged mobile robots, ZMP is introduced as a posture stability criterion so that the robot does not fall down while walking, running, jumping or performing other motion patterns. Every effort is made to ensure that. Needless to say, the state of falling means that the robot suspends the work in progress, and a considerable amount of labor and time is required to get up from the falling state and restart the work. Depending on the robot's mechanism, it may even not support the movement pattern that rises from a fall state. 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 deficient or an unexpected external factor (for example, collision with an unexpected object, protrusions or depressions on the floor, obstacles, etc.). Etc.), etc., and lose the stability of the posture and can not be supported only by the movable legs, and the robot may fall. In particular, in the case of a robot such as a humanoid that performs bipedal movement with two legs, the center of gravity is high, and the upright stationary state itself is unstable, so that it is likely to fall. 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, in a situation where a legged mobile robot is likely to fall, it is possible for the robot to be damaged by the fall and to be damaged by 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 control so that the center of gravity of the robot is simply lowered when landing due to a fall, and how damage is minimized when an actual fall occurs. There is no debate about how to limit it.

The robot is a mechanical device composed of a large number of parts / member units, etc., and there are some parts that are weak in strength and some parts that are relatively rich in resistance. For example, a head unit equipped with a precise measuring device such as a camera and a body rear surface equipped with a control board are naturally susceptible to impact. If you land on such a part first when you fall, the robot will suffer a great deal of damage and the entire system may be destroyed.

The present invention has been made in view of the above technical problems, and its object is to walk, run, and
An object of the present invention is to provide an excellent control mechanism for a legged mobile robot to lose its stable state and fall while executing a motion pattern such as a jump.

A further object of the present invention is to provide an excellent control method mechanism for a legged mobile robot which can reduce the damage inflicted on the robot during a fall.

A further object of the present invention is to provide an excellent control method mechanism for a legged mobile robot capable of generating a motion pattern so that the damage to the robot during a fall can be reduced as much as possible. To provide.

A further object of the present invention is to generate a motion pattern so as to avoid the landing of a weakly strong part at the time of a fall and to reduce the damage to the robot as much as possible. , Providing an excellent control method mechanism for legged mobile robots.

[0034]

The present invention has been made in consideration of the above problems, and a first side surface thereof is composed of at least a lower limb and an upper body disposed above the lower limb. A movable robot by the movement of the lower limbs, a priority landing site formed to have a higher strength than other sites or containing a cushioning member, and a fall determination means for determining whether the robot is likely to fall. And a motion pattern generation unit that generates a motion pattern of the lower limb and upper body such that the user first lands at the priority landing site in response to the fall determination unit deciding to fall. A legged mobile robot, comprising: a control unit that controls the drive of the lower limbs and the upper body in accordance with the motion pattern generated by the pattern unit.

The legged mobile robot according to the first aspect of the present invention comprises a tilt / posture detection means for detecting the tilt and / or posture of the upper body of the legged mobile robot, and a floor reaction force received from the floor. A floor reaction force calculating means for calculating, and a landing / leaving detection means for determining whether the sole of the lower limb is in a landing state or a bed leaving state, and the fall determination means includes the tilt /
It may be possible to determine whether or not to fall over based on the output of at least one of the posture detection unit, the floor reaction force calculation unit, and the landing / bed leaving detection unit.

Further, the fall judging means may judge whether or not the legged mobile robot falls, and judge the falling direction.

Further, the legged mobile robot includes two or more priority landing sites, and the overturn determination means determines whether or not the legged mobile robot will overturn and the overturning direction, and according to the overturning direction. You may make it select the priority landing site | part to be used, and the said operation pattern production | generation means may produce | generate the operation pattern which is initially landed in this selected priority landing site.

Further, the preferential landing site is provided, for example, on at least one of the palm, back surface, buttocks, and knees of the legged mobile robot.

Further, the priority landing site is disposed on at least one of the palm, back surface, buttocks, and knees of the legged mobile robot, and the fall determining means falls forward and / or laterally. In response to the determination, the motion pattern generation means may generate a motion pattern of the lower limbs and the upper body such that the palm is first landed. As a result, the legged mobile robot can perform a natural fall motion similar to that of a human, thereby alleviating the impact caused by the fall and suitably reducing the damage.

Alternatively, the priority landing site is disposed on at least one of the palm, the back surface, the buttocks, and the knees of the legged mobile robot, and the overturn determination means determines that the vehicle falls over backward. In response, the motion pattern generation means may generate a motion pattern of the lower limbs and upper body such that the back is first landed. As a result, the legged mobile robot can perform a natural fall motion similar to that of a human, thereby alleviating the impact caused by the fall and suitably reducing the damage.

Alternatively, the priority landing site is disposed on at least one of the palm, the back surface, the buttocks, and the knees of the legged mobile robot, and the overturn determination means determines that the vehicle falls down backward. In response, the motion pattern generation means may generate a motion pattern of the lower limb and upper body such that the user will first land on the buttocks. As a result,
The legged mobile robot can perform a natural fall motion similar to that of a human, thereby alleviating an impact caused by a fall and suitably reducing damage.

Alternatively, the priority landing site is disposed on at least one of the palm, the back surface, the buttocks, and the knees of the legged mobile robot, and the fall judging means judges that the person falls forward. In response, the motion pattern generation means may generate a motion pattern of the lower limbs and upper body such that the knee is first landed. As a result, the legged mobile robot can perform a natural fall motion similar to that of a human, thereby alleviating the impact caused by the fall and suitably reducing the damage.

The second aspect of the present invention comprises at least a lower limb and an upper body arranged above the lower limb,
A legged mobile robot that can move by lower leg movements, a predetermined non-priority landing site, a fall determination means for determining whether the robot is likely to fall, and the fall determination means determined to fall. In response to, a motion pattern generation means for generating a motion pattern of the lower limbs and upper body to avoid the non-priority implantation site from landing first,
A legged mobile robot comprising: a control unit that controls the drive of the lower limbs and the upper body according to the motion pattern generated by the motion pattern unit.

The non-priority implantation site is, for example, a control board,
It is a place where relatively low-strength parts or parts susceptible to impact such as sensors such as cameras are installed.

The third aspect of the present invention comprises at least a lower limb and an upper body disposed above the lower limb,
A motion control method for a legged mobile robot that can move freely by lower leg movements, wherein the legged mobile robot has a priority landing site formed to have a higher strength than other sites. ) A step of determining whether or not the legged mobile robot is likely to fall, and (b) the lower limbs and the upper body which are to be landed first at the priority landing site in response to the decision to fall. And a step of (c) controlling the drive of the lower limbs and the upper body according to the generated motion pattern. is there.

The priority implantation site is formed to have higher strength than other sites, for example, or includes a cushioning member.

In the fall motion control method for a legged mobile robot according to the third aspect of the present invention, the step (a) is performed.
Is a tilt / posture detection sub-step for detecting the tilt and / or posture of the upper body of the legged mobile robot, a floor reaction force calculation sub-step for calculating the floor reaction force received from the floor surface, and the soles of the lower limbs are worn. At least one of the landing / leaving detection sub-steps for discriminating whether the state is the floor or the floor leaving,
It may be possible to determine whether to fall or not based on the output from the sub-step.

In the step (a), it may be determined whether or not the legged mobile robot falls, and the direction of the fall.

Further, the legged mobile robot includes two or more priority landing sites, and in the step (a), it is determined whether the legged mobile robot falls, and the falling direction thereof. The priority landing site to be used may be selected according to the direction, and in the step (b), an operation pattern for first landing at the selected priority landing site may be generated.

The priority landing site is provided on at least one of a palm, a back surface, a buttocks, and a knee of the legged mobile robot, and in the determining step (a), the forward and / or lateral direction. In the step (b) of generating the motion pattern in response to the determination that the vehicle falls in the direction,
A motion pattern of the lower limbs and the upper body may be generated such that the palm is first implanted. As a result, the legged mobile robot performs a natural fall motion similar to humans,
It is possible to mitigate the impact caused by the fall and appropriately reduce the damage.

Alternatively, the preferential landing site is provided on at least one of the palm, the back, the buttocks, and the knee of the legged mobile robot, and it is determined to fall backward in the determining step (a). In response to this, in the step (b) of generating the motion pattern, the motion pattern of the lower limbs and the upper body such that the first landing is performed on the back surface may be generated. As a result, the legged mobile robot can perform a natural fall motion similar to that of a human, thereby alleviating the impact caused by the fall and suitably reducing the damage.

Alternatively, the priority landing site is provided on at least one of the palm, the back surface, the buttocks, and the knees of the legged mobile robot, and it is determined that the person falls down backward in the determining step (a). In response to this, in the step (b) of generating the motion pattern, the motion pattern of the lower limb and the upper body such that the user may land on the buttocks first may be generated. As a result, the legged mobile robot can perform a natural fall motion similar to that of a human, thereby alleviating the impact caused by the fall and suitably reducing the damage.

Alternatively, the priority landing site is provided on at least one of the palm, the back surface, the buttocks, and the knees of the legged mobile robot, and it is determined in the determination step (a) that the vehicle falls down forward. In response to this, in the step (b) of generating the motion pattern, a motion pattern of the lower limb and the upper body such that the knee is first landed may be generated. As a result, the legged mobile robot
By performing a natural fall motion similar to that of a human being, it is possible to mitigate the impact caused by the fall and appropriately reduce the damage.

The fourth aspect of the present invention comprises at least a lower limb and an upper body disposed above the lower limb,
A method for controlling a motion during a fall for a legged mobile robot that can move freely by lower leg movements, wherein the legged mobile robot has a predetermined non-priority landing site, and (a) the legged mobile robot falls over. And (b) determining whether or not
Responsive to the decision to fall, generating a motion pattern of the lower limbs and upper body that avoids the non-priority implantation site from landing first, and (c) according to the generated motion pattern. A step of controlling the drive of the lower limbs and the upper body, and a motion control method of a legged mobile robot during a fall.

[0055]

According to the legged mobile robot of the present invention, when the robot falls down based on the inclination and the landing / exiting detection by the posture sensor output and the ground contact confirmation sensor output, and the calculation result of the floor reaction force. The fall direction is detected early, the trunk,
By controlling each joint actuator such as the lower limb portion and the upper limb portion, it is possible to generate a motion pattern for landing from the priority landing site and execute the motion pattern.

The priority landing site has a sufficient strength as compared with other sites, or includes a cushioning member, so that damage to the robot due to a fall can be minimized.

Further, according to the legged mobile robot of the present invention, the robot falls over on the basis of the results of the inclination and the landing / leaving detection by the output of the posture sensor and the ground contact confirmation sensor, and the calculation result of the floor reaction force. By detecting the fall direction at the early stage and controlling each joint actuator such as the trunk, lower limbs, and upper limbs, it is possible to generate a motion pattern such as landing while avoiding non-priority landing sites and A motion pattern can be executed.

The non-priority implantation site is, for example, a control board or
It is a place where relatively low-strength parts or parts susceptible to impact such as sensors such as cameras are installed. By avoiding such a non-priority landing site and falling, the damage to the robot due to the fall can be minimized.

Further objects, features and advantages of the present invention are as follows.
It will be clarified by a more detailed description based on embodiments of the present invention described below and the accompanying drawings.

[0060]

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

1 and 2 show a humanoid or humanoid robot 100 used for carrying out the present invention as viewed from the front and the rear respectively. Further, FIG. 3 schematically shows a joint degree-of-freedom configuration included in the humanoid robot 100.

As shown in FIG. 3, the humanoid robot 100
Is composed of an upper body including two arms and a head 1, a lower limb composed of two legs that realize a moving motion, and a trunk that connects the upper limb and the lower limb.

The neck joint that supports the head 1 is a neck joint yaw axis 2, a neck joint pitch axis 3, and a neck joint roll axis 4.
Have a degree of freedom.

Each arm has a shoulder joint pitch axis 8, a shoulder joint roll axis 9, an upper arm yaw axis 10, an elbow joint pitch axis 11, a forearm yaw axis 12, and a wrist joint pitch axis 13.
It is composed of a wrist joint roll shaft 14 and a hand portion 15. The hand portion 15 is actually a multi-joint / multi-degree-of-freedom structure including a plurality of fingers. However, since the motion itself of the hand portion 15 has little contribution or influence to the posture stabilization control and the walking motion control of the robot 100, it is assumed in this specification that the degree of freedom is zero. Therefore, each arm has seven degrees of freedom.

The trunk has three degrees of freedom: trunk pitch axis 5, trunk roll axis 6, and trunk yaw axis 7.

Further, each leg constituting the lower limb has a hip joint yaw axis 16, a hip joint pitch axis 17, a hip joint roll axis 18, a knee joint pitch axis 19, and an ankle joint pitch axis 2.
0, a joint roll shaft 21, and a foot (sole) 22. The intersection of the hip joint pitch axis 17 and the hip joint roll axis 18 defines the hip joint position of the robot 100 according to the present embodiment. The foot portion (foot sole) 22 of the human body is actually a structure including a multi-joint, multi-degree-of-freedom foot sole, but the foot sole of the humanoid robot 100 according to the present embodiment has zero degrees of freedom. . Therefore, each leg has 6 degrees of freedom.

Each degree of freedom of the humanoid 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 and approximating the shape of a natural human body, and performing posture control for an unstable structure such as bipedal walking. . In this embodiment,
It was decided to mount a small AC servo actuator of the type directly connected to the gear and incorporating the servo control system into a single chip in the motor unit. In addition, this kind of AC
The servo actuator is disclosed, for example, in Japanese Patent Application No. 11-33386 assigned to the present applicant.

Although not shown in FIG. 3, the humanoid robot 100 according to the present embodiment is a robust robot in which a predetermined portion such as a buttocks, knees, palms of both hands (or one hand) is sufficiently strong. It has various parts. As will be described later, these high-strength parts act as “priority landing parts” when the robot 100 falls, and reduce damage to the robot 100 compared to when other parts first land. You can

The priority landing site may be provided with a cushioning member such as rubber or cushion. The cushioning member can reduce damage to not only the robot 100 but also an object on the other side colliding with the robot 100 when the robot 100 falls.

By constructing the priority landing site robustly and further including the cushioning member, its appearance naturally swells as compared with other sites. However, by setting a place where there is a bulge in the living body as a priority implantation site, such as a knee, a buttock, or a palm, the proportion of the appearance of the entire robot 100 does not deviate from the original human form.

FIG. 4 schematically shows the control system configuration of the humanoid robot 100. As shown in the figure,
The humanoid robot 100 is composed of mechanical units 30, 40, 50R / L, 60R / L that represent human limbs, and a control unit 80 that performs adaptive control for realizing cooperative operation between the mechanical units. (However, each of R and L is a suffix indicating each of right and left. The same applies hereinafter.)

The overall operation of the humanoid robot 100 is controlled by the control unit 80. The control unit 80 is a CPU (Central Process).
ngUnit) chip, memory chip, and other main circuit components (not shown) 81
And a peripheral circuit 82 including an interface (not shown) for exchanging data and commands with the power supply device and each component of the robot 100.

In this embodiment, the power supply unit is the robot 10
It has a configuration (not shown in FIG. 4) including a battery for driving 0 independently. If it is a self-sustaining drive type, the physical action radius of the humanoid robot 100 is not limited by the power cable and can walk freely. In addition, it is no longer necessary to consider interference with the power cable during various exercises including walking and other upper limbs,
Operation control such as movement becomes easy.

The degree of freedom of each joint in the robot 100 shown in FIG. 3 is realized by an actuator corresponding to each joint. That is, the head unit 30 includes a neck joint yaw axis actuator A ₂ , a neck joint pitch axis actuator A ₃ , and a neck joint roll that respectively represent the neck joint yaw axis 2, the neck joint pitch axis 3, and the neck joint roll axis 4. Axial actuators A ₄ are provided respectively.

Further, the trunk unit 40 includes a trunk pitch axis actuator A ₅ , a trunk roll axis actuator A ₆ , which expresses the trunk pitch axis 5, trunk roll axis 6, and trunk yaw axis 7, respectively. Trunk yaw axis actuators A ₇ are provided respectively.

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. The shoulder joint pitch axis 8 and the shoulder joint roll axis are used. 9, upper arm yaw axis 10, elbow joint pitch axis 11, elbow joint roll axis 12, wrist joint pitch axis 1
3. Shoulder joint pitch axis actuator A ₈ , shoulder joint roll axis actuator A ₉ , upper arm yaw axis actuator A ₁₀ , elbow joint pitch axis actuator A ₁₁ , elbow joint roll axis actuator A ₁₂ expressing each of the wrist joint roll axes 14. , A wrist joint pitch axis actuator A ₁₃ and a wrist joint roll axis actuator A ₁₄ are provided, respectively.

The leg unit 60R / L is subdivided into a thigh unit 61R / L, a knee unit 62R / L, and a shin unit 63R / L.
6. Hip joint yaw axis actuator A representing each of hip joint pitch axis 17, hip joint roll axis 18, knee joint pitch axis 19, ankle joint pitch axis 20, and ankle joint roll axis 21.
₁₆ , a hip joint pitch axis actuator A ₁₇ , a hip joint roll axis actuator A ₁₈ , a knee joint pitch axis actuator A ₁₉ , an ankle joint pitch axis actuator A ₂₀ , and an ankle joint roll axis actuator A ₂₁ are provided, respectively.

Each of the actuators A ₂ , A _3, ... Is more preferably a small AC servo actuator of the type which is directly connected to a gear and has a servo control system formed into one chip and mounted in a motor unit (described above).

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 and 65 are provided respectively. Furthermore, the ground contact confirmation sensors 91 and 92 for detecting whether or not the soles of the legs 60R, 60L have landed are attached, and the posture sensor 9 for measuring the posture is provided in the trunk unit 40.
Equipped with 3. In this embodiment, an acceleration sensor is used as the attitude sensor 93. Grounding confirmation sensor 9
The landing and leaving of the robot 100 can be detected according to the sensor outputs of 1 and 92. Further, according to the sensor output of the attitude sensor 93, the inclination of the body of the robot 100 or the like can be detected. The main control unit 81 can dynamically correct the control target based on the outputs of the sensors 91 to 93.

The main control unit 80 adaptively controls each of the sub control units 35, 45, 55 and 65 in response to the outputs of the sensors 91 to 93, and the upper limbs and body of the humanoid robot 100. It is possible to realize coordinated movements of the trunk and the lower limbs. The main control unit 81 follows the user command, etc.
Foot movement, ZMP (Zero Moment Point)
t) Trajectory, trunk movement, upper limb movement, waist height, etc. are set, and commands instructing movements according to these settings are transferred 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 output drive control signals to the actuators A ₂ , A ₃ ,. The "ZMP" referred to here is a point on the floor where the moment due to the floor reaction force during walking becomes zero, and the "ZMP trajectory" is, for example, during the walking motion of the robot 100. It means the trajectory of ZMP movement.

Next, a processing procedure executed when the above-described humanoid robot 100 falls down will be described.

FIG. 5 schematically shows a functional block diagram for realizing damage reduction processing when the robot 100 falls.

The battery voltage / current detecting means 151 is a functional block that constantly monitors the terminal voltage, discharge current, charging current, etc. of the battery that is the driving power source of the robot 100, and is, for example, as a part of the peripheral circuit 82 (described above). It is implemented. For example, the remaining capacity of the battery can be constantly monitored based on the decrease in the terminal voltage of the battery, the integrated amount of the discharge current, and the like.

The inclination / posture detecting means 152 is the robot 1
00 is a functional module for detecting the inclination and posture of the upper body. More specifically, the posture sensor 93 provided in the torso unit 40 of the robot 100 can detect the posture of the robot 100 and the degree of its inclination.

The floor reaction force calculating means 153, when the robot 100 is performing a predetermined motion pattern such as walking,
It is a functional block that calculates the reaction force that the sole receives from the floor. For example, the floor reaction force can be obtained using the multi-mass point approximation model of the robot 100.

The landing / leaving detection means 154 is the robot 1
00 is a functional module for detecting whether it is during landing or leaving the floor, and can be composed of, for example, ground contact confirmation sensors 91 and 92 provided on the soles of the left and right feet.

Each of the actuators 1, 2, ..., N is a drive device that realizes the degree of freedom of roll, pitch, and yaw axes of each joint. The drive control devices 1, 2, ..., N perform drive control of the displacement amount and displacement speed of the actuators 1, 2, ..., N, and the displacement detectors 1, 2 ,. , ..., N, etc. are detected to output a feedback signal. The AC servo actuator disclosed in Japanese Patent Application No. 11-33386 is a small servo actuator in which an actuator, a drive control device, and a displacement detector are integrally formed (described above).

Each of the fall determination means 155, the motion pattern generation means 156, and the robot control device 157 is actually a main control part 81 and each sub control part 35, 45, 5.
It is a functional module configured by cooperative operation of 5,65.

The fall determining means 155 causes the robot to fall based on the outputs of the battery voltage / current detecting means 151, the inclination / posture detecting means 152, the floor reaction force calculating means 153, and the landing / leaving detection means 154. It is determined whether or not it is likely to occur. When it is judged that the vehicle is likely to fall, the "fall detection" signal is activated.

When at least one of the following situations occurs, the overturn determination means 155 determines that the vehicle is about to fall.

(1) When the remaining capacity of the drive battery drops below a predetermined value (2) When the deviation between the tilt angle detected by the tilt / posture detecting means 152 and the target tilt angle exceeds a predetermined amount (3) When the temporal change in the inclination angle detected by the inclination / posture detecting means 152 becomes a predetermined amount or more (4) When the floor reaction force obtained by the floor reaction force calculating means 153 exceeds a predetermined amount (5) When the state detected by the landing / leaving detection means 154 deviates from the state of the target trajectory output by the motion pattern generation means 155.

In response to the notification of the fall detection, the robot control device 157 determines the desired position based on the tilt posture, the floor reaction force, the detection results of each of landing / leaving, and the actuator displacement amount from each displacement detection unit. The motion pattern generation means 156 is caused to generate a motion pattern, that is, a target trajectory, for landing from the "prioritized landing site". And the robot 100
So that the movements of the robot will follow the target trajectory,
Joint actuators for the trunk, lower limbs, and upper limbs 1,
2, ..., N are drive-controlled.

Among the movement patterns of the multi-legged robot, the movement patterns of the lower limbs, especially during walking (for example,
The pattern regarding the order of lifting the legs and the timing thereof is called “gait” in the art. The gait of a multi-legged robot is expressed using the phase difference and duty ratio of the legs (according to the Robotics Glossary of the Robotics Society of Japan).

FIG. 6 illustrates, in the form of a flowchart, an example of a damage reduction processing procedure executed when the robot 100 falls. Hereinafter, each step of this flowchart will be described.

First, in step S10, the overturn determination means 155 determines that the battery voltage / current detection means 151 and the inclination /
Based on the outputs of the posture detection unit 152, the floor reaction force calculation unit 153, and the landing / bed leaving detection unit 154 (described above),
It is determined whether the robot 100 is likely to fall.

When it is determined that the robot 100 falls, it is further calculated in which of the front, back, left and right directions the robot 100 is likely to fall with the front of the robot 100 as the reference direction.

FIG. 7 shows a conceptual block diagram for calculating the falling direction. As shown in the figure, means 301 and 302 for detecting the rotational angular velocities around the pitch axis (Y axis) and the roll axis (X axis) are attached to the trunk of the robot 100, for example. The falling direction calculating means 303 can calculate the falling direction based on the rotational angular velocities around the pitch axis and the roll axis output from these detecting means.

FIG. 8 more specifically illustrates the mechanism for calculating the falling direction. Each detecting means 301, 30
2 is actually a pair of gyroscopes 311 and 3
It consists of 12. Gyroscope 311 and 31
2 may also serve as the posture sensor 93. The angular velocity information output from each gyroscope is converted into a digital signal by the A / D converters 313 and 314 and then input to the main control unit 81. The main controller 81 calculates the falling direction θ according to the following formula.

[0100]

[Equation 1]

FIG. 9 shows the relationship between the angular velocity in each direction of the roll axis and the pitch axis and the falling direction θ. Step S
The fall direction θ calculated in 10 is obtained in the subsequent step S3.
It is used when generating an operation pattern at 0.

Returning to FIG. 7, a processing procedure for reducing damage at the time of falling will be described.

When the fall judging means 155 detects a state in which it is about to fall and the fall direction thereof, it notifies the robot controller 157 of this (step S20).

The robot control device 157 causes the motion pattern generation means 156 to generate a motion pattern capable of first landing at the priority landing site from the current posture of the robot 100 in accordance with the notified tipping direction (( Step S
30). And to realize this operation pattern,
Instruct to drive each joint actuator (step S4)
0).

The priority landing site may be fixed to one part of the whole body of the robot 100 such as the right palm. However, in this case, an unreasonable movement pattern is forced depending on the posture at the start of the fall. Therefore, in addition to the palm,
A plurality of places such as a buttocks and knees may be set as the priority landing site, and the priority landing site may be selected according to the posture at the start of the fall and the falling direction. In such a case, the robot control device 157 specifies not only the falling direction but also the priority landing site for the motion pattern generation unit 156. The motion pattern generation means 156 can generate a fluent motion pattern from the posture before falling to the time when the priority landing site first landes.

Then, the above-described processing procedure is repeatedly executed until the landing of the priority landing site is detected (step S50).

In the embodiment described above, the tilt posture detecting means 1
52, floor reaction force calculation means 153, landing / leaving detection means 15
Based on each output of No. 4 and the posture of the robot 100, that is, the displacement angle of each joint actuator, the motion pattern generating means 156 generates a target trajectory for first landing at a predetermined priority landing site, and the target trajectory. The operation pattern that follows is executed.

However, if it is found that the vehicle will land at a predetermined priority landing site due to the output of the inclination posture, floor reaction force, etc., it is not always necessary to generate a target trajectory and follow it. Alternatively, control such as stepwise damping of the servo gain of each joint actuator may be performed, or control of the actuator may be stopped.

10 to 14 exemplify the target trajectory generated by the motion pattern generating means 156 when the robot 100 falls.

FIG. 10 illustrates an operation pattern in the case where the palm of the right hand is set as the priority landing site, and the falling direction is on the right side with respect to the front surface of the robot 100.

In the state where the stable posture is maintained (see FIG. 10A), it is determined that the robot 100 is likely to fall to the front right side due to an unexpected disturbance or the like (FIG. 10B). )checking).

Then, the right shoulder joint pitch axis actuator is driven. Further, the right hip joint and the right knee joint pitch axis actuators are driven first, and then the left hip joint and the left knee joint pitch axis actuators are driven (see FIG. 10C). Form the posture of landing first.

When the right palm as the priority landing site first landed safely (see FIG. 10 (d)), most of the impact force was absorbed at the priority landing site, and then the servo of each joint actuator was moved. The robot 100 can naturally fall down by softening the gain stepwise, or stopping the control of the actuator, and the whole body can softly implant (see FIG. 10 (e)).

FIG. 11 illustrates an operation pattern in the case where the palm of the right hand is set as the priority landing site and the falling direction is on the left side with respect to the front surface of the robot 100.

In the state where the stable posture is maintained (see FIG. 11A), it is determined that the robot 100 is likely to tip over to the left side in the front due to unexpected disturbance or the like (FIG. 11B). )checking).

Then, the trunk joint yaw axis actuator is rotated counterclockwise to rotate the body to move the right arm to the left side, and the left knee joint pitch axis actuator is rotated to lower the waist and fall. (See FIG. 11C). At this time, it is advisable to keep the right foot off the floor by rotating the right hip joint pitch axis actuator or the like so that the axis of the body turns smoothly.

As a result of the turning of the body, the left and right of the robot 100 are reversed with respect to the falling direction, and the robot 100 plunges into the falling motion while lying on its back. At this time, each actuator of the right shoulder joint pitch axis and the right elbow joint pitch axis is rotated to move the right palm to the lowest possible position (FIG. 11).
(See (d)).

When the right palm, which is the priority landing site, lands first, the impact force at the time of falling is almost absorbed by the priority landing site. Thereafter, the servo gain of each joint actuator is gradually attenuated, or the control of the actuator is stopped, so that the robot 100 naturally falls and the whole body can softly implant (FIG. 11).
(See (e)).

The operation pattern shown in FIG. 11 is more unnatural than that in FIG. However, if the priority implantation site is fixed to the right palm, this is unavoidable.

FIG. 12 illustrates an operation pattern in which the robot 100 falls backward when the back surface is set as the priority landing site. For example, when it is determined in step S10 that the falling direction is behind the robot 100 and the back surface is selected as the priority landing site, the falling motion is performed according to the motion pattern shown in FIG.

In the state where the stable posture is maintained (see FIG. 12A), it is determined that the robot 100 is likely to fall backward due to unexpected disturbance or the like (FIG. 12B). checking).

Then, the hip joint pitch axis actuators of both legs are rotated to form a posture in which the body unit falls backward (see FIG. 12C), and further, the knee joint pitch of both feet is set. By rotating each of the actuators of the axis and the ankle joint pitch axis, the posture of the torso unit is oriented so that it is almost horizontal (FIG. 12).
(See (d)). At this time, each actuator of the shoulder joint pitch axis and the elbow joint pitch axis of both arms is rotated so that the constituent units other than the preferential landing site, such as the left and right upper arm units and the forearm unit, do not land first.

After that, the servo of each joint actuator
When the robot 100 naturally falls down by gradually reducing the gain or stopping the control of the actuator, the rear surface as the priority landing site is first landed safely, and the impact at the time of falling The force is mostly absorbed by the priority implantation site. Then, the other parts are sequentially implanted, and the whole body can be softly implanted (see FIG. 12 (e)).

FIG. 13 illustrates an operation pattern in which the robot 100 falls backward when the buttocks are set as the priority landing site. For example, when it is determined in step S10 that the falling direction is behind the robot 100 and the buttocks are selected as the priority landing site, the operation is performed according to the operation pattern shown in FIG.

While the stable posture is maintained (see FIG. 13A), it is determined that the robot 100 is likely to fall backward due to unexpected disturbance or the like (FIG. 13B). checking).

Then, the hip joint pitch axis actuators of both legs are rotated to bend the upper body in a dogleg shape to form a posture in which the buttocks are projected rearward (FIG. 13).
(See (c)). Further, the hip joint is moved downward by rotating the knee joint pitch axis actuators of both legs (see FIG. 13D).

After that, the servo of each joint actuator
When the robot 100 naturally falls down by gradually reducing the gain or stopping the control of the actuator, the buttocks as the priority landing site first land on the ground safely, and the impact force at the time of the fall is obtained. Are mostly absorbed by the priority implantation sites. Then, the other parts are sequentially implanted, and the whole body can be softly implanted (see FIG. 13 (e)).

FIG. 14 illustrates an operation pattern in which the robot 100 falls forward when the both knees are set as the priority landing site. For example, when it is determined that the falling direction is the front of the robot 100 in step S10 and both knees are selected as the priority landing site, the robot operates according to the motion pattern shown in FIG.

In the state where the stable posture is maintained (see FIG. 14A), it is determined that the robot 100 is likely to fall forward due to unexpected disturbance or the like (FIG. 14B). checking).

Then, the knee joint pitch axis actuators of both legs are rotated to bend both legs in a dogleg shape to form a posture in which both knees are projected forward (FIG. 14).
(See (c)).

After that, the servo of each joint actuator
The robot 100 naturally collapses by gradually reducing the gain or stopping the control of the actuator, so that both knees as the preferential landing site first land safely (FIG. 14 (d). )), The impact force at the time of fall is mostly absorbed by the priority landing site.

Even if the posture shown in FIG. 14 (d) is still not stable, both knees may be on the floor and inertia may occur when the user falls down forward. In such a case, the hip joint pitch axis actuators of both legs are further rotated to shift the upper body to the forward leaning posture, and the left and right shoulder joint pitch axis and elbow joint pitch axis actuators are rotated. Then, both palms may be landed on the floor, and the palms may be stationary on all fours (see FIG. 14 (e)).

In each of the above-described embodiments, one or more parts of the legged mobile robot 100 are formed to have a high strength or a structure including a cushioning member, and are set as the priority landing parts, so that the impact caused by a fall may occur. I tried to reduce the damage.

Contrary to these embodiments, a "non-prioritized landing site" is defined as a site formed to have a lower strength than the other sites of the legged mobile robot 100 or a site where parts susceptible to impact are provided. Similarly, by reducing the damage that the robot 100 suffers from a fall, it is also possible to generate a motion pattern that does not land first from such a non-priority landing site and execute the fall motion. You can As such a non-priority landing site, a control board, a head equipped with a camera or other precision equipment, and its periphery should be designated.

[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. That is, the present invention has been disclosed in the form of exemplification, and should not be limitedly interpreted. In order to determine the gist of the present invention, the section of the claims described at the beginning should be taken into consideration.

In determining the gist of the present invention, it is not appropriate to strictly apply FIG. 3 to the names of joints and the like for the bipedal robot 100, and it is not appropriate to apply the strictness of FIG. It should be flexibly interpreted by comparison with the physical mechanism of foot-walking walking animals.

For reference, the joint model configuration of the humanoid robot is illustrated in FIG. In the example shown in the figure, a portion including the shoulder joint 5 to the upper arm, the elbow joint 6, the forearm, the wrist 7 and the hand portion 8 is referred to as “upper limb”. Further, the range from the shoulder joint 5 to the hip joint 11 is called a "trunk portion" and corresponds to a human torso. In addition, the range from the hip joint 11 to the trunk joint 10 in the trunk is particularly referred to as “waist”. The trunk joint 10 has a function of expressing the degree of freedom of the human spine. Also,
Thigh 12, knee joint 14, lower leg 1 below hip joint 11
3, the part consisting of the ankle 15 and the foot 16 is called "lower limb". Generally, the area above the hip joint is called the "upper body" and the area below it is called the "lower body".

Further, FIG. 16 illustrates another joint model configuration of the humanoid robot. The example shown in the figure is different from the example shown in FIG. 15 in that the trunk joint 10 is not provided. See the figure for the names of each part. As a result of omitting the trunk joint corresponding to the spine, the upper body movement of the humanoid robot loses its expressive power. However, in the case of a humanoid robot for industrial purposes such as performing dangerous work or difficult work, it may not be necessary to move the upper body. It should be understood that the reference numerals used in FIGS. 15 and 16 are not the same as those in the other drawings.

[0139]

As described above in detail, according to the present invention,
It is possible to provide an excellent control method mechanism for a legged mobile robot, which can reduce damages that the robot suffers when it falls.

Further, according to the present invention, there is provided an excellent control method mechanism for a legged mobile robot capable of generating a motion pattern so as to reduce damage to the robot at the time of falling. Can be provided.

Further, according to the present invention, it is possible to avoid the landing of a weakly strong portion at the time of a fall and to generate a motion pattern so that the damage to the robot can be reduced as much as possible. An excellent control method mechanism for a legged mobile robot can be provided.

According to the present invention, the tilt direction when the robot falls is detected earlier based on the inclination, floor landing / bed leaving detection based on the posture sensor output and ground contact confirmation sensor output, and the floor reaction force calculation result. Then, by controlling each joint actuator such as the trunk, the lower limbs, and the upper limbs, it is possible to generate an operation pattern for landing from the priority landing site and execute the operation pattern. Since the priority landing site has sufficient strength as compared with other sites, it is possible to minimize damage to the robot 100 caused by a fall.

Further, according to the present invention, it is possible to control the direction of landing, so that there is a direction in which it cannot be overturned, or when the operator is allowed to land in a posture that allows a smooth transition to the next operation. It can be effectively applied even when it is desired to turn over in a desired direction.

[Brief description of drawings]

FIG. 1 is a humanoid robot 100 used for implementing the present invention.
It is the figure which showed the mode that it looked at from the front.

FIG. 2 is a humanoid robot 100 used for implementing the present invention.
It is the figure which showed a mode that it looked at from the back.

FIG. 3 is a diagram schematically showing a degree-of-freedom configuration model included in the humanoid robot 100 according to the present embodiment.

FIG. 4 is a diagram schematically showing a control system configuration of the humanoid robot 100 according to the present embodiment.

FIG. 5 is a functional block diagram for implementing damage reduction processing when the robot 100 falls.

FIG. 6 is a flowchart showing an example of a damage reduction processing procedure executed when the robot 100 falls.

FIG. 7 is a functional block diagram for calculating the falling direction of the robot 100.

FIG. 8 is a functional block diagram for calculating the falling direction of the robot 100.

FIG. 9 is a diagram showing a relationship between an angular velocity in each direction of a roll axis and a pitch axis and a falling direction θ.

FIG. 10 is a diagram showing an example of a target trajectory generated by the motion pattern generation means 156 when the robot 100 falls, more specifically, when the palm of the right hand is set as the priority landing site. It is a figure which simulated a mode that the robot 100 falls.

FIG. 11 is a diagram simulating another example in which the robot 100 falls when the right-hand palm is set as the priority implantation site. More specifically, the right-hand palm is defined as the priority implantation site. FIG. 8 is a diagram simulating a situation in which the robot 100 falls over to the left even when it is set.

FIG. 12 is a diagram showing an example of a target trajectory generated by the motion pattern generation means 156 when the robot 100 falls, and more specifically, the robot when the back surface is set as the priority landing site. It is a figure which simulated a mode that 100 falls.

FIG. 13 is a diagram showing an example of a target trajectory generated by the motion pattern generation means 156 when the robot 100 falls, and more specifically, the robot 100 when the buttocks are set as the priority landing site. It is a figure simulating a situation in which a person falls.

FIG. 14 is a diagram showing an example of a target trajectory generated by the motion pattern generation means 156 when the robot 100 falls, and more specifically, the robot when the knee is set as the priority landing site. It is a figure which simulated a mode that 100 falls.

FIG. 15 is a diagram schematically showing an example of a joint model configuration for a humanoid robot.

FIG. 16 is a diagram schematically showing another example of the joint model configuration for the humanoid robot.

[Explanation of symbols]

1 ... Head, 2 ... Neck joint yaw axis 3 ... Neck joint pitch axis, 4 ... Neck joint roll axis 5 ... Trunk pitch axis, 6 ... Trunk roll axis 7 ... Trunk yaw axis, 8 ... Shoulder joint pitch axis 9 ... Shoulder joint roll axis, 10 ... Upper arm yaw axis 11 ... Elbow joint pitch axis, 12 ... Forearm yaw axis 13 ... Wrist joint pitch axis, 14 ... Wrist joint roll axis 15 ... Hand, 16 ... Hip joint yaw axis 17 ... Hip pitch axis, 18 ... Hip roll axis 19 ... Knee joint pitch axis, 20 ... Ankle joint pitch axis 21 ... Ankle joint roll axis, 22 ... Foot (sole) 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 ... Attitude sensor 100 ... Humanoid robot

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B25J 5/00 B25J 13/00

Claims (12)

(57) [Claims] 1. In a mobile robot apparatus, a control means for controlling the operation of the mobile robot apparatus, a fall detection means for detecting a fall direction of the mobile robot apparatus, and the mobile robot among the parts of the mobile robot apparatus.
When the device falls down, the first landing area is the priority landing area.
Priority landing site setting means to be set as a position , depending on the fall direction detected by the fall detection means,
The priority landing site set by the priority landing site setting means is the highest.
The mobile robot device capable of landing on the floor for the first time
And an operation pattern generation means for generating the operation pattern of
For example, when the mobile robot device falls down, the control means
Indicates that the operation of the mobile robot device is
A mobile robot apparatus characterized by controlling so as to follow a target trajectory . 2. The mobile robot device includes a buttock, and the priority landing site setting means sets the buttock to the priority landing part.
The mobile robot device according to claim 1, wherein the mobile robot device is set to a position . 3. The mobile robot apparatus includes a back surface portion, and the priority landing site setting means sets the back surface portion to the priority landing portion.
The mobile robot device according to claim 1, wherein the mobile robot device is set to a part . 4. The priority landing site setting means is the mobile robot.
Set a plurality of places on the parking device as the priority landing site, and prioritize among the plurality of priority landing sites according to the falling direction.
The mobile robot apparatus according to claim 1, further comprising selection means for selecting a landing site . 5. In a mobile robot apparatus, a control means for controlling the operation of the mobile robot apparatus, a fall detection means for detecting a fall of the mobile robot apparatus, and the mobile robot among the parts of the mobile robot apparatus.
When the device falls over, non-priority is given to the parts that are not initially implanted.
Depending on the non-priority landing site setting means set as the landing site and the fall detected by the fall detection means.
The non-priority landing set by the non-priority landing site setting means
The part of the mobile robot device that does not land on the floor first
Equipped with operation pattern generation means for generating an operation pattern
If the operation of the mobile robot apparatus is the movement,
A mobile robot apparatus , which is controlled so as to follow a target trajectory of a work pattern . 6. The mobile robot device comprises a head, and the non-priority landing site setting means attaches the head to the non-priority landing part.
The mobile robot device according to claim 1, wherein the mobile robot device is set on a floor portion . 7. A fall control method for a mobile robot device, comprising: a fall detection step of detecting a fall direction of the mobile robot device; and the mobile robot among the parts of the mobile robot device.
When the device falls down, the first landing area is the priority landing area.
Depending on the priority landing site setting step that is set as a position and the fall direction detected in the fall step,
The priority set in the priority implantation site setting step above.
The transfer which allows the first landing site to land on the floor first
A motion pattern that generates a motion pattern for a mobile robot device
The generation step and the operation of the mobile robot device are the targets of the operation pattern.
And a control step of performing control so as to follow the trajectory, a fall control method for a mobile robot apparatus. 8. The mobile robot apparatus includes a buttock, and the buttock is prioritized in the priority landing site setting step.
The mobile robot apparatus according to claim 7, wherein the mobile robot apparatus is set at a landing site.
Fall control method. 9. The mobile robot apparatus includes a back surface portion, and the back surface portion is set in the priority landing site setting step.
The mobile robot apparatus according to claim 7, wherein the mobile robot apparatus is set to a first floor area.
Fall control method. 10. In the step of setting the priority implantation site,
Set up multiple locations of the mobile robot device at the priority landing site.
And prioritize according to the falling direction from the above-mentioned multiple priority implantation sites
The mobile robot apparatus according to claim 7, further comprising a selection step of selecting a landing site.
Fall control method. 11. A fall control method for a mobile robot device, comprising: a fall detection step of detecting a fall of the mobile robot device; and the mobile robot device among the parts of the robot device.
When a person falls, non-prioritized landing on the part that should not be landed first
The fall is detected in the non-priority implantation site setting step to be set as the site and the fall detection step
Accordingly, set in the non-priority landing site setting step
The non-prioritized landing site does not land on the floor first
Motion pattern generation that generates motion patterns for robot devices
And the operation of the mobile robot device is a target of the operation pattern.
And a control step of performing control so as to follow the trajectory, a fall control method for a mobile robot apparatus. 12. The mobile robot apparatus includes a head, and the non-prioritized landing site setting step sets the head to the non-head.
The mobile robot apparatus according to claim 11, wherein the mobile robot apparatus is set as a priority landing site.
Fall control method.