JP3569767B2 - Walking robot - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a walking robot, and particularly to a biped walking humanoid robot.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a so-called bipedal walking humanoid robot generates walking pattern (hereinafter referred to as gait) data set in advance, performs walking control according to the gait data, and moves a leg in a predetermined walking pattern. By operating it, biped walking is realized.
By the way, such a biped walking humanoid robot tends to become unstable in a posture at the time of walking due to, for example, floor surface conditions, errors in physical parameters of the robot itself, etc., and in some cases, may fall down. .
[0003]
On the other hand, if gait data is not set in advance and gait control is performed while recognizing the gait state of the robot in real time, it is possible to stabilize the posture during walking and perform gait. However, even in such a case, when an unexpected road surface condition or the like occurs, the walking posture collapses and the robot falls.
[0004]
Therefore, it is necessary to perform so-called ZMP compensation by converging a point at which the combined moment of the floor reaction force and gravity at the sole of the robot becomes zero (hereinafter referred to as ZMP (Zero Moment Point)) to a target value by walking control. is there.
As a control method for such ZMP compensation, for example, as disclosed in Japanese Patent Application Laid-Open No. Hei 5-305583, a compliance control is used to converge the ZMP to a target value and accelerate and correct the robot's upper body. And a control method for correcting the contact position of the robot's foot are known.
[0005]
[Problems to be solved by the invention]
By the way, in any of these control methods, the robot is stabilized by changing the motion trajectory by changing the angular velocity of the joint of the robot. For this reason, the motion trajectory of each part of the robot, such as the tip of the free leg of the robot and the position of the upper body, deviates from the gait based on the gait data. Will tilt. Therefore, the inclination of the body is detected to compensate for the inclination of the body.
[0006]
Conventionally, such detection of the inclination of the state of the robot is performed by detecting the inclination angle and the inclination acceleration of the body using an acceleration sensor provided on the body of the robot. I have.
However, such an acceleration sensor is used only for detecting the inclination angle and the inclination acceleration of the body of the robot, and is used for other purposes such as collision with an obstacle on the floor of the robot. Is not configured to detect
[0007]
In view of the above points, the present invention hasPart ofDetect accelerationExercise the same function as the reflexes by controlling each driveLikeTajiThe purpose is to provide a legged humanoid robot.
[0008]
[Means for Solving the Problems]
The object is, according to the first configuration of the present invention, attached to the upper end of the torso, the arms attached to the lower sides of the torso, the arms attached to the lower sides of the torso, and the upper ends of the torso. A head, wherein the legs are pivoted in one axis direction with respect to two thighs attached to the trunk so as to be pivotable in three axes directions and a lower end of each thigh. A lower leg that is pivotally attached to a lower end of each lower leg, and a leg that is pivotally attached to the lower end of each lower leg in a biaxial direction. Two upper arms that are swingably attached to each other, a lower arm that is attached to each upper arm so as to be able to swing in one axis direction, and an at least one axis that is swingably attached to each lower arm. A hand, a leg, a leg, a lower leg, a thigh, and an arm of the leg. Hand portion, driving means for driving the lower arm unit and the upper arm, respectively, and a control unit for controlling driving each driving means, respectively, in the biped walking humanoid robot has, the body portionWhenBoth legsWhenBoth armsAndEach has an acceleration sensor,At the time of passive movement at the time of a fall or at the time of forward rotation,The control unit detects detection signals from each acceleration sensor.To detect the impact on the portion provided with each acceleration sensor based on the, and control the driving means corresponding to the impacted portion to mitigate the impactThis is achieved by a biped walking humanoid robot characterized by performing drive control of each drive means.
[0011]
The object is, according to the second configuration of the present invention, attached to the upper part of the torso, the arms attached to both sides of the upper part of the torso, the legs attached to the lower part of the torso, and the upper part of the upper part of the torso. A head, wherein the legs are pivoted in one axis direction with respect to two thighs attached to the trunk so as to be pivotable in three axes directions and a lower end of each thigh. A lower leg that is pivotally attached to a lower end of each lower leg, and a leg that is pivotally attached to the lower end of each lower leg in a biaxial direction. Two upper arms that are swingably attached to each other, a lower arm that is attached to each upper arm so as to be able to swing in one axis direction, and an at least one axis that is swingably attached to each lower arm. A hand, a leg, a leg, a lower leg, a thigh, and an arm of the leg. Hand portion, and a drive means for driving respectively the lower arm portion and the upper arm, drives and controls the respective driving means, respectivelyMotion control deviceAnd haveBipodWalkingHumanoidIn the robot,The motion control device includes a motion planning unit, a motion generation unit, an extended ZMP stabilizing unit, a control unit, and a motion monitoring unit, and an acceleration sensor is provided on each of the body, the legs, and the arms. During a normal walking operation, the operation monitoring unit feeds back the current state and the amount of deviation to the operation planning unit to cause the operation planning unit to regenerate an operation plan, and the operation planning unit Generates an operation plan, the operation generation unit calculates an extended ZMP target value based on the operation plan, and the extended ZMP stabilizing unit compensates the extended ZMP target value with an extended ZMP compensation amount. Controls the driving of the respective driving means, and when the vehicle is passively moved, falls forward, or collides with an object when the vehicle falls, the operation monitoring unit includes each acceleration sensor based on a detection signal from each acceleration sensor. Impact on parts Detects, without going through the motion planning part and the operation generating unit, by controlling directly to the control unit, the control unit controls the driving of each drive means to mitigate the impactCharacterized byBipodAchieved by a walking humanoid robot.
[0012]
The biped humanoid robot according to the present invention is preferablyThe body is divided into an upper chest and a lower waist, and the acceleration sensors are provided in the waist, the lower arms, and the lower legs. Further, the acceleration sensor may be provided on the upper arm, the thigh, and the head.
[0014]
According to the first and second configurations, a bipedal walking humanoid robotIsDuring the walking operation, the interactive parts of the body, such as the torso, each leg, and / or each arm, may be greatly inclined due to a fall or collide with an object such as an obstacle on the floor. In this case, the acceleration sensor provided in the portion can detect an impact based on the inclination angle, the inclination acceleration of the portion, or a sudden change in acceleration due to a collision or the like. Therefore, the control unit controls the driving of each driving unit while referring to the detection signal from each acceleration sensor, whereby the force control of each joint can be performed in the same manner as in the related art, and further, as in the case of the reflexes. The above-mentioned function can be exerted to quickly alleviate the impact and to restore the situation after the impact.
Thus, according to the present invention, the robotTorsoBody, each leg andAnd eacharmPartBy arranging the acceleration sensors respectively, the acceleration sensors are dispersedly arranged in each part of the robot, and the acceleration of each part can be detected separately. This makes it possible to more accurately detect the movement of each part of the robot and the impact due to collision, etc., so that in the whole body movement of the robot, etc., it is possible to perform more appropriate drive control and perform smooth whole body movement etc. Will be possible.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, the present invention will be described in detail based on embodiments shown in the drawings.
FIGS. 1 and 2 show the configuration of an embodiment of a bipedal walking humanoid robot according to the present invention.
In FIG. 1, a bipedal walking humanoid robot 10 includes a body 11, legs 12 L and 12 R attached to lower sides of the body 11, and arms 13 L and 13 R attached to upper sides of the body. And a head 14 attached to the upper end of the body.
[0016]
The body 11 is divided into an upper chest portion 11a and a lower waist portion 11b. The chest portion 11a can swing forward and backward with respect to the waist portion 11b at the forward bending portion 11c. It is supported so as to be able to turn left and right. Further, a walking control device 50, which will be described later, is built in the chest portion 11a of the body portion 11. The forward bending portion 11c includes a joint portion 11d for swinging back and forth and a joint portion 11e for turning left and right, and each of the joint portions 11d and 11e is constituted by a joint driving motor (see FIG. 2). ing.
[0017]
The legs 12L and 12R include thighs 15L and 15R, lower legs 16L and 16R, and feet 17L and 17R, respectively. As shown in FIG. 2, the legs 12L and 12R have six joints, that is, joints 18L and 18R for turning the legs with respect to the waist 11b of the body 11 in order from the top, and the roll direction of the legs. The joints 19L and 19R (around the x-axis), the joints 20L and 20R in the pitch direction of the legs (around the y-axis), and the knee 21L that is a connection between the thighs 15L and 15R and the lower thighs 16L and 16R. , 21R in the pitch direction, the joints 23L, 23R in the pitch direction of the ankle with respect to the feet 17L, 17R, and the joints 24L, 24R in the roll direction in the ankle. Each of the joints 18L, 18R through 24L, 24R is constituted by a joint driving motor.
[0018]
Thus, the waist joint is constituted by the joints 11d and 11e, the crotch joint is constituted by the joints 18L, 18R, 19L, 19R, 20L and 20R, and the ankle joint is constituted by the joints 23L, 23R and 24L. , 24R. Thus, the left and right legs 12L and 12R of the bipedal walking humanoid robot 10 are given 6 degrees of freedom, respectively, and these various 12 joints are appropriately driven by the drive motor during various operations. By controlling the drive to the angle described above, a desired motion can be given to the entire leg portions 12L and 12R, for example, the user can walk in a three-dimensional space arbitrarily.
[0019]
The arms 13L and 13R include upper arms 25L and 25R, lower arms 26L and 26R, and hands 27L and 27R, respectively. The upper arms 25L, 25R, the lower arms 26L, 26R, and the hands 27L, 27R of the arms 13L, 13R are each made of five pieces as shown in FIG. The joints, that is, the joints 28L and 28R in the pitch direction of the upper arms 25L and 25R with respect to the body 11, the joints 29L and 29R in the roll direction, and the joints 30L and 30R in the left and right directions with respect to the body 11 in order from the top. The joints 32L, 32R in the pitch direction at the elbows 31L, 31R, which are the connecting parts of the upper arms 25L, 25R and the lower arms 26L, 26R, and the hands 27L, 27R at the wrists for the lower arms 26L, 26R. Are provided with joints 33L and 33R in the pitch direction. Each of the joints 28L, 28R to 33L, 33R is constituted by a joint driving motor.
[0020]
In this way, the left and right arms 13L and 13R of the bipedal walking humanoid robot 10 are given five degrees of freedom, so that these twelve joints are driven by the drive motors during various operations. By controlling the drive to an appropriate angle, a desired operation can be given to the entire arms 13L, 13R. Here, the joints 28L and 28R in the pitch direction of the shoulder are arranged such that the rotation axes are shifted forward with respect to the joints 29L and 29R in the roll direction and the joints 30L and 30R in the left and right directions. The swing angle of the arms 13L and 13R forward is set large.
[0021]
The head 14 is attached to the upper end of the upper part 11a of the body 11, and is equipped with, for example, a visual camera or a hearing microphone. As shown in FIG. 2, the head 14 includes a joint 35 in the pitch direction of the neck and a joint 36 in the left-right direction. Each of the joints 35 and 36 is constituted by a joint driving motor.
In this manner, the head 14 of the bipedal walking humanoid robot 10 is given two degrees of freedom, and these two joints 35 and 36 are respectively driven at appropriate angles by the drive motor during various operations. And the head 14 can be moved in the left-right direction or the front-back direction.
[0022]
The above configuration is almost the same as that of the conventional bipedal walking humanoid robot. However, the bipedal walking humanoid robot 10 according to the embodiment of the present invention is different in the following points. That is, as shown in FIGS. 1 and 2, the biped walking humanoid robot 10 further includes the waist 11 b of the body 11 described above, the lower arms 26 L, 26 R of the arms 13 L, 13 R, and the legs. The lower leg portions 16L, 16R of 12L, 12R are provided with acceleration sensors 40, respectively, that is, the acceleration sensors 40 are dispersedly arranged in the above-mentioned respective portions.
[0023]
FIG. 3 shows an electrical configuration of the bipedal walking humanoid robot 10 shown in FIGS. In FIG. 3, a bipedal walking humanoid robot 10 includes a driving means, that is, an operation control device that drives and controls each of the above-described joints, ie, the joint driving motors 11d, 11e, 18L, 18R to 33L, 33R, 35, 36. 50 is provided.
[0024]
The operation control device 50 includes an operation planning unit 51, an operation generation unit 52, an extended ZMP conversion unit 53, an extended ZMP stabilization unit 54, a control unit 55, and an angle measurement for detecting angles of joints of the robot. A unit 56 and an operation monitoring unit 57 are provided. As a coordinate system of the bipedal walking robot 10, an xyz coordinate system is used in which the front-rear direction is the x direction (forward +), the lateral direction is the y direction (inward +), and the up-down direction is the z direction (upward +). I do.
[0025]
The motion planning unit 51 determines an intermediate state between the initial state and the final state from the given initial state of the robot (the angle of each joint and the posture based on the detection signal of the force sensor 40) and the final state of the desired operation. Plan your exercise. That is, the motion planning unit 51 virtually sets a polyhedral rigid body so as to cover the convex portion formed by the entire robot, and calculates the time series shape data and the center of gravity trajectory of the polyhedral rigid body from the initial state to the final state. Then, the angular momentum of the robot required to perform the whole body movement is calculated.
[0026]
The motion planning unit 51 calculates the extended ZMP of the motion, the position of the center of gravity, the state of the polyhedral rigid body, the angular momentum, the kinetic energy, and the like, and generates a motion trajectory, that is, a motion plan of the robot. When the current state of the robot and the amount of deviation from the operation plan are input from the operation monitoring unit 57 as described later, the operation plan unit 51 similarly regenerates the operation plan.
[0027]
Here, the operation planning unit 51 includes an operation library 51a. In the motion library 51a, posture data and the like regarding basic motions including passive motions, which are elements of the motion of the robot, are stored in advance by type. Thus, when performing the above-described motion planning, the motion planning unit 51 reads out various posture data and the like from the motion library 51a as necessary, and generates a motion plan as a sequence of the combination motion. The motion planning unit 51 outputs the posture data and the angular momentum of each joint at that time to the motion generation unit 52 as a motion plan. At that time, when the notification of the falling state is input from the movement monitoring unit 57, the movement planning unit 51 immediately stops generating all the movements, switches to the fall avoidance and the passive movement, and performs the movement. Make a plan.
[0028]
The motion generating unit 52 generates angle data θref of the joints 15L, 15R to 36 required for the planned whole-body movement of the biped humanoid robot 10. At this time, the operation generating section 52 corrects internal parameters and generated angle data based on a command from an extended ZMP stabilizing section 54 described later.
[0029]
The extended ZMP conversion unit 53 calculates an extended ZMP target value based on the angle data θref of each joint from the motion generation unit 52, and outputs it to the extended ZMP stabilizing unit 54 and the motion monitoring unit 57.
[0030]
The extended ZMP stabilizing unit 54 calculates an extended ZMP actual value based on the posture information from the angle measurement unit 56, and compares the extended ZMP actual value with an extended ZMP target value from the extended ZMP converting unit 53. Based on the difference, the extended ZMP compensation amount is calculated so as to reduce the difference, and is output to the operation generation unit 52. Note that the conventional ZMP compensation amount calculation method can be applied as it is to the extended ZMP compensation amount calculation method.
[0031]
Here, when the extended ZMP compensation amount from the extended ZMP stabilizing unit 54 is fed back, the operation generating unit 52 corrects the operation data based on the extended ZMP compensation amount and outputs the operation data to the control unit 55.
[0032]
The control unit 55 generates a control signal for each joint drive motor based on the corrected operation data from the operation generation unit 52, and controls the drive of each joint drive motor.
[0033]
The angle measuring unit 56 receives the joint drive motors from the joint drive motors of the joints 15L, 15R to 36 by inputting angle information of the joint drive motors using, for example, a rotary encoder. , Ie, state information on the angle, angular velocity, and angular moment, that is, posture information θreal of the robot 10, and outputs it to the extended ZMP stabilizing unit 54 and the operation monitoring unit 57.
[0034]
The operation monitoring unit 57 includes an operation plan from the operation planning unit 51, an extended ZMP target value from the extended ZMP conversion unit 53, and angle information (including an angle and an angular moment) as an extended ZMP actual value from the angle measurement unit 56. And the acceleration information of each part from each acceleration sensor 40, and the state of the biped humanoid robot 10 is constantly monitored based on these. When the actual operation of the robot greatly deviates from the operation plan and the extended ZMP target value, the operation monitoring unit 57 feeds back the current state and the amount of deviation to the operation planning unit 51, and the operation planning unit 51 Is regenerated. In addition, the operation monitoring unit 57 determines the falling state from the acceleration information of each unit from each acceleration sensor 40, and notifies the operation planning unit 51 of the falling state when detecting the falling state. Further, the operation monitoring unit 57 determines a collision state from the acceleration information of each unit from each acceleration sensor 40, and when a collision is detected, the operation monitoring unit 57 does not pass through the operation planning unit 51, the operation generation unit 52, etc. As a result, the drive of each joint driving motor is directly controlled by the control unit 55 to mitigate the impact.
[0035]
The biped humanoid robot 10 according to the embodiment of the present invention is configured as described above. For a normal walking motion, the motion control device 50 generates the motion plan by the motion planning unit 51 and the motion generation unit 52 Calculates the extended ZMP target value based on this operation plan, and further compensates the extended ZMP target value with the extended ZMP compensation amount by the extended ZMP stabilizing unit 54 while controlling the joint driving of each joint of the robot 10 by the control unit 55. Drive control for the motor.
Then, a point where the combined moment of the floor reaction force and gravity at the part that comes into contact with the environment when the robot performing the whole body motion is in contact with the environment becomes zero is an extended ZMP, and this extended ZMP is defined as ZMP in the conventional robot walking control. Similarly, by correcting the motion data based on the extended ZMP error, which is the difference between the extended ZMP target value and the measured actual extended ZMP value, the inertial force generated in the robot 10 is controlled to compensate the extended ZMP target value. I do.
This makes it possible to stably control the whole body motion of the biped walking humanoid robot, for example, in the passive motion, the rising motion, and the forward motion when falling, thereby ensuring the whole body motion of the biped walking humanoid robot in a dynamically stable manner. Can be performed.
[0036]
Next, a control operation performed when the biped humanoid robot 10 receives an impact will be described with reference to FIG. In the flowchart of FIG. 4, first, at step ST1, when the acceleration information of each unit detected by the acceleration sensor 40 is input to the operation monitoring unit 57, at step ST2, the operation monitoring unit 57 performs the operation based on the acceleration information of each unit. It is determined whether or not each acceleration sensor 40 has detected an impact. If it is determined in step ST2 that each of the acceleration sensors 40 has not detected an impact, the process returns to step ST1 and repeats the above operation.
[0037]
On the other hand, when it is determined in step ST2 that each of the acceleration sensors 40 has detected a shock, in step ST3, the operation monitoring unit 57 starts control of a shock absorbing motion to mitigate the shock. .
[0038]
Then, in step ST4, the operation monitoring unit 57 adjusts the gain of the joint driving motor corresponding to the impacted portion to reduce the impact. Accordingly, the shock absorbing motion is started in step ST5, and in step ST6, the operation monitoring unit 57 determines whether or not the robot is moving by an external force due to an impact. It is determined that the external force due to the impact is still acting, and the process returns to step ST5 to continue the shock absorbing motion.
[0039]
In step ST6, if the robot is not moving by an external force, it is determined that the shock has been absorbed. In step ST7, the shock absorbing motion ends, and in step ST8, the operation monitoring unit 57 Based on the acceleration information from the other acceleration sensors 40 and the angle information from the angle measurement unit 56, the portion receiving the impact is recognized as being in contact with an obstacle or in contact with the ground, and the impact absorbing operation is terminated. At this time, the motion monitoring unit 57 performs the shock absorbing motion by directly controlling the control unit 55 without passing through the motion planning unit 51 and the motion generating unit 52, and thus acts as a so-called reflex nerve. As a result, a quick shock absorbing movement becomes possible.
[0040]
In this manner, according to the biped walking humanoid robot 10 according to the embodiment of the present invention, parts that are interactive with the environment of the robot 10, for example, the torso 11, the legs 12L and 12R, and the arms 13L and 13R respectively. The acceleration sensor 40 provided detects the acceleration information of each portion of these portions and inputs the information to the operation monitoring portion 57. The operation monitoring portion 57 detects the acceleration information of these portions based on the acceleration information of each portion of these portions. An impact due to a collision or the like can be detected.
[0041]
In a conventional bipedal walking humanoid robot, an acceleration sensor is provided only on the body portion. On the other hand, in the bipedal walking humanoid robot 10, the acceleration sensors 40 are distributed and arranged in various parts of the robot. Accordingly, the acceleration acting on each part can be detected more accurately, and the impact due to collision of these parts can be detected more correctly. Therefore, by detecting such an impact, the operation control device 50 exhibits the same function as a so-called reflex nerve, and performs an operation for promptly and appropriately mitigating the impact, such as damage to each part of the robot. Can be avoided.
[0042]
In the above-described embodiment, the acceleration sensor 40 is attached to the waist 11b of the body 11, the lower arms 26L and 26R of the arms 13L and 13R, and the lower legs 16L and 16R of the legs 12L and 12R, respectively. The acceleration sensor 40 is provided for the upper arms 25L, 25R of the arms 13L, 13R, the thighs 15L, 15R of the legs 12L, 12R, the head 14, and the like. It may be provided.
In the above-described embodiment, the case where the present invention is applied to the bipedal humanoid robot has been described. However, the present invention is not limited to this. It is obvious that the present invention can be applied to a bipedal walking type moving device that is adapted to walk with a human, and further to a walking type robot or a walking type moving device that supports and walks with a plurality of legs. is there.
[0043]
【The invention's effect】
As described above, according to the present invention, a biped walking humanoid robotIsDuring the walking operation, the interactive parts of the body, such as the torso, each leg, and / or each arm, may be greatly inclined due to a fall or collide with an object such as an obstacle on the floor. In this case, the acceleration sensor provided in the portion can detect an impact based on the inclination angle, the inclination acceleration of the portion, or a sudden change in acceleration due to a collision or the like.
Therefore, the control unit controls the driving of each driving unit while referring to the detection signal from each acceleration sensor, whereby the force control of each joint can be performed in the same manner as in the related art, and further, as in the case of the reflexes. The above-mentioned function is exerted to quickly alleviate the impact, and the situation can be restored after the impact.
robotTorsoBody, each leg andAnd eachBy arranging the acceleration sensors on the arms and the like, the acceleration sensors are dispersedly arranged on each part of the robot, and the acceleration of each part can be detected separately. This makes it possible to more accurately detect the movement of each part of the robot and the impact due to collision, etc., so that in the whole body movement of the robot, etc., it is possible to perform more appropriate drive control and perform smooth whole body movement. Will be possible.
As described above, according to the present invention, it is possible to detect the acceleration of each part of the robot, for example, the environment of the legs and arms, and the acceleration of the interactive part, and detect the collision state with the environment of each part. Thus, a walking robot, in particular, a biped walking humanoid robot is provided.
[Brief description of the drawings]
FIG. 1 shows the appearance of an embodiment of a biped humanoid robot according to the present invention, wherein (A) is a schematic front view and (B) is a schematic side view.
FIG. 2 is a schematic view showing a mechanical configuration of the biped humanoid robot shown in FIG. 1;
FIG. 3 is a block diagram showing an electrical configuration of the biped walking humanoid robot of FIG. 1;
FIG. 4 is a flowchart showing a control operation of the biped humanoid robot of FIG. 1 when detecting an impact.
[Explanation of symbols]
10 Biped humanoid robot
11 Body
11a Chest
11b waist
11c Forward bending
12L, 12R leg
13L, 13R arm
14 head
15L, 15R thigh
16L, 16R lower leg
17L, 17R foot
18L, 18R to 24L, 24R Joints (motors for driving joints)
21L, 21R knee
25L, 25R Upper arm
26L, 26R Lower arm
27L, 27R Hand
28L, 28R to 30L, 30R Joint
31L, 31R elbow
32L, 32R, 33L, 33R, 35, 36 Joints
40 acceleration sensor
50 Walking control device
51 Operation Planning Department
51a operation library
52 operation generation unit
53 Extended ZMP converter
54 Extended ZMP Stabilizer
55 control unit
56 Angle measurement unit
57 Operation monitoring unit

Claims (5)

A torso, a leg attached to both lower sides of the torso, an arm attached to both upper sides of the torso, and a head attached to the upper end of the torso,
Two thighs in which the legs are pivotally mounted in the triaxial direction with respect to the body, and lower legs in which the legs are pivotally mounted in the one axial direction with respect to the lower end of each thigh; And a foot, which is attached to the lower end of each lower leg so as to be swingable in two axial directions,
The above-mentioned arm portion, two upper arm portions attached to the body portion so as to be swingable in two axial directions, and a lower arm portion attached to each upper arm portion so as to be able to swing in one axis direction, respectively. A hand attached to the lower arm so as to be swingable in at least one axial direction,
A drive unit for driving the foot, the lower leg, the thigh of the leg, and the hand, lower arm, and upper arm of the arm; a controller for driving and controlling each of the drive units; In a biped walking humanoid robot having
To a the body portion and the legs and the arms, provided with an acceleration sensor, respectively,
At the time of the passive movement or the forward rolling motion at the time of falling, the control unit detects an impact on a part provided with each acceleration sensor based on a detection signal from each acceleration sensor, and corresponds to the part receiving the impact. A two-legged walking humanoid robot , wherein the driving means is controlled to drive each driving means so as to reduce the impact . A torso, a leg attached to both lower sides of the torso, an arm attached to both upper sides of the torso, and a head attached to the upper end of the torso,
Two thighs in which the legs are pivotally mounted in the triaxial direction with respect to the body, and lower legs in which the legs are pivotally mounted in the one axial direction with respect to the lower end of each thigh; And a foot, which is attached to the lower end of each lower leg so as to be swingable in two axial directions,
The above-mentioned arm portion, two upper arm portions attached to the body portion so as to be swingable in two axial directions, and a lower arm portion attached to each upper arm portion so as to be able to swing in one axis direction, respectively. A hand attached to the lower arm so as to be swingable in at least one axial direction,
Further, a driving means for driving the foot, the lower leg, the thigh of the leg and the hand, the lower arm and the upper arm of the arm, and an operation control device for driving and controlling each of the driving means, A biped humanoid robot having
The operation control device includes an operation planning unit, an operation generation unit, an extended ZMP stabilization unit, a control unit, and an operation monitoring unit.
The body, the legs, and the arms are each provided with an acceleration sensor,
At the time of a normal walking motion, the motion monitoring unit feeds back the current state and the deviation amount to the motion planning unit to cause the motion planning unit to regenerate the motion plan, and the motion planning unit generates the motion plan. The operation generation unit calculates an extended ZMP target value based on the operation plan, the extended ZMP stable unit compensates the extended ZMP target value with the extended ZMP compensation amount, and the control unit controls each driving unit. Drive control,
At the time of passive movement at the time of a fall, at the time of forward rolling movement, or at the time of collision with an object, the operation monitoring unit detects an impact on a portion provided with each acceleration sensor based on a detection signal from each acceleration sensor, and not through the action planning unit and the operation generating unit, by controlling directly to the control unit, the control unit and performs drive control of the drive means to mitigate the impact, the two A legged humanoid robot. The body is divided into an upper chest and a lower waist,
The biped walking humanoid robot according to claim 1 or 2, wherein the acceleration sensor is provided on the waist, each of the lower arms, and each of the lower thighs . The biped humanoid robot according to any one of claims 1 to 3, wherein the acceleration sensor is provided on the upper arm and the thigh . The biped humanoid robot according to any one of claims 1 to 4, wherein the acceleration sensor is provided on the head .

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