JP4066923B2 - robot - Google Patents

Description

  The present invention relates to a robot. More specifically, the present invention relates to fail-safe technology when an abnormality occurs in a robot.

A robot has been developed that includes a joint actuator that changes the angle of the joint connecting the body side member and the end side member, a joint controller provided for each joint actuator, and a central controller that sequentially commands the joint controller group. . The torso side member and the end side member are relative. For example, in the upper leg and lower leg of a biped robot, the upper leg is the trunk side member and the lower leg is the distal member, and the lower leg and foot are the lower leg. Is the body side member and the foot is the end side member.
This robot can share the calculation processing amount required for the central controller among the joint controller group, and can operate at high speed. On the other hand, since a system is configured by connecting a large number of controllers, an abnormality such as a signal not being transmitted between the controllers may occur, and a fail-safe technique is required.
Patent Document 1 discloses a fail-safe technique for a robot including a joint controller group and a central controller. In one fail-safe technique, the joint controller stores data commanded by the central controller in time series. When an abnormality occurs such that the joint controller does not receive command data from the central controller for a predetermined period of time, or when the received command data is abnormal, the abnormality is detected from the time series of stored command data. Predict command data that would be received if it did not occur. Then, the robot is controlled according to the predicted command data. Patent Document 1 discloses a fail-safe technique different from the above, and in this fail-safe technique, a default value is stored in advance in a joint controller. When an abnormality occurs such that command data is not received from the central controller for a predetermined period, the joint controller of the joint in which the abnormality has occurred is controlled toward the pre-stored default value, and is stopped at the default value. .

JP 2001-239480 A

  The control processing procedure to be executed when an abnormality occurs in the robot differs depending on what operation the robot is performing when the abnormality occurs. For example, it is assumed that an electrical cable connecting the ankle joint controller and the central controller of a biped robot is disconnected, and an abnormality that the central controller cannot control the ankle joint controller occurs. If the ankle joint where the anomaly has occurred is a swing leg, continue walking until the toe touches the ground and locks the joints of both legs after the toes touch the ground. It is appropriate to keep the robot stationary. When an abnormality occurs in the ankle joint in the state of both legs, it is appropriate to lock the joints of both legs and to make the robot stand still in the state of both legs. If an anomaly occurs in the ankle joint of the stance when the robot is in one leg standing leg, the walking operation is continued by applying an appropriate torque to the ankle joint where the anomaly has occurred, and the joints of both legs are locked after becoming a state of both leg stand. It is appropriate to make the robot stationary. As described above, when an abnormality occurs in the robot, it is necessary to perform flexible control corresponding to the operation of the robot at that time.

  As in the technique described in Patent Document 1, in the technique of predicting command data that will be received when an abnormality does not occur when an abnormality occurs, control is performed when no abnormality occurs when the abnormality occurs. become. For this reason, it is not possible to appropriately fail-safe control the robot when an abnormality occurs. As in the second technique described in Patent Document 1, in the case where an abnormality occurs, the technique of stopping at a pre-stored default value is a flexible failure corresponding to the operation of the robot when the abnormality occurs. Safe control cannot be performed.

  The present invention has been made to solve such a problem, and provides a robot capable of performing appropriate fail-safe control in accordance with a joint and a timing at which an abnormality occurs when an abnormality occurs. The task is to do.

The robot according to the present invention has a plurality of joints connecting the body side member and the end side member, and walks while changing the posture by controlling the angle of the joint. The robot is provided for each joint , and includes a joint actuator that changes the angle of the joint , a joint controller provided for each joint actuator, and a central controller that sequentially commands joint operation command values for each joint controller. ing. Each joint controller stores a plurality of types of abnormality processing procedures for controlling the joint actuator when an abnormality occurs in which the joint angle of its own joint does not change according to the operation command value commanded by the central controller.
Central controller, the "type of abnormality processing procedure" in which the abnormality regarding the section controller generated to identify an abnormal procedure to be performed to select for each joint controller in accordance with the attitude of the robot, the selected "abnormal procedure Are sequentially commanded to each joint controller together with the motion command value. When each joint controller receives the motion command value and the “type of abnormality processing procedure”, it controls its joint actuator according to the received motion command value and also receives the latest “type of abnormality processing procedure” received. When the abnormality occurs, the joint actuator is controlled based on the abnormality processing procedure specified by the “type of abnormality processing procedure” stored among the plurality of types of abnormality processing procedures.
In the robot described above, the central controller instructs the joint controller in advance an abnormality processing procedure to be executed when an abnormality occurs. The central controller can sequentially instruct the joint controller of the abnormality processing procedure according to the state of the robot at that time. The joint controller stores the abnormality processing procedure instructed by the central controller, and executes the stored abnormality processing procedure when an abnormality occurs. When the central controller instructs the abnormality processing procedure, the joint controller updates the already stored abnormality processing procedure to the abnormality processing procedure instructed by the central controller. The abnormality processing procedure is switched in time series, and it becomes possible to perform appropriate fail-safe control according to the operation state of the robot when the abnormality occurs.

In the robot, each joint controller stores a plurality of types of specific processing procedures for controlling its joint actuator when the abnormality occurs in another joint controller, and the central controller is one of the joint controllers. in the case where the abnormality occurs, selected for each normal joint controllers in response to "the kind of identification process procedure" identifying a particular procedure to normal Takashi Seki controller performs the posture of the robot, the selected " When the “special processing procedure type” is commanded to each normal joint controller, and each joint controller receives the “specific processing procedure type” from the central controller, the received “specific processing procedure” among the plurality of specific processing procedures. It is preferable to control the joint actuator based on a specific processing procedure specified by “type” .
With this configuration, when an abnormality occurs in any of the joints, the joint controller of a normal joint executes a specific processing procedure by the central controller. That is, a joint in which an abnormality has occurred executes an abnormality processing procedure, and a normal joint executes a specific processing procedure . It is possible to perform appropriate fail-safe control according to the operating state of the anomaly occurrence of the robot.

In the robot described above, it is preferable that the abnormality processing procedure and / or the specific processing procedure is switched at the timing of contact of the free leg .
According to this robot , the abnormality processing procedure and / or the specific processing procedure can be switched at the timing of contact of the free leg, and fail-safe control in accordance with the change in the posture of the robot can be performed.

The main features of the embodiments described later will be described.
(Mode 1) The robot is a biped walking type. A joint actuator for changing the joint angle is attached to each joint of the leg and the arm. The joint actuator is mainly composed of a motor. The joint actuator includes a motor equal to the number of degrees of freedom of rotation of the joint. For example, a joint actuator for a uniaxial knee joint is composed of one motor, and a joint actuator for a two-axis ankle joint is composed of two motors.
Each joint actuator is controlled by a corresponding joint controller. A multi-axis joint controller includes at least one CPU. For example, an ankle controller that controls a biaxial ankle joint includes at least one CPU that controls two motors. Instead, a plurality of CPUs that individually control the motors may be provided. The joint controller controls the joint actuator according to the operation command transmitted from the central controller attached to the trunk.
(Mode 2) The operation command includes an address, an operation command value, and an abnormality processing procedure type.
The joint controller stores the type of abnormality processing procedure that is transmitted. The type of abnormality processing procedure stored in the joint controller is updated and stored each time it is transmitted. The central controller selects the type of abnormality processing procedure in consideration of the posture of the robot (whether it is one leg or both legs) and the joint controller to which the motion command is transmitted.
(Mode 3) The joint controller operates according to the type of stored abnormality processing procedure when it is determined that transmission / reception with the central controller is abnormal or that it is abnormal. When the central controller determines that transmission / reception with the joint controller is abnormal or determines that the joint controller is abnormal, the central controller transmits the type of the specific processing procedure to joint controllers other than those determined to be abnormal. The type of the specific processing procedure is selected in consideration of the posture of the robot and the joint controller in which an abnormality has occurred.
When an abnormality occurs, the joint controller of the abnormal joint operates according to the type of abnormality processing procedure stored in advance. When an abnormality occurs, the central controller causes the joint controller of a normal joint to perform a specific processing procedure corresponding to the occurrence of the abnormality.
(Embodiment 4) When the control as described above is performed, the robot finally stops in a state where both legs are in a standing state, transitions from a one-legged leg to a state in which both legs are standing, or remains in a kneeling state. It can be stationary.

A robot 10 according to an embodiment of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the robot 10 is a biped walking type, and includes a right leg 32, a left leg 20, a trunk 19, a right arm 70, a left arm 60, and a head 80.
FIG. 2 illustrates a mechanical connection state of each joint of the robot 10. In FIG. 2, for convenience of explanation, a coordinate system composed of three axes of x, y, and z is set. The x-axis (roll axis) extends in the front-rear direction of the robot 10. The y axis (pitch axis) extends in the left-right direction of the robot 10. The z axis (yaw axis) extends in the vertical direction of the robot 10.
In the following, for the sake of clarity of illustration and description, the same reference numerals are given to joints and joint actuators that change the joint angles of the joints. For example, the left knee joint 24 may be described, or a joint actuator that changes the joint angle of the joint may be denoted by reference numeral 24. As will be described in detail later, each joint actuator has a built-in motor for driving the joint and an encoder for detecting the angle of the motor joint.

The left leg 20 includes a left upper thigh 22, a left knee joint 24, a left lower thigh 26, a left ankle joint 28, a left six-axis force sensor 29, and a left foot tip 30. The left knee joint 24 has a variable joint angle around the y-axis and includes one motor. The left ankle joint 28 has a variable joint angle around the y axis and a joint angle around the x axis, and includes a motor for each axis.
The left six-axis force sensor 29 is interposed between the left ankle joint 28 and the left toe 30 and detects a six-axis force acting between them. Specifically, a force in the x-axis direction, a force in the y-axis direction, a force in the z-axis direction, a moment around the x-axis, a moment around the y-axis, and a moment around the z-axis are detected.
The right leg 32 includes an upper right thigh 33, a right knee joint 34, a right lower thigh 35, a right ankle joint 36, a right six-axis force sensor 38, and a right foot tip 39. The right knee joint 34 has a variable joint angle around the y-axis and includes one motor. The right ankle joint 36 has a variable joint angle around the y-axis and a joint angle around the x-axis, and includes a motor for each axis. The right six-axis force sensor 38 detects a six-axis force acting between the right ankle joint 36 and the right foot tip 39.

The left leg 20 is connected to the waist 40 by a left hip joint 42. The left hip joint 42 includes a motor 43 that changes the joint angle around the z axis, a motor 44 that changes the joint angle around the y axis, and a motor 46 that changes the joint angle around the x axis.
The right leg 32 is connected to the waist 40 by the right hip joint 50. The right hip joint 50 includes a motor 52 that changes the joint angle around the z axis, a motor 53 that changes the joint angle around the y axis, and a motor 54 that changes the joint angle around the x axis.

The left arm 60 includes a left upper arm 61, a left elbow joint 62, a left forearm 63, and a left palm 64. The left elbow joint 62 has a variable joint angle around the y-axis. The right arm 70 includes an upper right arm 71, a right elbow joint 72, a right forearm 73, and a right palm 74. The right elbow joint 72 has a variable joint angle around the y-axis.
The left arm 60 is connected to the shoulder 59 by a left shoulder joint 66. The left shoulder joint 66 has variable joint angles around the x axis and the y axis. The right arm 70 is connected to the shoulder 59 by a right shoulder joint 76. The right shoulder joint 76 has variable joint angles around the x axis and the y axis. The head 80 is connected to the shoulder 59 via the neck joint 82. The neck joint 82 includes a motor 84 that changes the joint angle around the y axis and a motor 83 that changes the joint angle around the z axis.

FIG. 3 is a block diagram schematically showing a control system of the robot 10. N joint controllers [1] to [N] are connected in series to the central controller 102 by a communication line 104. The central controller 102 is mounted in the body 19. Motors [1] to [N] and encoders [1] to [N] are connected to each of the joint controllers [1] to [N]. The joint controller, motor, and encoder are built in each joint. The motor drives each joint. The encoder detects the rotation angle (joint angle) of the joint actuator of each joint. A motor and an encoder are provided for each joint axis. For example, the left ankle joint 28 includes a y-axis motor and encoder, and an x-axis motor and encoder because the joint angles around the y-axis and the x-axis are variable.
It is also possible to connect the joint controller to the motor and encoder of one joint. For example, the joint controller for the left ankle joint 28 is connected to the y-axis motor and encoder, and is connected to the x-axis motor and encoder.

M sensor controllers [1] to [M], L switch controllers [1] to [L], and an acoustic controller 110 are connected in series to the central controller 102 by a communication line 106. One sensor [1] to [M] is connected to each of the sensor controllers [1] to [M]. The sensors [1] to [M] are, for example, a gyro that detects a posture change of the robot 10 or a CCD camera that photographs an external state.
One switch [1] to [L] is connected to each of the switch controllers [1] to [L]. The switches [1] to [L] turn on / off various devices (for example, lamps and buzzers).
A speaker 112 is connected to the acoustic controller 110. The acoustic controller 110 controls the speaker 112 to turn up the robot 10.

The communication lines 104 and 106 are serial communication lines. The central controller 102 performs packet communication of various types of information with the joint controllers [1] to [N], the sensor controllers [1] to [M], the switch controllers [1] to [L], and the acoustic controller 110. By performing packet communication via the serial communication lines 104 and 106, the electrical interface between the central controller 102 and the joint controllers [1] to [N] is simplified.
In the following, descriptions of the sensor controllers [1] to [M], the switch controllers [1] to [L], and the acoustic controller 110 that are not directly related to the present invention are omitted.

As shown in FIG. 4, the central controller 102 includes an operation command value calculation unit 120, an image processing unit 122, an external robot communication unit 124, and an in-robot communication unit 126.
The image processing unit 122 is connected to a CCD camera 123 having a built-in image sensor. The image processing unit 122 performs pattern recognition using the image signal received from the CCD camera 123 and transmits the pattern recognition to the operation command value calculation unit 120. As already described with reference to FIG. 3, the sensors [1] to [M] are connected to the central controller 102. In FIG. 4, these are represented by the CCD camera 123, and the others are as follows. The illustration is omitted.
An antenna 125 is connected to the communication unit 124 outside the robot. The robot external communication unit 124 converts the operation request for the robot 10 received by the antenna 125 into a data format that can be processed by the central controller 102, and transmits the data to the operation command value calculation unit 120. Further, the communication unit 124 outside the robot transmits information related to the state of the robot 10 from the operation command value calculation unit 120 (for example, what kind of operation is being performed, whether or not an abnormality has occurred) from the antenna 125 to the outside. .

  The intra-robot communication unit 126 connected to the operation command value calculation unit 120 includes a communication abnormality watching unit 126a and a communication port 126b. The communication port 126b performs communication between the joint controllers [1] to [N], the sensor controllers [1] to [M], the switch controllers [1] to [L], and the acoustic controller 110 described above. . The communication abnormality watching unit 126a watches the signals input from the joint controllers [1] to [N], and transmits an abnormality detection signal to the operation command value calculation unit 120 when an abnormality is detected. . As will be described in detail later, the communication abnormality monitoring unit 126a detects an abnormality when a reception confirmation signal is not returned from the joint controllers [1] to [N] or when a motor abnormality signal is transmitted. It is.

The operation command value calculation unit 120 is provided with a data storage unit 120a and an abnormality processing logic storage unit 120b. The operation command value calculation unit 120 processes signals input from the image processing unit 122, the robot external communication unit 124, and the robot communication unit 126 in accordance with an operation control program stored in the data storage unit. Is calculated. The operation command value commands an angle to be rotated with respect to the motor of each joint.
Furthermore, the operation command value calculation unit 120 selects the type of abnormality processing procedure to be transmitted to the joint controllers [1] to [N] based on the abnormality processing logic stored in the abnormality processing logic storage unit 120b. The abnormality processing procedure specifies an operation to be performed by the joint controller when an abnormality occurs in the joint controller (details will be described later).

  The motion command value calculation unit 120 transmits motion commands to the joint controllers [1] to [N] via the in-robot communication unit 126. The operation command includes an address, the above-described operation command value, and the type of abnormality processing procedure. The address specifies to which joint controller the motion command to be transmitted is.

The joint controllers [1] to [N] will be described. Since the joint controllers [1] to [N] have the same configuration, the joint controller 150 shown in FIG.
As shown in FIG. 5, the joint controller 150 includes a communication control unit 152, a reception confirmation signal return unit 154, a motor control unit 156, and a motor drive circuit 176. Power is supplied to the joint controller 150 via the power line 168.
The communication line 104 and the motor control unit 156 are connected to the communication control unit 152. The communication control unit 152 determines whether the operation command is for itself from the address included in the operation command received from the central controller 102 via the communication line 104. If the operation command is for itself, the communication control unit 152 transmits the operation command to the motor control unit 156. In addition, the communication control unit 152 transmits a signal from the motor control unit 156 to the central controller 102.
The reception confirmation signal reply unit 154 collates the operation command (address, operation command value, type of abnormality processing procedure) stored in advance with the received operation command. When the collation results match, it is determined that the operation command is normal, and when they do not match, it is determined that the operation command is not normal (abnormal). The reception confirmation signal reply unit 154 returns a reception confirmation signal to the central controller 102 when the operation command is normal.

The motor control unit 156 includes a motor drive command generation unit 158, a communication abnormality viewing unit 160, a motor abnormality viewing unit 162, and an abnormality processing unit 163.
The motor drive command generation unit 158 transmits a command signal corresponding to the operation command value included in the operation command to the motor drive circuit 176. The motor driving circuit 176 is directly input with electric power for driving the motor via the power line 169. The motor drive circuit 176 rotates the motor 180 based on the command signal from the motor drive command generation unit 158. The rotation of the motor 180 is decelerated by a reduction mechanism (for example, a harmonic drive) connected to the drive shaft to rotate the joint. The change in the joint angle is detected by the encoder 182. The rotation angle of each joint detected by the encoder 182 is transmitted to the motor control unit 156.

  The communication abnormality watching unit 160 watches the communication state among the motor control unit 156, the motor drive circuit 176, the motor 180, and the encoder 182. When the communication state between the motor control unit 156 and the motor drive circuit 176 is abnormal (for example, communication is impossible due to disconnection, the signal is affected by electrical noise). In such a case, a motor abnormality signal is transmitted to the central controller 102. Note that the operation command transmitted from the central controller 102 is viewed by the communication abnormality monitoring unit 160, and an abnormal signal is transmitted to the central controller 102 when the operation command is abnormal (for example, packet corruption). It can also be configured as follows.

The motor abnormality watching unit 162 watches the motor 180 for abnormality. Specifically, whether or not the motor 180 is rotating according to the command signal transmitted by the motor drive command generation unit 158 is observed. Whether or not the motor 180 is rotating according to the command signal is determined from the joint rotation angle detected by the encoder 182. The motor abnormality monitoring unit 162 transmits a motor abnormality signal to the central controller 102 when the motor 180 does not rotate in response to the command signal.
Six-axis force sensors 29 and 38 are connected to the motor control unit 156. The detection signals of the six-axis force sensors 29 and 38 are used to determine whether or not the legs 20 and 32 are grounded when the motor 180 is controlled according to joint controller processing S200 described later. It should be noted that the joint controller 150 to which the six-axis force sensors 29 and 38 are connected is only that attached to the joint actuators of the legs 20 and 32, and the joint controller 150 attached to the joint actuators of the arms 60 and 70. Is not connected. The six-axis force sensors 29 and 38 are also connected to the central controller 102.

  The abnormality processing unit 163 includes an abnormality processing procedure type storage unit 164, an abnormality processing procedure content storage unit 166, a specific processing procedure type storage unit 171, and a specific processing procedure content storage unit 172. The abnormality processing procedure type storage unit 164 stores the type of abnormality processing procedure included in the operation command transmitted from the central controller 102. The abnormal process procedure content storage unit 166 stores the content of the abnormal process procedure corresponding to the type of the abnormal process procedure. The specific processing procedure type storage unit 171 stores the type of specific processing procedure included in the operation command transmitted from the central controller 102. The specific processing procedure content storage unit 172 stores the content of the specific processing procedure corresponding to the type of the specific processing procedure. As will be described in detail later, the abnormality processing unit 163 stores the type of abnormality processing procedure stored in the abnormality processing procedure content storage unit 164 and the abnormality processing procedure content storage unit 166 when an abnormality occurs in the joint controller 150. The motor 180 is controlled using the contents of the abnormal process procedure being performed, the type of the specific process stored in the specific process procedure type storage unit 171, and the specific process procedure content stored in the specific process procedure content storage unit 172. .

Various processes executed to control the operation of the robot 10 and deal with the occurrence of an abnormality will be described with reference to flowcharts and the like.
The central controller processing S10 shown in FIG. 6 is processed by the central controller 102. In the first process S12 of the central controller process S10, “1” is set as the initial value of the value “k”. “K” is used to sequentially perform the processes related to each of the joint controllers [1] to [N] in steps to be described later.

Subsequent to S12, an abnormal process procedure type selection process S20 shown in FIG. 7 is performed. The abnormality processing procedure type selection process S20 selects the type of abnormality processing procedure to be executed by the abnormal joint controller when an abnormality occurs before the abnormality occurs in the joint controllers [1] to [N]. The type of the selected abnormality processing procedure is stored in each joint controller. By configuring in this way, when an abnormality occurs in which the central controller 102 cannot control a specific joint controller, the specific joint controller can cope with the abnormality by itself. Examples of abnormalities in which the central controller 102 cannot control a specific joint controller include failure of the communication control unit 152 of the specific joint controller, disconnection of the communication line 104 near the specific joint controller, and the like.
Note that the abnormal process procedure type selection process S20 and the specific process procedure type selection process S100 described later are not applied to the control of the neck joint 82.

When the abnormal process procedure type selection process S20 is executed, the type of the abnormal process procedure is selected. When the specific process procedure type selection process S100 is executed, the type of the specific process procedure is selected. The types of abnormality processing procedures and the types of specific processing procedures are common and are types [1] to [7]. The specific contents (abnormal processing procedure contents, specific processing procedure contents) of types [1] to [7] are shown in FIG.
As shown in FIG. 7, in S22 of the abnormal process procedure type selection process S20, it is determined whether or not the joint controller [k] belongs to the ankle joints 28 and 36 of the free legs. Since the initial value of “k” is set to “1” in S12 of the central controller process S10, when the abnormal process procedure type selection process S20 is started, the process for the joint controller [1] is first executed. . If it is determined in S22 that the joint controller [k] belongs to the free leg ankle joints 28 and 36 (YES), the process proceeds to S22.

In S22, the type [4] is selected as the abnormality processing procedure before the leg contacts the ground. As shown in FIG. 8, the type [4] abnormality processing procedure content is to make the motor torque zero and to be able to rotate freely. In S24 following S22, the type [1] is selected as the abnormality processing procedure after the contact with the leg. The type [1] abnormal processing procedure is to gradually increase the torque of the motor and lock it after a predetermined time. After executing S24, the abnormal process procedure type selection process S20 is terminated.
If it is determined in S22 that the joint controller [k] does not belong to the free leg ankle joints 28 and 36 (NO), the process proceeds to S26.

In S26, the joint controller [k] determines whether or not the leg ankle joints 28 and 36 are present. When it is determined in S26 that the joint controller [k] belongs to the ankle joints 28 and 36 of the stance (in the case of YES), S28 is performed. In S28, the type [5] is selected as the abnormality processing procedure before the leg contact. The type [5] abnormality processing procedure is to set the torque of the motor to an intermediate magnitude and to rotate it when more torque is applied. In S30 performed next to S28, the type [1] is selected as the abnormality processing procedure after the leg contact. Then, the abnormal process procedure type selection process S20 is terminated. If the robot 10 is in the state of both legs when the determination of S26 is performed, S28 is skipped and only S30 is performed.
If it is determined in S26 that the joint controller [k] does not belong to the pedestal ankle joints 28 and 36 (NO), S32 is executed.

In S32, the joint controller [k] determines whether or not the knee joint 24 or 34 of the free leg is present. If it is determined in S32 that the joint controller [k] belongs to the knee joints 24 and 34 of the free legs (in the case of YES), S34 is performed. In S34, the type [4] is selected as the abnormality processing procedure before the leg contact. Then, in S36 following S34, the type [2] is selected as the abnormality processing procedure after the leg contact. The type [2] abnormality processing procedure is to gradually reduce the motor torque so that it can rotate freely after a predetermined time. After performing S36, the abnormal process procedure type selection process S20 is terminated.
If it is determined in S32 that the joint controller [k] does not belong to the knee joints 24 and 34 of the free legs (in the case of NO), the process proceeds to S38.

In S38, the joint controller [k] determines whether or not the knee joints 24 and 34 are standing legs. If it is determined in S38 that the joint controller [k] belongs to the knee joints 24 and 34 of the standing leg (in the case of YES), S40 is executed. When S40 is executed, the type [2] of the abnormality processing procedure is selected. After executing S40, the abnormal process procedure type selection process S20 is terminated.
When it is determined in S38 that the joint controller [k] does not belong to the knee joints 24 and 34 of the standing legs (in the case of NO), the process proceeds to S42.
In S42, the joint controller [k] determines whether or not the hip joints 42 and 50 are free legs. If it is determined in S42 that the joint controller [k] belongs to the hip joints 42 and 50 of the free leg (in the case of YES), the process proceeds to S44.
In S44, the type [5] is selected as the abnormality processing procedure before the leg contact. In S46 performed after S44, the type [2] is selected as the abnormality processing procedure after the contact with the legs. After the execution of S46, the abnormal process procedure type selection process S20 is terminated.
If it is determined in S42 that the joint controller [k] does not belong to the hip joints 42 and 50 of the free leg (in the case of NO), the process proceeds to S48.

In S48, the joint controller [k] determines whether or not the hip joints 42 and 50 are standing. If it is determined in S48 that the joint controller [k] belongs to the hip joints 42 and 50 of the stance (in the case of YES), S50 is executed. When S50 is executed, the type [2] of the abnormality processing procedure is selected. Then, the abnormal process procedure type selection process S20 is terminated. If it is determined in S48 that the joint controller [k] does not belong to the hip joints 42 and 50 of the standing leg (in the case of NO), S52 is performed.
In S52, it is determined whether or not the joint controller [k] belongs to the shoulder joints 66 and 76. If it is determined in S52 that the joint controller [k] belongs to the shoulder joints 66 and 76 (in the case of YES), the process proceeds to S54.
In S54, the type [6] of the abnormality processing procedure is selected. The type [6] abnormality processing procedure is to lock the rotation angle of the motor to a predetermined angle. After executing S54, the abnormal process procedure type selection process S20 is terminated.

If it is determined in S52 that the joint controller [k] is not the shoulder joint 66, 76 (NO), S56 is performed.
In S56, it is determined whether or not the joint controller [k] is at the elbow joints 62 and 72. If it is determined in S56 that the joint controller [k] is that of the elbow joints 62 and 72 (YES), S58 is performed.
When S58 is performed, the type [3] of the abnormality processing procedure is selected. The content of the abnormality processing procedure of type [3] is that the rotational speed of the motor is gradually decreased and locked after a predetermined time. Then, the abnormal process procedure type selection process S20 is terminated.
If it is determined in S56 that the joint controller [k] is not the one of the elbow joints 62 and 72 (in the case of NO), the abnormal process procedure type selection process S20 is terminated as it is.

As shown in FIG. 6, S70 is executed after the abnormal process procedure type selection process S20. In S70, motion commands [1] to [N] are transmitted. In this case, the address included in the motion command is set to correspond to the joint controller [k]. For example, when “k” is “5”, the address is set to that of the joint controller [5]. In this case, the joint controller [5] that has received the motion command determines that the motion command is for itself from the address, and takes in the motion command.
Subsequent to S70, S72 is performed. In S72, it is determined whether or not a reception confirmation signal is returned from the joint controller [k]. As already described, the reception confirmation signal is returned from the joint controller [k] that has received the operation command. If it is determined in S72 that the reception confirmation signal has been returned (in the case of YES), the process proceeds to S74.
In S74, it is determined whether or not a motor abnormality signal has been transmitted from the joint controller [k]. If it is determined in S74 that a motor abnormality signal has not been transmitted (NO), S76 is performed.

In S76, “1” is added to the value of “k”. Then, S78 is executed.
In S78, it is determined whether or not the value of “k” is equal to “N + 1”. If it is determined in S78 that the value of “k” is not equal to “N + 1” (in the case of NO), the process after the abnormal process procedure type selection process S20 is performed again. Since “N” is the total number of joint controllers, it is determined that the value of “k” is equal to “N + 1” when S20 to S76 are executed for all joint controllers. If it is determined in S78 that the value of “k” is equal to “N + 1” (in the case of YES), the processes after S12 are executed again.
On the other hand, if it is determined in S72 that a reception confirmation signal has not been returned (in the case of NO), or if it is determined in S74 that a motor abnormality signal has been transmitted (in the case of YES), that is, an abnormality has occurred, The process proceeds to process procedure type selection process S100.

As shown in FIG. 9, in the first process S102 of the specific process procedure type selection process S100, it is determined whether or not the ankle joints 28 and 36 of the free leg are abnormal. If it is determined in S102 that the abnormal leg ankle joints 28 and 36 are YES (in the case of YES), S104 is executed. When S104 is executed, the type [7] is selected as the specific processing procedure before the leg contact. As shown in FIG. 8, the specific processing procedure content of the type [7] of the specific processing procedure is that the rotation speed of the motor follows the command value.
In S106 following S104, the type [1] is selected as the specific processing procedure after the contact with the leg. Then, the specific process procedure type selection process S100 ends.
If it is determined in S102 that the abnormal leg is not the ankle joint 28 or 36 of the free leg (in the case of NO), the process proceeds to S108.

In S108, it is determined whether or not the ankle joints 28 and 36 of the stance are abnormal. If it is determined in S108 that the ankle joints 28 and 36 of the stance are abnormal (in the case of YES), the process proceeds to S110.
In S110, the type [7] is selected as the specific processing procedure before the leg contact. In S112 following S110, the type [1] is selected as the specific processing procedure after the grounding. After executing S112, the specific process procedure type selection process S100 is terminated. If the robot 10 is in the state of both legs when the determination of S108 is performed, S110 is skipped and only S112 is performed.

If it is determined in S108 that the abnormality is not the ankle joint 28 or 36 of the stance (in the case of NO), S114 is performed.
When S114 is performed, it is determined whether or not the knee joints 24 and 34 of the free leg are abnormal. When it is determined in S114 that the abnormalities are the knee joints 24 and 34 of the free legs (in the case of YES), the type [7] is selected as the specific processing procedure before the leg contact. Then, the process proceeds to S118, and the type [2] is selected as the specific processing procedure after the leg contact. After executing S118, the specific process procedure type selection process S100 is terminated.
If it is determined in S114 that the abnormal leg is not the knee joint 24, 34 of the free leg (in the case of NO), the process proceeds to S120.

In S120, it is determined whether or not the knee joints 24 and 34 of the standing leg are abnormal. When it is determined in S120 that the abnormalities are the knee joints 24 and 34 of the stance (in the case of YES), S122 is executed. When S122 is executed, the type [2] of the specific processing procedure is selected. Then, the specific process procedure type selection process S100 ends.
If it is determined that the abnormal knee joints 24 and 34 are not abnormal in S120 (NO), the process proceeds to S124. In S124, it is determined whether or not the hip joints 42 and 50 of the free leg are abnormal. If it is determined in S124 that the abnormal leg hip joints 42 and 50 are YES (YES), S126 is executed.
When S126 is executed, the type [7] is selected as the specific processing procedure before the leg contact. In S128 following S126, the type [2] is selected as the specific processing procedure after the contact with the leg. After executing S128, the specific process procedure type selection process S100 is terminated.
If it is determined in S124 that the abnormal leg is not the hip joint 42, 50 of the free leg (in the case of NO), the process proceeds to S130.

In S130, it is determined whether or not it is the standing hip joints 42 and 50. If it is determined in S130 that the abnormalities are the hip joints 42 and 50 of the standing leg (in the case of YES), S132 is executed. When S132 is executed, the type [2] is selected as the specific processing procedure. Then, the specific process procedure type selection process S100 ends.
If it is determined in S130 that it is not the standing hip joints 42 and 50 (in the case of NO), S134 is performed.

When S134 is performed, it is determined whether or not the shoulder joints 66 and 76 are abnormal. If it is determined in S134 that the shoulder joints 66 and 76 are abnormal (in the case of YES), the process proceeds to S136. In S136, the type [6] of the specific processing procedure is selected for the elbow joints 62 and 72, and the specific processing is performed for the leg joints (the hip joints 42 and 50, the knee joints 24 and 34, and the ankle joints 28 and 36). Select procedure type [7]. After performing S136, the specific process procedure type selection process S100 is terminated.
If it is determined in S134 that it is not the shoulder joints 66 and 76 that are abnormal (in the case of NO), S138 is performed.
When S138 is performed, it is determined whether or not the elbow joints 62 and 72 are abnormal. When it is determined that the elbow joints 62 and 72 are abnormal in S138 (in the case of YES), the process proceeds to S140. In S140, the type [6] of the specific processing procedure is selected for the shoulder joints 66 and 76, and the type [7] of the specific processing procedure is selected for the leg joint. Then, the specific process procedure type selection process S100 ends.
If it is determined that the elbow joints 62 and 72 are not abnormal in S138 (in the case of NO), the specific process procedure type selection process S100 is terminated as it is.

As shown in FIG. 6, S150 is executed subsequent to the specific process procedure type selection process S100. When S150 is executed, the type of the selected specific processing procedure is transmitted to a normal joint controller. For example, when the joint controller [6] is abnormal, the type of the specific processing procedure selected is transmitted to the joint controllers [1] to [5] and the joint controllers [7] to [N]. By executing this processing S150, the normal joint controller operates according to the type of the selected specific processing procedure.
In S152 following S150, it is determined whether or not the robot 10 is stably stationary. If it is determined in S152 that the robot 10 is not stably stationary (NO), the process waits as it is. If it is determined in S152 that the robot 10 is stably stationary (in the case of YES), the central controller process S10 is terminated.

The joint controller process S200 executed by the joint controllers [1] to [N] will be described.
As shown in FIG. 10, in S202 of the joint controller process S200, it is determined whether or not an operation command has been received from the central controller 102. If it is determined in S202 that an operation command has been received (YES), the process proceeds to S204. In S204, it is determined whether or not the received operation command is normal. When it is determined that the operation command received in S204 is normal (in the case of YES), S206 is executed.

When S206 is executed, a reception confirmation signal is returned to the central controller 102. The reception confirmation signal includes the address of the joint controller that confirmed the reception. With this address, the central controller 102 can identify which joint controller has returned the reception confirmation signal.
In S208 following S206, it is determined whether or not the motor 180 is normal. As already described, whether or not the motor 180 is normal is monitored by the communication abnormality viewing unit 160 and the motor abnormality viewing unit 162. When it is determined in S208 that the motor 180 is normal (in the case of YES), S210 is executed.
When S210 is executed, the motor 180 is controlled in accordance with the operation command value. Therefore, the robot 10 operates according to the operation command value.
In S212 following S210, the type of abnormality processing procedure stored in the abnormality processing procedure type storage unit 164 is updated. In this way, each time the type of abnormality processing procedure is transmitted from the central controller 102, the type of abnormality processing procedure is updated. After executing S212, the processing from S202 onward is performed again.

On the other hand, if it is determined in S202 that no operation command has been received from the central controller 102 (NO), the process proceeds to S213. In S213, it is determined whether or not the type of the specific processing procedure has been received from the central controller 102. When the type of the specific processing procedure is received, the type is temporarily stored in the specific processing procedure type storage unit 171. If it is determined in S213 that the type of the specific processing procedure has been received from the central controller 102 (in the case of YES), S214 is executed. When S214 is executed, the motor 180 is controlled according to the type of the specific process procedure stored in the specific process procedure type storage unit 171. Specifically, the specific processing procedure content corresponding to the type of the specific processing procedure stored in the specific processing procedure type storage unit 171 is read from the specific processing procedure content storage unit 172, and the motor 180 is controlled according to the content. The After executing S214, the joint controller process S200 is terminated.
If it is determined in S213 that the type of the specific processing procedure has not been received from the central controller 102 (NO), S215 is executed. In S215, it is determined whether or not the operation command is received within a predetermined time. The predetermined time is set to be sufficiently longer than the transmission interval when the operation command transmission is normal. If it is determined in S215 that the operation command has been received within the predetermined time (in the case of YES), S202 is performed again. When it is determined in S214 that the operation command has not been received within the predetermined time (in the case of NO), S216 is executed.

S216 is also executed when it is determined that the operation command received in S204 is not normal (in the case of NO), or in the case where it is determined in S208 that the motor is not normal (in the case of NO).
When S216 is executed, the motor 180 is controlled in accordance with the type of abnormality processing procedure stored in the abnormality processing procedure type storage unit 164. Specifically, the abnormality processing procedure content corresponding to the type of abnormality processing procedure stored in the abnormality processing procedure type storage unit 164 is read from the abnormality processing procedure content storage unit 166, and the motor 180 is controlled according to the content. The After executing S216, the joint controller process S200 is terminated.
In this way, when the joint controllers [1] to [N] do not receive an operation command from the central controller 102 within a predetermined time, if the received operation command is abnormal, the motor 180 is abnormal. The motor 180 is controlled according to the type of abnormality processing procedure stored by itself. Therefore, when an abnormality occurs, the joint controllers [1] to [N] can perform an operation according to the type of abnormality processing procedure stored in advance without relying on the central controller 102.

  When the motor abnormality monitoring unit 162 determines that the motor 180 is abnormal, for example, if a fatal problem occurs in the motor 180 itself, the control cannot be performed. Therefore, it is preferable to control the motor 180 when the malfunction of the motor 180 is not fatal or when the malfunction is temporary, and to stop the motor 180 when the malfunction is fatal. In this case, power supply to the motor 180 may be stopped. Stopping power supply to the motor 180 can prevent the motor 180 from running away.

The operation of the robot 10 when an abnormality occurs will be specifically described.
(1) If the ankle joint of the swing leg is abnormal;
In this case, the motor 180 of the ankle joints 28 and 36 of the abnormal free leg makes the torque zero according to the processing of S22 and S24 of the abnormal processing procedure type selection processing S20 (FIG. 7) before the leg touches down. Allow free rotation. After the landing on the leg, the torque of the motor 180 is gradually increased and locked after a predetermined time.
The motor 180 of the joint other than the ankle joints 28 and 36 of the free leg (normal joint) operates the rotation speed before the leg contact according to the processing of S104 and S106 of the specific processing procedure type selection processing S100 (FIG. 9). According to the command value, the torque is gradually increased after the ground contact with the leg and locked after a predetermined time.
When such control is performed, the toes 30, 39 connected to the abnormal ankle joints 28, 36 become dull as the motor 180 rotates freely until the legs contact the ground. The normal joint motor rotates at the speed corresponding to the operation command value until the leg touches down, so that the toes 30, 39 of the free leg come into contact with the floor. When the toes 30 and 39 are dangled, the six-axis force sensors 29 and 38 can rotate the moment or axial direction even if the toes 30 and 39 contact the floor and rotate around the ankle joints 28 and 36. The power of is not detected. For this reason, after the toes 30 and 39 rotate around the ankle joints 28 and 36 and follow the floor surface, force (weight of the robot 10) acts on the six-axis force sensors 29 and 38, and the grounding of the legs is performed. Detected. The feet 30 and 39 imitating the floor surface are in contact with the floor on the entire back surface.
When the ground contact of the leg is detected, the abnormal ankle joints 28 and 36 and the motor 180 of other normal joints gradually increase the torque and lock after a predetermined time. The feet 30 and 39 connected to the abnormal ankle joints 28 and 36 are in contact with the floor on the entire back surface when the motor torque gradually increases. For this reason, it becomes difficult for the robot 10 to fall. In this manner, the robot 10 does not fall down even if the ankle joints 28 and 36 of the free leg become abnormal, and finally stops in a state where both legs are legged. When the ground contact of the leg is detected, the torque of the motor 180 is gradually increased and then locked. If the lock is directly locked, the robot 10 tends to move further due to inertia and falls easily. It is. From the viewpoint of preventing the robot 10 from toppling over, it is preferable that the torque change rate of the motor 180 after the leg contact is not constant. This is because if the torque of the ankle joints 28 and 38 is delayed after the legs are grounded, the ankle joints 28 and 38 rotate and the robot 10 is likely to fall. For this reason, it is desirable that the torque of the motor 180 increases suddenly to some extent when the leg contacts the ground, and then gradually increases. That is, it is preferable to increase the torque of the motor 180 at a change rate that satisfies both the prevention of the robot 10 from falling due to the influence of inertia and the prevention of the robot 10 from falling due to the rotation of the ankle joints 28 and 38.
It should be noted that the torque of the motor 180 of the ankle joints 28 and 38 before touching the legs can be set to an intermediate size such that the toes 30 and 39 follow the floor and the posture of the robot 10 does not greatly collapse.

(2) If the ankle joint of the stance is abnormal;
The ankle joints 28 and 36 of the standing leg, which are abnormal, have an intermediate magnitude of the torque of the motor 180 before the grounding of the leg according to the processing of S28 and S30 of the abnormal processing procedure type selection processing S20, and more torque is applied. Rotate in case. After the landing on the leg, the torque of the motor 180 is gradually increased and locked after a predetermined time.
The joints (normal joints) other than the ankle joints 28 and 36 of the standing leg are set to the rotation speed of the motor 180 according to the operation command value before the leg contact according to the processing of S110 and S112 of the specific processing procedure type selection processing S100. After the landing on the leg, the torque of the motor 180 is gradually increased and locked after a predetermined time.
When controlled as described above, the ankle joints 28 and 36 of the standing leg that are abnormal before the ground contact with the leg do not rotate suddenly because the torque of the motor 180 is intermediate. . Therefore, the robot 10 is prevented from falling.
In addition, the intermediate torque of the motor 180 is set to a value that is defeated by the strength of the robot 10 when the motor 180 with a normal joint rotates and the robot 10 walks. For this reason, the ankle joints 28 and 36 of the abnormal standing leg are rotated following the normal joint motor 180 rotating at the speed corresponding to the operation command value until the leg is grounded.
When the leg contacts the ground, the motor 180 of the abnormal ankle joints 28 and 36 and other normal joints gradually increases the torque and locks after a predetermined time. In this way, the robot 10 does not fall down even if the ankle joints 28 and 36 of the stance stand become abnormal, and finally stops in a state where both legs are standing.

(3) If the knee joint of the swing leg is abnormal;
In this case, the knee joints 24 and 34 of the abnormal free leg are rotated freely by setting the torque of the motor 180 to zero according to the processing of S34 and 36 of the abnormal processing procedure type selection processing S20 before the contact with the leg. It can be so. After the landing on the legs, the torque of the motor 180 is gradually reduced so that the motor 180 can rotate freely after a predetermined time. The motor 180 that can rotate freely before touching the leg generates torque when the leg touches, and then gradually reduces the torque.
The joints other than the knee joints 24 and 34 (normal joints) of the free leg are set to the rotation speed of the motor 180 according to the operation command value before the leg touchdown according to the processing of S116 and S118 of the specific processing procedure type selection processing S100. After the legs touch down, the torque of the motor 180 is gradually reduced so that the motor 180 can rotate freely after a predetermined time.
Therefore, the abnormal knee joints 24 and 34 of the free leg can rotate freely until the leg contacts the ground. When the abnormal knee joints 24 and 34 of the free leg rotate freely, the toes 30 and 39 approach the floor by the action of gravity. For this reason, the feet 30 and 39 are grounded early. When the feet 30 and 39 are grounded early, the time required for the robot 10 to stably stand still can be shortened. When the free leg contacts the ground, this is detected by the six-axis force sensors 29 and 38.
When the ground contact of the free leg is detected, the abnormal knee joints 24 and 34 and the motors 180 of other normal joints gradually reduce the torque so that they can rotate freely after a predetermined time. When the torque of the motor 180 is gradually reduced so that the motor 180 can rotate freely after a predetermined time, the robot 10 gradually crouches and finally stops in a kneeling state. While the robot 10 crouches, the arms 60 and 70 may come into contact with the floor, but the torque of the motor 180 of the shoulder joints 66 and 76 and the elbow joints 62 and 70 is gradually reduced. For this reason, when the robot 10 crouches, the arms 60 and 70 are stretched and the robot 10 is prevented from falling.
Note that the robot 10 can be kept stationary in the state of both stepladders without kneeling.

(4) When the abnormal knee joint is a stance;
The motor 180 for the abnormal knee joints 24 and 34 of the standing leg and the motor 180 for other normal joints are processed in S40 in the abnormal process procedure type selection process S20 and in S122 in the specific process procedure type selection process S100. Accordingly, the torque is gradually reduced so that it can freely rotate after a predetermined time.
When the torques of the motors 180 of the standing leg knee joints 24 and 34 that are abnormal and the motors 180 of the other normal joints are gradually reduced to be able to rotate freely after a predetermined time, the robot 10 gradually crouches, Finally, it will rest on the knees.
Note that the robot 10 can be kept stationary in the state of both stepladders without kneeling.

(5) If the abnormal leg is the hip joint of the swing leg;
In this case, the motor 180 of the hip joints 42 and 50 of the abnormal free leg is set to an intermediate magnitude of torque according to the processing of S44 and S46 of the abnormal processing procedure type selection processing S20 before the leg contact. When more torque is applied, the motor is rotated and the torque is gradually reduced after the contact with the leg so that it can be freely rotated after a predetermined time.
The joints other than the hip joints 42 and 50 (normal joints) of the free leg are set to the rotation speed of the motor 180 according to the operation command value before the leg contact according to the processing of S126 and S128 of the specific processing procedure type selection processing S100. After the landing on the legs, the torque of the motor 180 is gradually reduced so that the motor 180 can rotate freely after a predetermined time.
When controlled in this way, the robot 10 walks until the free leg comes into contact with the ground, and then kneels. Therefore, the robot 10 is prevented from falling. Note that the robot 10 can be kept stationary in the state of both stepladders without kneeling.

(6) The abnormal case is a hip joint of a standing leg;
The motor 180 of the hip joints 42 and 50 of the abnormal standing legs and the motor 180 of the other normal joints follow the processing of S50 of the abnormal processing procedure type selection processing S20 and the processing of S132 of the specific processing procedure type selection processing S100. The torque is gradually reduced so that it can rotate freely after a predetermined time.
When the torques of the motors 180 of the standing leg hip joints 42 and 50 and the motors 180 of the other normal joints are gradually reduced to be able to rotate freely after a predetermined time, the robot 10 gradually crouches and finally Stand still while kneeling. For this reason, the robot 10 is prevented from falling. Note that the robot 10 can be kept stationary in the state of both stepladders without kneeling.

(7) Should the shoulder joint be abnormal;
The abnormal motor 180 of the shoulder joints 66 and 76 locks the rotation angle of the motor 180 at a predetermined angle in accordance with the processing of S54 of the abnormal processing procedure type selection processing S20. The elbow joints 62 and 72 and the leg joint follow the process of S136 of the specific process procedure type selection process S100. That is, the motor 180 of the elbow joints 62 and 72 is locked at a predetermined rotation angle. The leg joint motor 180 follows the operation command value.
In this case, the robot 10 continues walking with the shoulder joints 66 and 76 and the elbow joints 62 and 72 locked at a predetermined angle. When the shoulder joints 66 and 76 and the elbow joints 62 and 72 are locked at a predetermined angle, the arms 60 and 70 can be fixed without being unnaturally seen. The state of the arms 60 and 70 that does not look unnatural is, for example, a state in which the upper arms 61 and 71 are extended downward and the elbow joints 62 and 72 are lightly bent.
In order to prevent the posture of the robot 10 from becoming unstable due to a shock that locks the motors 180 of the shoulder joints 66 and 76 and the elbow joints 62 and 72, the rotational speed of the motor 180 is gradually decreased. May be locked.

(8) When the elbow joint is abnormal;
The motor 180 of the abnormal elbow joints 62 and 72 gradually decreases the rotation speed according to the process of S58 of the abnormal process procedure type selection process S20, and locks after a predetermined time. The shoulder joints 66 and 76 and the leg joint follow the process of S140 of the specific process procedure type selection process S100. When such processing is performed, the motor 180 of the shoulder joints 66 and 76 is locked at a predetermined rotation angle. The leg joint motor 180 follows the operation command value. Therefore, the robot 10 continues walking with the shoulder joints 66 and 76 and the elbow joints 62 and 72 locked.

Specific examples of the present invention have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above.
In addition, the technical elements described in the present specification or drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology illustrated in the present specification or the drawings achieves a plurality of objects at the same time, and has technical utility by achieving one of the objects.

The perspective view of the robot which concerns on an Example. The mechanical connection state of the joint of the robot which concerns on an Example is shown. The block diagram of the control system of the robot which concerns on an Example. The block diagram of the central controller which concerns on an Example. The block diagram of the joint controller which concerns on an Example. The flowchart of the central controller process which concerns on an Example. The flowchart of the abnormal process procedure kind selection process which concerns on an Example. The table | surface which shows the abnormal process procedure content and specific process procedure content which concern on an Example. The flowchart of the specific process procedure type selection process which concerns on an Example. The flowchart of the joint controller process which concerns on an Example.

Explanation of symbols

10: Robot 19: Body 20: Left leg 22: Left upper thigh 24: Left knee joint 26: Left lower thigh 28: Left ankle joint 29: Left six-axis force sensor 30: Left foot tip 32: Right leg 33: Upper right thigh 34: Right Knee joint 35: right lower leg 36: right ankle joint 38: right 6-axis force sensor 39: right foot tip 40: waist 43, 44, 46: motor 42: left hip joint 50: right hip joint 52, 53, 54: motor 59: shoulder 60: Left arm 61: Left upper arm 62: Left elbow joint 63: Left forearm 64: Left palm 66: Left shoulder joint 70: Right arm 71: Upper right arm 72: Right elbow joint 73: Right forearm 74: Right palm 76: Right shoulder joint 80 : Head 82: neck joint 83, 84: motor 102: central controller 104, 106: communication line 110: acoustic controller 112: speaker 120: operation command value calculation unit, 120a: data storage unit, 120b: abnormality processing logic storage unit 22: Image processing unit 123: CCD camera 124: External communication unit 125: Antenna 126: In-robot communication unit 126a: Communication abnormality monitoring unit 126b: Communication port 150: Joint controller 152: Communication control unit 154: Reception confirmation Signal reply unit 156: motor control unit 158: motor drive command generation unit 160: communication abnormality viewing unit 162: motor abnormality viewing unit 163: abnormality processing unit 164: abnormality processing procedure type storage unit 166: abnormality processing procedure content storage unit 168, 169: Power line 171: Specific processing procedure type storage unit 172: Specific processing procedure content storage unit 176: Motor drive circuit

Claims (4)

The robot has a plurality of joints connecting the body side member and the end side member , and is a robot that walks while changing its posture by controlling the angle of the joint,
A joint actuator that is provided for each joint and changes the angle of the joint;
A joint controller provided for each joint actuator;
A central controller that sequentially commands joint operation command values for each joint controller ,
Each joint controller stores a plurality of types of abnormality processing procedures for controlling the joint actuator when an abnormality occurs in which the joint angle of its own joint does not change according to the operation command value commanded by the central controller.
Central controller, the "type of abnormality processing procedure" in which the abnormality regarding the section controller generated to identify an abnormal procedure to be performed to select for each joint controller in accordance with the attitude of the robot, the selected "abnormal procedure ”Type” along with the operation command value to each joint controller sequentially,
When each joint controller receives the motion command value and the “type of abnormality processing procedure”, it controls its joint actuator according to the received motion command value and also receives the latest “type of abnormality processing procedure” received. When the abnormality occurs, the joint actuator is controlled based on the abnormality processing procedure specified by the stored “type of abnormality processing procedure” among the plurality of types of abnormality processing procedures. robot. Each joint controller stores a plurality of types of specific processing procedures for controlling its joint actuator when the abnormality occurs in another joint controller,
Central controller, either when the abnormality in the joint controller occurs, normal joint in accordance with the "type of identification process procedure" identifying a particular procedure to normal Takashi Seki controller performs the posture of the robot Select for each controller, command the selected “specific processing procedure type” to each normal joint controller,
When each joint controller receives a “specific processing procedure type” from the central controller, each joint controller selects a joint actuator based on the specific processing procedure specified by the received “specific processing procedure type” among the plurality of specific processing procedures. robot according to claim 1, characterized in that control. The robot according to claim 1 or 2, wherein the abnormal processing procedure and / or the specific processing procedure is switched at the timing of contact of the free leg . The abnormality includes at least one of a state in which transmission / reception between the joint controller and the central controller is not normally performed and a state in which the joint controller cannot control the joint angle of its own joint according to the operation command value received by itself. The robot according to claim 1, wherein the robot is included.

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