JP4475708B2 - Legged mobile robot and its motion control method - Google Patents

Description

【００９１】
また、ロボット１００の腰部高さが一定（ｒ’_hz＋ｒ_qz＝ｃｏｎｓｔ）で、且つ、膝部質点がゼロであることを前提とする。
【００９２】
図１２に示した処理手順は、ロボット１００の歩行や身振り・手振りなどの動作を指示する旨のユーザ・コマンド等の入力に応答して開始する。本実施例では、ユーザ・コマンドが指示するロボット１００の動作は、スケーティング動作を意味する。但し、ユーザの指示は、その他の動作、例えば、直立不動時の上肢と体幹を用いた身振り・手振り、２足による普通歩行時、２足歩行時における上肢と体幹を用いた身振り・手振りなどを含んでいてもよい。
【００９３】
かかるユーザ・コマンドは、主制御部８１において解釈され、足部（より具体的には足底）運動、足部運動から導出されるＺＭＰ軌道、体幹運動、上肢運動、腰部の姿勢や高さなど、各部の駆動・動作を実際に決定するためのパターンが設定される（ステップＳ１１）。より具体的には、まず足部運動パターン、次いでＺＭＰ軌道、体幹運動パターン、そして上肢運動パターンを設定する。また、腰部の運動に関しては、Ｚ’方向のみ設定し、Ｘ’及びＹ’の各方向については未知とする。
【００９４】
次に、線形・非干渉多質点近似モデルを用いて、足部、体幹、そして上肢運動により発生する設定ＺＭＰ上でのピッチ軸、ロール軸まわりの各モーメント（Ｍ_x，Ｍ_y）を算出する（ステップＳ１２）。
【００９５】
次いで、線形・非干渉多質点近似モデルを用いて、腰部水平面内運動（ｒ’_hx，ｒ’_hy）によって発生する設定ＺＭＰ上でのモーメントを算出する（ステップＳ１３）。
【００９６】
次いで、設定ＺＭＰ上におけるモーメントに関する釣り合い式を、ロボットとともに動く運動座標系Ｏ’−Ｘ’Ｙ’Ｚ’上で導出する（ステップＳ１４）。より具体的には、足部、体幹、そして上肢運動により発生するモーメント（Ｍ_x，Ｍ_y）を既知変数の項として右辺に、腰部質点の水平運動に関する項（ｒ_hx，ｒ_hy）を未知変数の項として左辺にまとめ、下式に示すような線形・非干渉なＺＭＰ方程式（１）を導出する。
【００９７】
【数２】

【００９８】
但し、以下が成立するものとする。
【００９９】
【数３】

【０１００】
次いで、上記のＺＭＰ方程式（１）を解いて、腰部水平面内軌道を算出する（ステップＳ１５）。例えば、オイラー法やルンゲ・クッタ法などの数値的解法（周知）を用いてＺＭＰ方程式（１）を解くことで、未知変数としての腰部の水平絶対位置（ｒ_hx，ｒ_hy）の数値解を求めることができる（ステップＳ１６）。ここで求められる数値解は、安定歩行可能な腰部運動パターンの近似解であり、より具体的にはＺＭＰが目標位置に入るような腰部水平絶対位置である。ＺＭＰ目標位置は、通常、着床した足底に設定される。
【０１０１】
算出された近似解上では予め設定した体幹・上肢運動が実現できない場合には、体幹・上肢運動パターンの再設定・修正を行う（ステップＳ１７）。この際、膝部の軌道を算出してもよい。
【０１０２】
次いで、上述のようにして得られた全身運動パターンを代入して、厳密モデル（すなわち、剛体、若しくは非常に多くの質点からなるロボット１００の精密なモデル）における設定ＺＭＰ上のモーメント（ｅＭ_x，ｅＭ_y）を算出する（ステップＳ１８）。非厳密モデルでは上記の［数３］が成立することを前提としたが、厳密ではかかる前提を要しない（すなわち時間の変化に対して一定である必要はない）。
【０１０３】
厳密モデルにおけるモーメント（ｅＭ_x，ｅＭ_y）は、腰部運動の発生するモーメント誤差である。続くステップＳ１９では、このモーメント（ｅＭ_x，ｅＭ_y）が非厳密モデルにおける近似モーメントの許容値（εＭ_x，εＭ_y）未満か否かを判定する。許容値ε未満であれば、腰部安定運動パターンの厳密解及び安定したスケーティング動作を実現できる全身運動パターンを得ることができたので（ステップＳ２０）、本ルーチン全体を終了する。
【０１０４】
他方、厳密モデルにおけるモーメント（ｅＭ_x，ｅＭ_y）が近似モデルにおけるモーメントの許容値（εＭ_x，εＭ_y）以上であった場合には、厳密モデルにおけるモーメント（ｅＭ_x，ｅＭ_y）を用いて近似モデルにおける既知発生モーメント（Ｍ_x，Ｍ_y）を修正して（ステップＳ２１）、再びＺＭＰ方程式の導出を行い、許容値ε未満に収束するまで、腰部運動パターンの近似解の算出と修正を繰り返し実行する。
【０１０５】
図１２に示す処理手順によれば、可動脚を交互に用いて滑走するローラ・スケーティング動作を行うために、足部運動の他に、体幹運動や上肢運動の設定に基づいて姿勢を安定させる腰部運動を実現することができる。体幹運動や上肢運動とは、身振りや手振りなどのロボットの上半身を用いた表現動作に相当する。また、各可動脚が６自由度からなる脚式移動ロボット１００（図８を参照のこと）の場合、各足部２２Ｒ／Ｌの位置と腰部の水平位置と高さで、脚の姿勢すなわち下肢の「歩容」が一意に定まるので、腰部運動パターンを生成することは下肢の「歩容」を決定することを意味する。
【０１０６】
また、図１３には、本実施例に係るロボット１００において安定したスケーティング動作を行うための、腰部運動の制御処理手順に関する他の例をフローチャートの形式で示している。但し、該処理手順では、上述と同様に、線形・非干渉多質点近似モデルを用いてロボット１００の各関節位置や動作を記述するものとする。
【０１０７】
該処理手順は、ロボット１００の歩行や身振り・手振りなどの動作を指示する旨のユーザ・コマンド等の入力に応答して開始する。本実施例では、ユーザ・コマンドが指示するロボット１００の動作は、スケーティング動作を意味する。但し、ユーザの指示は、その他の動作、例えば、直立不動時の上肢と体幹を用いた身振り・手振り、２足による普通歩行時、２足歩行時における上肢と体幹を用いた身振り・手振りなどを含んでいてもよい。
【０１０８】
かかるユーザ・コマンドは、主制御部８１において解釈され、足部（より具体的には足底）運動、足部運動から導出されるＺＭＰ軌道、体幹運動、上肢運動、腰部の姿勢や高さなど、各部の駆動・動作を実際に決定するためのパターンが設定される（ステップＳ３１）。より具体的には、まず足部運動パターン、次いでＺＭＰ軌道、体幹運動パターン、そして上肢運動パターンを設定する。また、腰部の運動に関しては、Ｚ’方向のみ設定し、Ｘ’及びＹ’の各方向については未知とする。
【０１０９】
次に、線形・非干渉多質点近似モデルを用いて、足部、体幹、そして上肢運動により発生する設定ＺＭＰ上でのピッチ軸、ロール軸まわりの各モーメント（Ｍ_x，Ｍ_y）を算出する（ステップＳ３２）。
【０１１０】
次いで、腰部水平面内運動（ｒ’_hx，ｒ’_hy）をフーリエ級数展開する（ステップＳ３３）。当業界において既に周知のように、フーリエ級数展開することにより、時間軸成分を周波数成分に置き換えて演算することができる。すなわち、この場合には腰部の動きを周期的な動きとして捉えることができる。また、ＦＦＴ（拘束フーリエ変換）を適用することができるので、計算速度を大幅に向上させることができる。
【０１１１】
次いで、設定ＺＭＰ上でのピッチ軸、ロール軸まわりの各モーメント（Ｍ_x，Ｍ_y）についてもフーリエ級数展開する（ステップＳ３４）。
【０１１２】
次いで、腰部水平面内軌道のフーリエ係数を算出し、さらに逆フーリエ級数展開することで（ステップＳ３５）、腰部運動の近似解が求まる（ステップＳ３６）。ここで求められる近似解は、安定歩行可能な腰部運動パターンを規定する腰部の水平絶対位置の近似解（ｒ_hx，ｒ_hy）であり、より具体的にはＺＭＰが目標位置に入るような腰部水平絶対位置である。ＺＭＰ目標位置は、通常、着床した足底に設定される。
【０１１３】
算出された近似解上では予め設定した体幹・上肢運動が実現できない場合には、体幹・上肢運動パターンの再設定・修正を行う（ステップＳ３７）。この際、膝部の軌道を算出してもよい。
【０１１４】
次いで、上述のようにして得られた全身運動パターンを代入して、厳密モデル（すなわち、剛体、若しくは非常に多くの質点からなるロボット１００の精密なモデル）における設定ＺＭＰ上のモーメント（ｅＭ_x，ｅＭ_y）を算出する（ステップＳ３８）。非厳密モデルでは上記の［数３］が成立することを前提としたが、厳密ではかかる前提を要しない（すなわち時間の変化に対して一定である必要はない）。
【０１１５】
厳密モデルにおけるモーメント（ｅＭ_x，ｅＭ_y）は、腰部運動の発生するモーメント誤差である。続くステップＳ３９では、このモーメント（ｅＭ_x，ｅＭ_y）が近似モデルにおけるモーメントの許容値（εＭ_x，εＭ_y）未満か否かを判定する。許容値ε未満であれば、腰部安定運動パタンーの厳密解及び安定スケーティング動作を実現できる全身運動パターンを得ることができたので（ステップＳ４０）、本ルーチン全体を終了する。
【０１１６】
他方、厳密モデルにおけるモーメント（ｅＭ_x，ｅＭ_y）が近似モデルにおけるモーメントの許容値（εＭ_x，εＭ_y）以上であった場合には、厳密モデルにおけるモーメント（ｅＭ_x，ｅＭ_y）を用いて非厳密モデルにおける既知発生モーメント（Ｍ_x，Ｍ_y）を修正して（ステップＳ４１）、再びフーリエ級数展開して、許容値ε未満に収束するまで、腰部運動パターンの近似解の算出と修正を繰り返し実行する。
【０１１７】
当業者であれば、図１３に示す処理手順によっても、図１２で示した処理手順と同様、体幹運動や上肢運動の設定に基づいて安定したスケーティング動作が可能な腰部運動を実現することができる、ということを理解できるであろう。特に、ＺＭＰ方程式の数値的解法に頼らず、フーリエ級数展開を用いることで、周期運動を高速に求めると同時に、ＦＦＴ（高速フーリエ変換）を適用することでモーメント計算そのものを高速化することができる。
【０１１８】
体幹運動や上肢運動とは、身振りや手振りなどのロボットの上半身を用いた表現動作に相当する。また、各可動脚が６個の関節自由度の脚式移動ロボット１００（図８を参照のこと）の場合、各足部２２Ｒ／Ｌの位置と腰部の高さで脚の姿勢が一意に定まるので、腰部運動パターンを生成することは、脚の姿勢すなわち下肢の「歩容」を決定することを意味する（前述）。
【０１１９】
図１４〜図１６には、ローラ・スケーティング・ユニット２００を各可動脚に装着した脚式移動ロボット１００が、スケーティング動作により直進あるいは左右方向に旋回する運動を行うときの各足底の動きを図解している。
【０１２０】
図１４に示すように、まず右脚の股関節ヨー軸アクチュエータを駆動させるなどして、右足底を、ロボット１００の進行方向すなわちピッチ軸とは一致しない向きにする。図示の例では、右足底をｘ軸すなわちロール軸に略平行になるように移動させている。但し、右脚部ではなく左脚部の方を駆動させてもよい（以下、同様に左右の脚の可動を交換してもよいと解釈されたい）。
【０１２１】
さらに、右足底を接地させて後方にける動作を行うことによって、左足部に対して移動の初速度Ｖ₀を印加する。このとき、旋回角度θを所望の値に設定することによって、直進、右旋回、及び左旋回のいずれかを選択することができる。
【０１２２】
上記した一連の動作中には、ＺＭＰを安定度判定規範とするＺＭＰ軌跡制御（図１２又は図１３を参照のこと）を行うことによって、スケーティング開始時のロボット１００の姿勢を安定化させ転倒を防止することができる。
【０１２３】
直進、右旋回、若しくは左旋回いずれかの方向で滑走を開始し、加速され、移動速度Ｖ_tが安定すると、図１５に示すように、左右の足底をｘ軸すなわちロール軸方向に揃える。この結果、ロボット１００は、移動方向を維持しつつ移動速度を減衰しながら滑走する。滑走動作中も、ＺＭＰ軌跡制御（図１２又は図１３を参照のこと）を行うことによって、ロボット１００の姿勢を安定化させ転倒を防止することができる。
【０１２４】
移動速度Ｖ_tが所定の移動速度まで減衰すると、図１６に示すように、左脚の股関節ヨー軸アクチュエータを駆動させるなどして、左足底を、ロボット１００の進行方向すなわちピッチ軸とは一致しない向きにする。図示の例では、左足底をｘ軸すなわちロール軸に略平行になるように移動させている。
【０１２５】
さらに、左足底を接地させて後方にける動作を行うことによって、左足部に対して移動の初速度Ｖ₀を印加する。このとき、旋回角度θを所望の値に設定することによって、直進、右旋回、及び左旋回のいずれかを選択することができる。
【０１２６】
上記した一連の動作中には、ＺＭＰを安定度判定規範とするＺＭＰ軌跡制御（図１２又は図１３を参照のこと）を行うことによって、スケーティング開始時のロボット１００の姿勢を安定化させ転倒を防止することができる。
【０１２７】
図１４〜図１６に示すような、加速、速度の減衰、加速という動作パターンを順次繰り返すことによって、ロボット１００は安定した滑走動作を継続することができる。また、加速の際に旋回角度θを設定することによって、直進、右旋回、及び左旋回を適宜実行して、滑走中に任意の軌跡を描くこともできる。
【０１２８】
また、図１７〜図１９には、ローラ・スケーティング・ユニット２００を各可動脚に装着した脚式移動ロボット１００が、スケーティング動作中に減速及び／又は停止する運動を行うときの各足底の動きを図解している。
【０１２９】
スケーティングにより滑走中のロボット１００を減速しあるいは停止させたいときには、右足底と左足底が平行して前進している状態（図１５を参照のこと）から、図１７に示すように、右足部若しくは左足部を遊脚させ、その遊脚した足部を滑走路面に接地させて、その際に発生する摩擦力を調整することによって、ロボット１００の移動速度Ｖ_tを制動することができる。
【０１３０】
このような一連の制動動作中において、ＺＭＰ軌跡制御（図１２又は図１３を参照のこと）を行うことによって、ロボット１００の姿勢を安定化させ転倒を防止することができる。
【０１３１】
あるいは、右足底と左足底が平行して前進している状態（図１５を参照のこと）から、図１８に示すように、右足底と左足底の双方を、前端が内側に且つ後端が外側に向くようにすることで、進行方向に摩擦力を印可して、移動速度Ｖ_tを減衰せしめる。このとき、進行方向に対する各足底の傾きθを調整することにより、制動を調整することができる。
【０１３２】
このような一連の制動動作中において、ＺＭＰ軌跡制御（図１２又は図１３を参照のこと）を行うことによって、ロボット１００の姿勢を安定化させ転倒を防止することができる。
【０１３３】
あるいは、回転ローラ部にブレーキ機能を備えて、該ブレーキを制御することによって、ロボット１００の移動速度Ｖ_tを減衰させ停止させるようにしてもよい（図１９を参照のこと）。この場合も、ＺＭＰ軌跡制御（図１２又は図１３を参照のこと）を行うことによって、制動時のロボット１００の姿勢を安定化させ転倒を防止することができる。
【０１３４】
［追補］
以上、特定の実施例を参照しながら、本発明について詳解してきた。しかしながら、本発明の要旨を逸脱しない範囲で当業者が該実施例の修正や代用を成し得ることは自明である。
【０１３５】
本明細書中では、ロボットの体幹ピッチ軸５と、体幹ロール軸６と、体幹ヨー軸７という３自由度をロボットの腰部の姿勢（θ_hx，θ_hy，θ_hz）として扱ったが、腰部の位置は人間型ロボット１００と現実のヒトやサルなどの２足直立歩行動物の身体メカニズムとの対比により柔軟に解釈されたい。
【０１３６】
要するに、例示という形態で本発明を開示してきたのであり、限定的に解釈されるべきではない。本発明の要旨を判断するためには、冒頭に記載した特許請求の範囲の欄を参酌すべきである。
【０１３７】
参考のため、人間型ロボットの関節モデル構成を図２０に図解しておく。同図に示す例では、肩関節５から上腕、肘関節６、前腕、手首７及び手部８からなる部分を「上肢」と呼ぶ。また、肩関節５から股関節１１までの範囲を「体幹部」と呼び、ヒトの胴体に相当する。また、体幹部のうち特に股関節１１から体幹関節１０までの範囲を「腰部」と呼ぶ。体幹関節１０は、ヒトの背骨が持つ自由度を表現する作用を有する。また、股関節１１より下の大腿部１２、膝関節１４、下腿部１３、足首１５及び足部１６からなる部分を「下肢」と呼ぶ。一般には、股関節より上方を「上体」と呼び、それより下方を「下体」と呼ぶ
【０１３８】
また、図２１には、人間型ロボットの他の関節モデル構成を図解している。同図に示す例は、体幹関節１０を有しない点で図２０に示した例とは相違する。各部の名称については図を参照されたい。背骨に相当する体幹関節が省略される結果として人間型ロボットの上体の動きは表現力を失う。但し、危険作業や難作業の代行など、産業目的の人間型ロボットの場合、上体の動きを要しない場合がある。なお、図２０及び図２１で用いた参照番号は、それ以外の図面とは一致しない点を理解されたい。
【０１３９】
【発明の効果】
以上詳記したように、本発明によれば、それぞれの可動脚が着床及び離床動作を協調的に繰り返し実行することにより柔軟な動作パターンを実現することができる、優れた脚式移動型ロボットのメカニズム及びその制御方法を提供することができる。
【０１４０】
また、本発明によれば、ローラー・スケート靴を履くことにより、通常の歩行よりもダイナミックで高速な移動作業を実現することができる、優れた脚式移動型ロボットのメカニズム及びその制御方法を提供することができる。
【０１４１】
本発明に係る脚式移動ロボットによれば、各々の可動脚の略最下端に滑走ユニットを装着することで、通常の関節自由度のみを以って容易に実現し得る動作パターンのみを用いて滑走動作を行い、この結果、ダイナミックで高速な移動動作を行うことができる。滑走ユニットは、例えば可動脚に対して着脱自在に取り付けられている。したがって、滑走ユニットを取り外すだけで、脚式移動ロボットは、歩行や走行などの通常の脚式移動動作パターンを実行することができる。
【０１４２】
滑走ユニットは、滑走方向に沿った進行方向にはほとんど摩擦力などの負荷がかからない。このため、各可動脚の滑走ユニットを進行方向に揃えることで、滑走中の移動速度を持続することができる。他方、滑走方向に一致しない（例えば滑走方向と直交する）進行方向では、摩擦力が印加される。このため、滑走開始時や移動速度が減速したときには、１つの可動脚において、滑走ユニットの滑走方向を脚式移動ロボットの進行方向に交叉するように設定するとともに、該可動脚を後方に蹴り出すことによって加速動作を実現することができる。また、滑走期間中においては、滑走ユニットの滑走方向を脚式移動ロボットの進行方向にに交叉させて該可動脚を着床することによって、路面との間で摩擦力を発生させて、制動作用を導出することができる。
【０１４３】
また、脚式移動ロボットが一連の滑走動作を行っている期間中、制御手段は、ＺＭＰ軌跡制御により姿勢安定制御を行うことで、滑走中のロボットの転倒を防止することができる。
【図面の簡単な説明】
【図１】本発明の実施に供される人間型ロボット１００を前方から眺望した様子を示た図である。
【図２】本発明の実施に供される人間型ロボット１００を後方から眺望した様子を示た図である。
【図３】人間型ロボット１００の足平にローラー・スケーティング・ユニットを装着する様子を示した図である。
【図４】人間型ロボット１００の足平にローラー・スケーティング・ユニットを装着する様子を示した図である。
【図５】ローラ・スケーティング・ユニット２００に取り付けられた検出機構について図解している。
【図６】両足にローラ・スケーティング・ユニット２００を取り付けた人間型ロボット１００が路面を滑走する動作を前方から眺望した図である。
【図７】両足にローラ・スケーティング・ユニット２００を取り付けた人間型ロボット１００が路面を滑走する動作を後方から眺望した図である。
【図８】本実施例に係る人間型ロボット１００が具備する自由度構成モデルを模式的に示した図である。
【図９】本実施例に係る人間型ロボット１００の制御システム構成を模式的に示した図である。
【図１０】本実施例に係る歩行制御の計算のために導入される、人間型ロボット１００の線形且つ非干渉の多質点近似モデルを示した図である。
【図１１】図１０に示したロボット１００の多質点近似モデルにおける腰部周辺の拡大図である。
【図１２】本実施例に係る人間型ロボット１００が安定したスケーティング動作を行うことができる腰部運動の制御処理手順の一例を示したフローチャートである。
【図１３】本実施例に係る人間型ロボット１００が安定したスケーティング動作を行うことができる腰部運動の制御処理手順の他の例を示したフローチャートである。
【図１４】ローラ・スケーティング・ユニット２００を各可動脚に装着した脚式移動ロボット１００がスケーティング動作を行うときの各足底の動きを示した図であり、より具体的には、ロボット１００を直進あるいは左右方向に旋回させるときの足底の動きを示した図である。
【図１５】ローラ・スケーティング・ユニット２００を各可動脚に装着した脚式移動ロボット１００がスケーティング動作を行うときの各足底の動きを示した図であり、より具体的には、ロボット１００を直進あるいは左右方向に旋回させるときの足底の動きを示した図である。
【図１６】ローラ・スケーティング・ユニット２００を各可動脚に装着した脚式移動ロボット１００がスケーティング動作を行うときの各足底の動きを示した図であり、より具体的には、ロボット１００を直進あるいは左右方向に旋回させるときの足底の動きを示した図である。
【図１７】ローラ・スケーティング・ユニット２００を各可動脚に装着した脚式移動ロボット１００がスケーティング動作を行うときの各足底の動きを示した図であり、より具体的には、ロボット１００を減速及び／又は停止させるときの足底の動きを示した図である。
【図１８】ローラ・スケーティング・ユニット２００を各可動脚に装着した脚式移動ロボット１００がスケーティング動作を行うときの各足底の動きを示した図であり、より具体的には、ロボット１００を減速及び／又は停止させるときの足底の動きを示した図である。
【図１９】ローラ・スケーティング・ユニット２００を各可動脚に装着した脚式移動ロボット１００がスケーティング動作を行うときの各足底の動きを示した図であり、より具体的には、ロボット１００を減速及び／又は停止させるときの足底の動きを示した図である。
【図２０】人間型ロボットの関節モデル構成を模式的に示した図である。
【図２１】人間型ロボットの関節モデル構成を模式的に示した図である。
【符号の説明】
１…頭部，２…首関節ヨー軸
３…首関節ピッチ軸，４…首関節ロール軸
５…体幹ピッチ軸，６…体幹ロール軸
７…体幹ヨー軸，８…肩関節ピッチ軸
９…肩関節ロール軸，１０…上腕ヨー軸
１１…肘関節ピッチ軸，１２…前腕ヨー軸
１３…手首関節ピッチ軸，１４…手首関節ロール軸
１５…手部，１６…股関節ヨー軸
１７…股関節ピッチ軸，１８…股関節ロール軸
１９…膝関節ピッチ軸，２０…足首関節ピッチ軸
２１…足首関節ロール軸，２２…足部（足底）
３０…頭部ユニット，４０…体幹部ユニット
５０…腕部ユニット，５１…上腕ユニット
５２…肘関節ユニット，５３…前腕ユニット
６０…脚部ユニット，６１…大腿部ユニット
６２…膝関節ユニット，６３…脛部ユニット
８０…制御ユニット，８１…主制御部
８２…周辺回路
９１，９２…接地確認センサ
９３…姿勢センサ
１００…人間型ロボット
２００…ローラ・スケーティング・ユニット
２０１…スライダ
２０２…ガイド・レール
２０３…ストッパ
２１１Ａ…ドグ
２１１Ｂ…マイクロ・スイッチ
２１３…エンコーダ（回転検出計）[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a realistic robot mechanism configured by modeling biological mechanisms and operations, and more particularly to a legged mobile robot that models the body mechanisms of legged mobile animals such as humans and monkeys. Regarding the mechanism.
[0002]
More specifically, the present invention relates to a mechanism and control method for a legged mobile robot in which each movable leg can realize a flexible movement pattern by repeatedly executing landing and leaving movements in a coordinated manner. In particular, the present invention relates to a mechanism and control method for a legged mobile robot that performs a dynamic and high-speed moving operation by attaching a sliding unit such as a roller skate shoe to each movable leg.
[0003]
[Prior art]
It is said that the word “robot” comes from the Slavic word ROBOTA (slave machine). In Japan, robots started to spread from the end of the 1960s, but many of them are industrial robots such as manipulators and transfer robots for the purpose of automating and unmanned production operations in factories. Met.
[0004]
Recently, research and development on legged mobile robots simulating the body mechanisms and movements of biped upright walking such as humans and monkeys has progressed, and expectations for practical use are also increasing. Leg-type movement with two legs standing upright is unstable and difficult to control posture and walking, compared to crawler type, four-legged or six-legged type, etc. It is excellent in that it can realize traveling motion.
[0005]
For example, Japanese Patent Application Laid-Open No. 3-184782 discloses a joint structure applied to a structure corresponding to a lower part of a torso of a legged walking robot.
[0006]
A legged mobile robot that emulates a human biological mechanism or movement is particularly called a “humanoid” or “humanoid robot”. The humanoid robot can provide, for example, life support, that is, support for human activities in various situations in daily life such as a living environment.
[0007]
The significance of researching and developing robots called humanoids or humanoids can be understood from, for example, the following two viewpoints.
[0008]
One is a human scientific viewpoint. In other words, through the process of creating a robot with a structure resembling human lower limbs and / or upper limbs, devising its control method and simulating human walking motion, the mechanism of human natural motion including walking Can be elucidated in engineering. Such research results can be greatly reduced to the progress of various other research fields dealing with human movement mechanisms, such as ergonomics, rehabilitation engineering, or sports science.
[0009]
The other is the development of a robot that supports life as a human partner, that is, supports human activities in various situations in the living environment and other daily lives. This kind of robot needs to learn how to adapt to a person or an environment with different personalities while learning from humans in various aspects of the human living environment, and needs to grow further in terms of functionality. At this time, it is considered that the robot having the “human shape”, that is, the same shape or the same structure as the human, functions effectively for smooth communication between the human and the robot.
[0010]
For example, when teaching the robot how to get through the room while avoiding obstacles that should not be stepped on, rather than having a completely different structure than the one you are teaching, such as a crawler type or quadruped type robot, A biped robot with similar appearance would be much easier for the user (worker) to teach and would be easier for the robot to teach (for example, “Control of biped robot” by Takanishi ( Automobile Engineering Association Kanto Branch <Koyo> No. 25, 1996 APRIL)). In the first place, since most of the human living environment is formed according to the form and behavior of human beings, having a humanoid form increases the affinity with the human living environment. It can be said that it is essential above.
[0011]
One of the uses of the humanoid robot is to perform various difficult operations in industrial activities and production activities. For example, maintenance work at nuclear power plants, thermal power plants, petrochemical plants, transportation and assembly work of parts at manufacturing plants, cleaning of high-rise buildings, substitution of dangerous work and difficult work such as rescue at fire sites etc. . However, robots specializing in this type of industrial use have the ultimate design and production theme of realizing specific uses or functions, and are supposed to be biped, but humans and monkeys stand upright. It is not always necessary to faithfully reproduce the body mechanisms and movements inherent to walking animals as mechanical devices. For example, while strengthening the degree of freedom and movement functions of the hand to realize a specific application, it limits the degree of freedom of the head, trunk (such as the spine), and the waist, which are relatively unrelated to the application. It should be allowed to some extent to omit it. As a result, biped walking and so-called edo may remain unnatural for humans in terms of the appearance of robot work and operations, but this point must be compromised.
[0012]
Further, as another use of the humanoid robot, there is a use that is close to life, that is, “symbiosis” with a human, rather than life support such as substitution of difficult work. This type of robot is designed to faithfully reproduce the whole body cooperative movement mechanism inherent in animals that walk on two legs upright, such as humans and monkeys, and to achieve its natural and smooth movement. To do. In addition, as long as it emulates highly intelligent upright animals such as humans and monkeys, it is desirable that the expression of movement using the extremities is rich. Furthermore, not only to faithfully execute the pre-input motion pattern, but also to realize a lively motion expression that responds to the opponent's language and attitude (such as “praise”, “speak”, “beat”). Is also required. In this sense, an entertainment robot that imitates humans is just right to call it a “humanoid robot”.
[0013]
As already known, the human body has hundreds of joints, or hundreds of degrees of freedom. It is preferable to give almost the same degree of freedom in order to give the movement to the legged mobile robot as close as possible to a human, but this is extremely difficult technically. This is because it is necessary to arrange at least one actuator for each degree of freedom. However, mounting several hundred actuators on a mechanical device called a robot is difficult in terms of manufacturing cost. This is impossible from the design point of view. In addition, if the degree of freedom is large, the amount of calculation for the position / motion pattern control, posture stability control, and the like of the robot increases exponentially.
[0014]
For this reason, it is common to construct a humanoid robot with joint degrees of freedom of about several tens, which is much smaller than the human body. Therefore, it can be said that one of the important issues in the design and control of a humanoid robot is how to realize a more natural motion using a small degree of freedom.
[0015]
For example, it is already clear from the viewpoint of ergonomics that a flexible mechanism such as the spine is important for performing various and complex operations in the human life. The degree of freedom of trunk joints, which means the spine, has low value for industrial applications, but is important for entertainment and other life-oriented humanoid robots. Moreover, it is required that the flexibility can be actively adjusted according to the situation.
[0016]
In addition, legged mobile robots that perform biped upright walking are superior in that they can realize flexible walking and running operations (for example, raising and lowering stairs and getting over obstacles), but the center of gravity is higher, so Posture control and stable walking control become difficult by the amount. In particular, in the case of robots that are closely linked to daily life, postures and stable walking must be controlled while richly expressing natural movements and emotions in intelligent animals such as humans and monkeys.
[0017]
Numerous techniques related to posture control and stable walking have been proposed for robots of the type that perform legged movement by biped walking. Stable “walking” here can be defined as “moving with legs without falling down”.
[0018]
At the time of walking, gravity, inertial force, and these moments act on the road surface from the walking system due to gravity and acceleration caused by walking motion. According to the so-called “Dalambert principle”, they balance with the floor reaction force and the floor reaction force moment as a reaction from the road surface to the walking system. As a result of the dynamic reasoning, there is a point where the pitch and roll axis moment become zero on the side of the support polygon formed by the sole contact point and the road surface, or “ZMP (Zero Moment Point)”.
[0019]
Many of the proposals regarding the stable walking of the robot use this ZMP as a standard for determining the stability of walking. The biped walking pattern generation based on the ZMP norm has advantages such that a foot landing point can be set in advance and it is easy to consider the kinematic constraint conditions of the foot according to the road surface shape.
[0020]
For example, JP-A-5-305579 discloses a walking control device for a legged mobile robot. The walking control device described in this publication controls ZMP (Zero Moment Point), that is, a point on the floor where the moment caused by the floor reaction force when walking is zero to coincide with the target value.
[0021]
Further, in the legged mobile robot described in Japanese Patent Laid-Open No. 5-305581, the ZMP is at least a predetermined margin from the inside of the support polyhedron (polygon) or from the end of the support polyhedron (polygon) when landing or getting off the floor. It was comprised so that it might be in the position which has. As a result, even if a disturbance or the like is received, there is a ZMP margin for a predetermined distance, and the stability of walking can be improved.
[0022]
Japanese Patent Laid-Open No. 5-305583 discloses that the walking speed of a legged mobile robot is controlled by the ZMP target position. That is, the legged mobile robot described in the publication uses the walking pattern data set in advance, drives the leg joint so that the ZMP matches the target position, detects the inclination of the upper body, The discharge speed of the walking pattern data set according to the detected value is changed. As a result, when the robot leans forward, for example, by stepping on unexpected irregularities, the posture can be recovered by increasing the discharge speed. In addition, since the ZMP can be controlled to the target position, there is no problem even if the discharge speed is changed during the both-leg support period.
[0023]
Japanese Patent Laid-Open No. 5-305585 discloses that the landing position of a legged mobile robot is controlled by the ZMP target position. That is, the legged mobile robot described in the publication detects a deviation between the ZMP target position and the actually measured position and drives one or both of the legs so as to eliminate it, or around the ZMP target position. A stable walking is performed by detecting the moment and driving the leg so that it becomes zero.
[0024]
Japanese Patent Application Laid-Open No. 5-305586 discloses that the tilting posture of a legged mobile robot is controlled by the ZMP target position. In other words, the legged mobile robot described in the publication detects a moment around the ZMP target position, and when a moment is generated, drives the leg so that the moment becomes zero, so that a stable walking is performed. It has become.
[0025]
[Problems to be solved by the invention]
As described above, many researches and developments using ZMP as a stability discriminant criterion have already been made regarding the walking motion of a legged mobile robot.
[0026]
However, although the walking motion is important as the basic motion pattern of the legged mobile robot, it is not all of the motion pattern. In the first place, the leg-type movement is characterized by its flexible walking and running movements, and it is also a leg-type mobile robot that moves up and down stairs and climbs over obstacles, and jumps and jumps from high places. Should be supported.
[0027]
In addition, in the case of a humanoid robot for entertainment, in addition to basic movement patterns in daily life such as walking, running, jumping, etc., it is related to various competition events such as games and sports. Expected to do full body exercise.
[0028]
For example, a legged mobile robot could be slid on the floor by putting on roller skates. The application of the robot to roller skating is not limited to providing amusement, but also has an advantage that a moving work that is dynamic and faster than a normal walking motion can be realized without changing other mechanisms. For example, it may be possible to apply a robot wearing roller skates when transporting luggage.
[0029]
In conventional legged mobile robots, the moving speed is relatively slow due to problems such as the degree of freedom structure (the maximum moving speed is about 2.0 Km / h in a life-size legged mobile robot), and dynamic and high-speed movement is possible. It was difficult.
[0030]
A conventional example of a legged mobile robot that moves by performing skating motion control is a quadruped walking robot “TITAN” (Proceedings of the 1999 IEEE International Conference on Robotics & Automation Detroit, Michigan May 1999). However, TITAAN is a quadruped robot and is not intended to walk upright with two legs, and does not necessarily aim to imitate the mechanism of a living organism such as a human. In addition, TITAan does not propose skating motion control for a robot including an upper limb.
[0031]
An object of the present invention is to provide an excellent mechanism and control method for a legged mobile robot in which each movable leg can realize a flexible motion pattern by repeatedly performing landing and leaving motions cooperatively. It is to provide.
[0032]
A further object of the present invention is to provide an excellent mechanism for a legged mobile robot and a method for controlling the same, which can realize a dynamic and high-speed moving operation as compared with normal walking by wearing roller skates. There is to do.
[0033]
[Means and Actions for Solving the Problems]
The present invention has been made in consideration of the above-mentioned problems, and a first side surface of the present invention is composed of a lower limb composed of two or more movable legs and an upper body disposed above the lower limb. It is a legged mobile robot that realizes various motion patterns by the movement of
A sliding unit having a predetermined sliding direction disposed at a substantially lowermost end of the movable leg;
Control means for controlling the whole body movement using the lower limbs and upper body,
The control means is a legged mobile robot that brakes a moving speed associated with a sliding operation by adjusting an angle formed by a sliding direction of the sliding unit and a traveling direction of the mobile robot.
[0034]
The sliding unit mentioned here is, for example, a “roller skating unit” equipped with a plurality of rotating rollers on the bottom surface of the sole, and has a sliding direction defined by the rotation direction of the rollers.
[0035]
The sliding unit is detachably attached to the movable leg, for example. Therefore, the legged mobile robot can execute a normal legged movement operation pattern such as walking or running only by removing the sliding unit.
[0036]
The sliding unit hardly receives a load such as a frictional force in the traveling direction along the sliding direction. For this reason, the moving speed during sliding can be maintained by aligning the sliding units of the movable legs in the traveling direction. On the other hand, a frictional force is applied in a traveling direction that does not coincide with the sliding direction (for example, orthogonal to the sliding direction). For this reason, at the start of sliding or when the moving speed is reduced, the sliding direction of the sliding unit is set so as to cross the traveling direction of the legged mobile robot in one movable leg, and the movable leg is kicked backward. Thus, acceleration operation can be realized. Further, during the sliding period, the braking action can be derived by generating frictional force with the road surface by crossing the sliding unit in the sliding direction and landing the movable leg.
[0037]
Therefore, according to the legged mobile robot according to the present invention, the sliding motion is performed using only the motion pattern that can be easily realized with only the normal joint degrees of freedom. It can be carried out.
[0038]
During the period in which the legged mobile robot performs a series of sliding operations, the control means can prevent the robot from falling over by performing posture stability control by ZMP trajectory control.
[0039]
Further, the legged mobile robot further detects posture of the upper body and / or posture detecting means, a grounding confirmation means for detecting landing and leaving of the movable leg, and detecting a moving speed by the sliding motion. And a moving speed detecting means. Further, the control means can perform the attitude stability control by the ZMP trajectory control of the legged mobile robot based on the results detected or calculated by the attitude detection means, the ground contact confirmation means, and the movement speed detection means.
[0040]
The second aspect of the present invention is a leg type that includes a lower limb composed of two or more movable legs and an upper body disposed above the lower limb, and realizes various operation patterns by movement of the lower limb. A mobile robot operation control method, wherein a sliding unit having a predetermined sliding direction is disposed at a substantially lowermost end of the movable leg,
Maintaining the moving speed by making the sliding unit substantially coincide with the sliding direction;
Braking the moving speed associated with the sliding operation by adjusting the angle between the sliding direction of the sliding unit and the traveling direction of the legged mobile robot;
An operation control method for a legged mobile robot, comprising:
[0041]
The sliding unit may be detachably attached to the movable leg.
[0042]
Further, the operation control method may further include a step of controlling the moving speed during the sliding so as to be maintained by aligning the sliding direction of the sliding unit of each movable leg with the traveling direction.
[0043]
Further, the motion control method further includes setting the sliding direction of the sliding unit of at least one movable leg so as to cross the traveling direction of the legged mobile robot, and accelerating operation by kicking the movable leg backward. There may be provided a step of realizing.
[0044]
Further, the operation control method further sets the sliding direction of the sliding unit of at least one movable leg so as to cross the traveling direction of the legged mobile robot and applies a braking action by landing the movable leg. A step of deriving may be provided.
[0045]
The motion control method may further include a step of performing posture stability control of the legged mobile robot by ZMP trajectory control.
[0046]
The legged mobile robot detects posture of the upper body and / or posture, a grounding confirmation unit for detecting landing and leaving of the movable leg, and a moving speed by a sliding motion. A moving speed detecting means;
The operation control method further includes a step of performing posture stability control of the legged mobile robot by ZMP trajectory control based on at least one output of the posture detection unit, the ground contact confirmation unit, and the movement speed detection unit. May be.
[0047]
Other objects, features, and advantages of the present invention will become apparent from a more detailed description based on embodiments of the present invention described later and the accompanying drawings.
[0048]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0049]
FIG. 1 and FIG. 2 show a state in which the humanoid or humanoid robot 100 used for carrying out the present invention is viewed from the front and the rear.
[0050]
The humanoid robot 100 according to the present embodiment can detachably attach the roller skating unit 200 to both feet. 3 and 4 show how the roller skating unit 200 is mounted on the foot of the humanoid robot 100. FIG. The roller skating unit 200 is a mechanism unit that realizes a sliding operation with one or more rollers rotatably attached to the back surface of the sole.
[0051]
As shown in FIG. 3, a slider 201 having an inverted T-shaped cross section is disposed at the tip of the leg unit of the humanoid robot 100 (for example, the lower end of the ankle joint). On the other hand, a guide rail 202 for inserting the slider 201 is formed on the upper surface of the foot of the roller skating unit 200.
[0052]
In the vicinity of the insertion opening of the guide rail 202, a protruding stopper 203 is arranged so as to be able to protrude and retract from the upper surface of the foot. As shown in FIG. 3, in the state where the stopper 203 is buried, the insertion opening of the guide rail 203 is completely opened, and the roller skating unit 200 can be removed and replaced with another foot unit. . On the other hand, as shown in FIG. 4, the roller skating unit 200 is fixed to the tip of the leg unit by protruding the stopper 203 to the maximum with the guide rail 202 completely receiving the slider 201. be able to.
[0053]
FIG. 5 illustrates a detection mechanism attached to the roller skating unit 200. In order to suitably control the sliding motion such as roller skating, it is necessary to check whether the foot is in contact with the floor as an input value for control and to detect the moving speed during the sliding. is there.
[0054]
The former grounding confirmation can be detected using the micro switch 211A and the dog 211B. That is, the dead weight of the robot 100 is applied to the foot by the grounding, and the foot sinks (that is, the dog 211B is pushed up), so that the micro switch 211 A Can be operated to detect the presence or absence of grounding.
[0055]
Further, the moving speed can be calculated based on the output of an encoder (rotation detector) 213 attached to the end face of the roller. That is, the amount of movement is determined by the product of the encoded rotation speed and the circumference of the roller, and the movement speed is calculated by dividing the amount of movement by the elapsed time.
[0056]
FIG. 6 and FIG. 7 show a state in which the humanoid robot 100 with the roller skating unit 200 attached to both feet looks at the movement of sliding on the road surface from the front and the rear.
[0057]
As can be seen from FIGS. 6 and 7, the pattern of whole body motion necessary for skating is within an allowable motion range from the viewpoint of the degree of freedom structure of the legged mobile robot 100. In other words, by applying the roller skating unit 200 to each movable leg of the robot 100, using the motion pattern that can be easily realized with only the joint degrees of freedom provided as standard, the robot 100 Is a dynamic and fast sliding or moving movement. (However, the calculation process of the whole body movement pattern for the humanoid robot 100 to perform the sliding motion will be described in detail later.)
[0058]
Further, FIG. 8 schematically shows a joint degree-of-freedom configuration of the humanoid robot 100. As shown in the figure, the humanoid robot 100 includes an upper body including two arms and a head 1, a lower limb composed of two legs that realize a moving operation, and a trunk that connects the upper limb and the lower limb. Consists of.
[0059]
The neck joint that supports the head 1 has three degrees of freedom: a neck joint yaw axis 2, a neck joint pitch axis 3, and a neck joint roll axis 4.
[0060]
Each arm portion includes a shoulder joint pitch axis 8, a shoulder joint roll axis 9, an upper arm yaw axis 10, an elbow joint pitch axis 11, a forearm yaw axis 12, a wrist joint pitch axis 13, and a wrist joint roll. It comprises a shaft 14 and a hand portion 15. The hand portion 15 is actually a multi-joint / multi-degree-of-freedom structure including a plurality of fingers. However, since the movement of the hand portion 15 has little contribution or influence to the posture stability control or the walking movement control of the robot 100, it is assumed in this specification that there is zero degree of freedom. Therefore, it is assumed that the left and right arms have 7 degrees of freedom.
[0061]
The trunk has three degrees of freedom: a trunk pitch axis 5, a trunk roll axis 6, and a trunk yaw axis 7.
[0062]
Further, the left and right legs constituting the lower limb are a hip joint yaw axis 16, a hip joint pitch axis 17, a hip joint roll axis 18, a knee joint pitch axis 19, an ankle joint pitch axis 20, and a joint roll axis 21. , And a foot (plant sole) 22. Assume that the intersection point of the hip joint pitch axis 17 and the hip joint roll axis 18 defines the hip joint position of the robot 100 according to the present embodiment. The human foot (sole) 22 is actually a structure including a multi-joint / multi-degree-of-freedom sole, but the sole of the humanoid robot 100 according to the present embodiment has zero degrees of freedom. . Accordingly, the left and right legs are configured with six degrees of freedom.
[0063]
In summary, the entire humanoid robot 100 according to the present embodiment has a total of 3 + 7 × 2 + 3 + 6 × 2 = 32 degrees of freedom. However, the humanoid robot 100 for entertainment is not necessarily limited to 32 degrees of freedom. It goes without saying that the degree of freedom, that is, the number of joints, can be increased or decreased as appropriate in accordance with design and manufacturing constraints and required specifications.
[0064]
Each degree of freedom of the humanoid robot 100 as described above is actually implemented using an actuator. It is preferable that the actuator be small and light in light of demands such as eliminating the appearance of extra bulges on the appearance and approximating the shape of a human body, and performing posture control on an unstable structure such as biped walking. . In this embodiment, a small AC servo actuator of a gear direct connection type and a servo control system of a single chip built in a motor unit is mounted. This type of AC servo actuator is disclosed in, for example, Japanese Patent Application No. 11-33386, which has already been assigned to the present applicant.
[0065]
FIG. 9 schematically shows a control system configuration of the humanoid robot 100. As shown in the figure, the humanoid robot 100 performs adaptive control for realizing cooperative operation between each mechanism unit 30, 40, 50R / L, 60R / L and each mechanism unit representing human limbs. It is comprised with the control unit 80 to perform (however, each of R and L is a suffix which shows each of right and left, and so on).
[0066]
The entire operation of the humanoid robot 100 is controlled by the control unit 80 in an integrated manner. The control unit 80 exchanges data and commands between a main control unit 81 composed of main circuit components (not shown) such as a CPU (Central Processing Unit) chip and a memory chip, and each component of the power supply device and the robot 100. And a peripheral circuit 82 including an interface (not shown) for performing the above.
[0067]
In this embodiment, the power supply apparatus has a configuration (not shown in FIG. 9) including a battery for driving the robot 100 independently. If it is a self-supporting drive type, the physical action radius of the humanoid robot 100 can be freely walked without being restricted by the power cable. In addition, it is not necessary to consider interference with the power cable during various exercises including walking and other upper limbs, and the operation control including the wide field movement work becomes easy.
[0068]
Each degree of freedom of joint in the robot 100 shown in FIG. 8 is realized by a corresponding actuator. That is, the head unit 30 includes a neck joint yaw axis actuator A that represents the neck joint yaw axis 2, the neck joint pitch axis 3, and the neck joint roll axis 4. ₂ , Neck joint pitch axis actuator A _Three , Neck joint roll axis actuator A _Four Are arranged respectively.
[0069]
The trunk unit 40 includes a trunk pitch axis actuator A that represents the trunk pitch axis 5, the trunk roll axis 6, and the trunk yaw axis 7. _Five , Trunk roll axis actuator A ₆ , Trunk yaw axis actuator A ₇ Are deployed.
[0070]
Further, the arm unit 50R / L is subdivided into an upper arm unit 51R / L, an elbow joint unit 52R / L, and a forearm unit 53R / L, but the shoulder joint pitch axis 8, the shoulder joint roll axis 9, and the upper arm Shoulder joint pitch axis actuator A representing the yaw axis 10, the elbow joint pitch axis 11, the elbow joint roll axis 12, the wrist joint pitch axis 13, and the wrist joint roll axis 14. ₈ , Shoulder joint roll axis actuator A ₉ , Upper arm yaw axis actuator A _Ten , Elbow joint pitch axis actuator A ₁₁ , Elbow joint roll axis actuator A ₁₂ , Wrist joint pitch axis actuator A ₁₃ Wrist joint roll axis actuator A ₁₄ Are deployed.
[0071]
The leg unit 60R / L is subdivided into a thigh unit 61R / L, a knee unit 62R / L, and a shin unit 63R / L, but the hip joint yaw axis 16, the hip joint pitch axis 17, the hip joint Hip joint yaw axis actuator A representing each of roll axis 18, knee joint pitch axis 19, ankle joint pitch axis 20, and ankle joint roll axis 21 ₁₆ Hip joint pitch axis actuator A ₁₇ , Hip joint roll axis actuator A ₁₈ , Knee joint pitch axis actuator A ₁₉ , Ankle joint pitch axis actuator A ₂₀ , Ankle joint roll axis actuator A _{twenty one} Are deployed.
[0072]
Each actuator A ₂ , A _Three Is more preferably a small AC servo actuator (described above) of a gear direct connection type and a servo control system that is mounted on a motor unit in a single chip.
[0073]
For each mechanism unit such as the head unit 30, the trunk unit 40, the arm unit 50, and each leg unit 60, sub-control units 35, 45, 55, and 65 for actuator drive control are respectively provided. Furthermore, the ground contact confirmation sensors 91 and 92 for detecting whether or not the soles of the legs 60R and 60L have landed, and the movement speed sensors 94 and 95 for detecting the movement speed are mounted, and the inside of the trunk unit 40 Is equipped with a posture sensor 93 for measuring the posture.
[0074]
In this embodiment, an acceleration sensor is used as the attitude sensor 93. In addition, each of the ground confirmation sensors 91 and 92 includes a combination of the micro switch 211A and the dog 211B as described with reference to FIG. Each of the moving speed sensors 94 and 95 is configured by an encoder 213 (rotation detector) attached to the roller end surface of the skating unit 200. Based on the outputs of the ground contact confirmation sensors 91 and 92, it is possible to determine whether the foot 22 is landing or leaving, and thus whether the leg unit is a sliding leg or a free leg. Moreover, the sliding speed of the robot 100 can be calculated by adopting the encoder output of the leg unit that is the sliding leg. Further, the inclination and posture of the trunk can be detected by the output of the posture sensor.
[0075]
The main control unit 80 can dynamically correct the control target in response to the outputs of the sensors 91 to 93. More specifically, adaptive control is performed on each of the sub-control units 35, 45, 55, and 65, and the coordinated movements of the upper limbs, trunk, and lower limbs of the humanoid robot 100 can be realized. . The main control unit 81 sets a foot movement, a ZMP (Zero Moment Point) trajectory, a trunk movement, an upper limb movement, a waist height, and the like according to a user command and the like, and instructs an operation in accordance with these setting contents. The command to be transferred is transferred to each sub-control unit 35, 45, 55, 65.
[0076]
Each sub-control unit 35, 45... Interprets a received command from the main control unit 81 and outputs each joint actuator A. ₂ , A _Three A drive control signal is output to. Here, “ZMP” refers to a point on the floor where the moment due to floor reaction force during walking is zero, and “ZMP trajectory” refers to, for example, during the walking motion of the robot 100. It means the trajectory that ZMP moves.
[0077]
Next, a description will be given of a control procedure for realizing a movement faster than walking by “putting” the robot 100 with roller skates.
[0078]
In the present embodiment, the humanoid robot 100 having the multi-joint degree of freedom configuration shown in FIG. 8 is physically replaced with a multi-mass point approximation model to perform the calculation process of the whole body motion pattern. . The actual humanoid robot 100 is an infinite, that is, a collection of continuous mass points, but its main purpose is to reduce the amount of calculation by replacing it with an approximate model consisting of a finite number of discrete mass points. is there.
[0079]
FIG. 10 illustrates a linear and non-interfering multi-mass point approximation model of the humanoid robot 100 introduced for the calculation of the whole body motion pattern according to the present embodiment.
[0080]
In FIG. 10, the O-XYZ coordinate system represents the roll, pitch, and yaw axes in the absolute coordinate system, and the O′-X′Y′Z ′ coordinate system represents the roll, pitch, Each axis of yaw is represented. In the multi-mass model shown in the figure, i is a subscript representing the i-th given mass, m _i Is the mass of the i-th mass point, r ' _i Represents the position vector of the i-th mass point (however, the motion coordinate system). The mass of the lumbar mass point, which is particularly important in lumbar motion control described later, is m _h The position vector is r ′ _h (R ' _hx , R ' _hy , R ' _hz ) And the position vector of ZMP is r ′ _zmp And
[0081]
In the inexact multi-mass point approximation model shown in FIG. 10, it should be fully understood that the moment formula is described in the form of a linear equation, and the moment formula does not interfere with the pitch axis and the roll axis.
[0082]
Such a multi-mass point approximation model can be generated by the following processing procedure.
[0083]
(1) The mass distribution of the entire robot 100 is obtained.
(2) Set the mass point. The mass point setting method may be manual input by the designer or automatic generation according to a predetermined rule.
(3) For each region i, the center of gravity is obtained, and the position of the center of gravity and mass m _i Is assigned to the relevant mass point.
(4) Each mass point m _i , The mass position r _i Is displayed as a sphere with a radius proportional to its mass.
(5) The mass points that are actually connected, that is, the spheres are connected.
[0084]
In other words, the multi-mass point approximation model represents the robot 100 in the form of a wire frame model. In the present embodiment, as can be seen from FIG. 10, this multi-mass point approximation model is set with each of shoulders, elbows, wrists, trunk, waist, and both ankles as mass points. .
[0085]
Note that each rotation angle (θ in the waist information of the multi-mass model shown in FIG. _hx , Θ _hy , Θ _hz ) Regulates the posture of the waist in the humanoid robot 100, that is, the rotation of the roll, pitch, and yaw axes (FIG. 11 shows an enlarged view around the waist in the multi-mass point approximation model of the robot 100. Want to be confirmed).
[0086]
Next, a whole body motion pattern calculation processing procedure for the humanoid robot 100 according to the present embodiment to perform a sliding motion will be described.
[0087]
A robot normally realizes a predetermined operation by driving and controlling each joint, that is, an actuator, according to a motion pattern generated in advance before the operation. In the case of the robot 100 according to the present embodiment, based on an arbitrary foot movement pattern, ZMP trajectory, trunk movement pattern, upper limb movement pattern, etc., a lumbar movement pattern that enables stable skating movement is generated. It has become. ZMP (Zero Moment Point) trajectory here refers to a legged mobile robot that performs walking, roller skating, and other whole body movement patterns when the sole (or sole) is fixed to the floor at a certain point. This is the point where no moment is generated during the period (described above).
[0088]
In the case of a legged mobile robot in which one movable leg has six degrees of freedom as in this embodiment (see FIG. 8), the position of both legs depends on the position of each foot 22R / L and the horizontal position and height of the waist. The posture is uniquely determined. Therefore, generating a lumbar movement pattern for a skating action is nothing but determining the leg posture, that is, the “gait” of the lower limbs. (“Gait” means a movement pattern of the lower limbs during walking, for example, a movement pattern of a multi-legged robot (for example, a pattern regarding the order and timing of how to lift a foot). A technical term, the gait of a multi-legged robot is expressed using the phase difference and duty ratio of the legs (according to the Robotic Scientific Glossary of the Robotics Society of Japan).
[0089]
FIG. 12 is a flowchart showing a control process procedure of the lumbar movement for realizing a stable skating operation by the robot 100 according to the present embodiment. However, in the following, each joint position and operation of the robot 100 will be described using a linear / non-interference multi-mass point approximation model as shown in FIG. 10, and as shown in the following [Formula 1] in the calculation. Parameters will be used. In addition, it should be understood that symbols with a dash (') describe parameters of the motion coordinate system.
[0090]
[Expression 1]

[0091]
Further, the waist height of the robot 100 is constant (r ′ _hz + R _qz = Const) and the knee mass point is assumed to be zero.
[0092]
The processing procedure shown in FIG. 12 is started in response to an input of a user command or the like for instructing the robot 100 to perform an operation such as walking, gesturing, or hand shaking. In this embodiment, the operation of the robot 100 indicated by the user command means a skating operation. However, the user's instructions are other actions, for example, gestures / hand gestures using the upper limbs and trunk when standing upright, during normal walking with two legs, gestures / gestures using upper limbs and trunk during two-legged walking Etc. may be included.
[0093]
Such a user command is interpreted by the main control unit 81, and foot (more specifically, plantar) motion, ZMP trajectory derived from foot motion, trunk motion, upper limb motion, waist posture and height. For example, a pattern for actually determining the driving / operation of each unit is set (step S11). More specifically, first, a foot movement pattern, then a ZMP trajectory, a trunk movement pattern, and an upper limb movement pattern are set. Regarding the movement of the waist, only the Z ′ direction is set, and the X ′ and Y ′ directions are unknown.
[0094]
Next, using the linear / non-interference multi-mass point approximation model, moments around the pitch axis and roll axis on the set ZMP generated by the foot, trunk, and upper limb movements (M _x , M _y ) Is calculated (step S12).
[0095]
Next, the motion in the lumbar horizontal plane (r ′ _hx , R ' _hy ) To calculate the moment on the set ZMP (step S13).
[0096]
Next, a balance equation regarding the moment on the set ZMP is derived on the motion coordinate system O′-X′Y′Z ′ that moves with the robot (step S14). More specifically, the moment generated by the foot, trunk, and upper limb movements (M _x , M _y ) On the right side as a term of a known variable, and a term (r _hx , R _hy ) On the left side as unknown variable terms, and a linear and non-interfering ZMP equation (1) as shown in the following equation is derived.
[0097]
[Expression 2]

[0098]
However, the following shall hold.
[0099]
[Equation 3]

[0100]
Next, the above-mentioned ZMP equation (1) is solved to calculate the waist horizontal plane trajectory (step S15). For example, by solving the ZMP equation (1) using a numerical solution (well-known) such as the Euler method or the Runge-Kutta method, the horizontal absolute position of the waist (r _hx , R _hy ) Can be obtained (step S16). The numerical solution obtained here is an approximate solution of a waist motion pattern that enables stable walking, and more specifically, a waist horizontal absolute position where ZMP enters the target position. The ZMP target position is usually set at the planted sole.
[0101]
When the trunk / upper limb movement set in advance cannot be realized on the calculated approximate solution, the trunk / upper limb movement pattern is reset / corrected (step S17). At this time, the knee trajectory may be calculated.
[0102]
Next, the whole body motion pattern obtained as described above is substituted, and the moment (eM on the set ZMP in the exact model (that is, a precise model of the robot 100 consisting of a rigid body or a very large number of mass points). _x , EM _y ) Is calculated (step S18). In the inexact model, it is assumed that the above [Equation 3] holds, but in the strict case, such an assumption is not required (that is, it is not necessary to be constant with respect to a change in time).
[0103]
Moment in exact model (eM _x , EM _y ) Is a moment error generated by the waist motion. In the subsequent step S19, this moment (eM _x , EM _y ) Is the allowable value of the approximate moment in the inexact model (εM _x , ΕM _y ) It is determined whether it is less than. If it is less than the allowable value ε, the whole body motion pattern capable of realizing the exact solution of the waist stable motion pattern and the stable skating motion can be obtained (step S20), and the entire routine is terminated.
[0104]
On the other hand, the moment in the exact model (eM _x , EM _y ) Is the allowable moment (εM) in the approximate model _x , ΕM _y ) Or more, the moment in the exact model (eM _x , EM _y ) To the known generated moment (M _x , M _y ) Is corrected (step S21), the ZMP equation is derived again, and the calculation and correction of the approximate solution of the waist motion pattern are repeatedly executed until the ZMP equation converges below the allowable value ε.
[0105]
According to the processing procedure shown in FIG. 12, in order to perform the roller skating operation that slides using the movable legs alternately, the posture is stabilized based on the settings of the trunk motion and the upper limb motion in addition to the foot motion. Can be realized. Trunk exercises and upper limb exercises correspond to expression operations using the upper body of the robot such as gestures and hand gestures. Further, in the case of a legged mobile robot 100 (see FIG. 8) in which each movable leg has six degrees of freedom, the leg posture, that is, the lower limb is determined by the position of each foot 22R / L and the horizontal position and height of the waist. Since the “gait” is uniquely determined, generating the lumbar movement pattern means determining the “gait” of the lower limbs.
[0106]
FIG. 13 is a flowchart showing another example related to the control process procedure of the lower back motion for performing a stable skating operation in the robot 100 according to the present embodiment. However, in this processing procedure, as described above, the joint positions and operations of the robot 100 are described using a linear / non-interference multi-mass point approximation model.
[0107]
The processing procedure starts in response to an input of a user command or the like for instructing the robot 100 to perform an operation such as walking, gesturing, or hand gesture. In this embodiment, the operation of the robot 100 indicated by the user command means a skating operation. However, the user's instructions are other actions such as gestures / hand gestures using the upper limbs and trunk when standing upright, during normal walking with two legs, and gestures / gestures using upper limbs and trunk during two-legged walking. Etc. may be included.
[0108]
Such a user command is interpreted by the main control unit 81, and foot (more specifically, plantar) motion, ZMP trajectory derived from foot motion, trunk motion, upper limb motion, waist posture and height. For example, a pattern for actually determining the driving / operation of each unit is set (step S31). More specifically, first, a foot movement pattern, then a ZMP trajectory, a trunk movement pattern, and an upper limb movement pattern are set. Regarding the movement of the waist, only the Z ′ direction is set, and the X ′ and Y ′ directions are unknown.
[0109]
Next, using the linear / non-interference multi-mass point approximation model, moments around the pitch axis and roll axis on the set ZMP generated by the foot, trunk, and upper limb movements (M _x , M _y ) Is calculated (step S32).
[0110]
Next, exercise in the lumbar horizontal plane (r ′ _hx , R ' _hy ) Is expanded into a Fourier series (step S33). As already well known in the art, the time series component can be replaced with the frequency component for calculation by expanding the Fourier series. That is, in this case, the movement of the waist can be regarded as a periodic movement. Moreover, since FFT (constrained Fourier transform) can be applied, the calculation speed can be greatly improved.
[0111]
Next, each moment (M _x , M _y ) Is also expanded by Fourier series (step S34).
[0112]
Next, the Fourier coefficient of the lumbar horizontal plane trajectory is calculated, and further developed by inverse Fourier series (step S35), whereby an approximate solution of the lumbar motion is obtained (step S36). The approximate solution obtained here is an approximate solution of the horizontal absolute position of the waist (r _hx , R _hy More specifically, it is the waist horizontal absolute position where ZMP enters the target position. The ZMP target position is usually set at the planted sole.
[0113]
If the preset trunk / upper limb movement cannot be realized on the approximate solution, the trunk / upper limb movement pattern is reset / corrected (step S37). At this time, the knee trajectory may be calculated.
[0114]
Next, the whole body motion pattern obtained as described above is substituted, and the moment (eM on the set ZMP in the exact model (that is, a precise model of the robot 100 consisting of a rigid body or a very large number of mass points). _x , EM _y ) Is calculated (step S38). In the inexact model, it is assumed that the above [Equation 3] holds, but in the strict case, such an assumption is not required (that is, it is not necessary to be constant with respect to a change in time).
[0115]
Moment in exact model (eM _x , EM _y ) Is a moment error generated by the waist motion. In the subsequent step S39, this moment (eM _x , EM _y ) Is the allowable moment (εM) in the approximate model _x , ΕM _y ) It is determined whether it is less than. If it is less than the allowable value ε, the whole body motion pattern capable of realizing the exact solution of the waist stable motion pattern and the stable skating operation can be obtained (step S40), and the entire routine is terminated.
[0116]
On the other hand, the moment in the exact model (eM _x , EM _y ) Is the allowable moment (εM) in the approximate model _x , ΕM _y ) Or more, the moment in the exact model (eM _x , EM _y ) To the known moment (M _x , M _y ) (Step S41), the Fourier series expansion is performed again, and the calculation and correction of the approximate solution of the waist motion pattern are repeated until convergence to below the allowable value ε.
[0117]
A person skilled in the art will realize a waist exercise that can perform a stable skating operation based on the settings of trunk exercise and upper limb exercise as well as the procedure shown in FIG. 12 by the processing procedure shown in FIG. You will understand that you can. In particular, by using Fourier series expansion without relying on the numerical solution of the ZMP equation, periodic motion can be obtained at high speed, and at the same time, the moment calculation itself can be speeded up by applying FFT (Fast Fourier Transform). .
[0118]
Trunk exercises and upper limb exercises correspond to expression operations using the upper body of the robot such as gestures and hand gestures. When each movable leg is a legged mobile robot 100 (see FIG. 8) having six joint degrees of freedom, the leg posture is uniquely determined by the position of each foot 22R / L and the height of the waist. Therefore, generating a lumbar movement pattern means determining the posture of the leg, that is, the “gait” of the lower limb (described above).
[0119]
FIGS. 14 to 16 show the movements of the soles when the legged mobile robot 100 with the roller skating unit 200 attached to each movable leg performs a straight motion or a left-right turn motion by a skating operation. Is illustrated.
[0120]
As shown in FIG. 14, first, the hip joint yaw axis actuator of the right leg is driven, for example, so that the right sole is oriented not to coincide with the traveling direction of the robot 100, that is, the pitch axis. In the illustrated example, the right sole is moved so as to be substantially parallel to the x axis, that is, the roll axis. However, the left leg may be driven instead of the right leg (hereinafter, it should be construed that the movement of the left and right legs may be exchanged similarly).
[0121]
Furthermore, the initial velocity V of the movement with respect to the left foot is obtained by moving the right sole to the ground and moving backward. ₀ Apply. At this time, by setting the turning angle θ to a desired value, it is possible to select any one of straight travel, right turn, and left turn.
[0122]
During the above-described series of operations, ZMP trajectory control (see FIG. 12 or 13) with ZMP as a stability determination standard is performed to stabilize the posture of the robot 100 at the start of skating and toppling over. Can be prevented.
[0123]
Starts gliding in one of the straight, right or left turn directions, is accelerated, and travel speed V _t As shown in FIG. 15, the left and right soles are aligned in the x-axis direction, that is, the roll axis direction. As a result, the robot 100 slides while attenuating the moving speed while maintaining the moving direction. By performing ZMP trajectory control (see FIG. 12 or FIG. 13) even during the sliding operation, the posture of the robot 100 can be stabilized and the fall can be prevented.
[0124]
Movement speed V _t As shown in FIG. 16, the left foot is set in a direction that does not coincide with the traveling direction of the robot 100, that is, the pitch axis, by driving the hip joint yaw axis actuator of the left leg. In the illustrated example, the left sole is moved so as to be substantially parallel to the x axis, that is, the roll axis.
[0125]
In addition, by moving the left sole to the ground and moving backward, the initial velocity of movement V with respect to the left foot ₀ Apply. At this time, by setting the turning angle θ to a desired value, it is possible to select any one of straight travel, right turn, and left turn.
[0126]
During the above-described series of operations, ZMP trajectory control (see FIG. 12 or 13) with ZMP as a stability determination standard is performed to stabilize the posture of the robot 100 at the start of skating and toppling over. Can be prevented.
[0127]
The robot 100 can continue a stable gliding operation by sequentially repeating the operation patterns of acceleration, velocity attenuation, and acceleration as shown in FIGS. Further, by setting the turning angle θ at the time of acceleration, straight travel, right turn, and left turn can be appropriately executed to draw an arbitrary trajectory during sliding.
[0128]
FIGS. 17 to 19 show the soles when the legged mobile robot 100 with the roller skating unit 200 mounted on each movable leg performs a motion of decelerating and / or stopping during the skating operation. Illustrates the movement.
[0129]
When it is desired to decelerate or stop the sliding robot 100 by skating, from the state where the right sole and the left sole are moving forward in parallel (see FIG. 15), as shown in FIG. Alternatively, the moving speed V of the robot 100 is adjusted by allowing the left foot to swing freely, grounding the free leg to the runway surface, and adjusting the frictional force generated at that time. _t Can be braked.
[0130]
During such a series of braking operations, ZMP trajectory control (see FIG. 12 or FIG. 13) can be performed to stabilize the posture of the robot 100 and prevent overturning.
[0131]
Alternatively, from the state in which the right and left soles are moving forward in parallel (see FIG. 15), as shown in FIG. 18, both the right and left soles have a front end inward and a rear end. By facing outward, frictional force is applied in the traveling direction, and the moving speed V _t Is attenuated. At this time, the braking can be adjusted by adjusting the inclination θ of each sole with respect to the traveling direction.
[0132]
During such a series of braking operations, ZMP trajectory control (see FIG. 12 or FIG. 13) can be performed to stabilize the posture of the robot 100 and prevent overturning.
[0133]
Alternatively, the rotational speed of the robot 100 can be controlled by providing a brake function in the rotating roller unit and controlling the brake. _t May be attenuated and stopped (see FIG. 19). Also in this case, by performing the ZMP trajectory control (see FIG. 12 or FIG. 13), the posture of the robot 100 during braking can be stabilized and the fall can be prevented.
[0134]
[Supplement]
The present invention has been described in detail above with reference to specific embodiments. However, it is obvious that those skilled in the art can make modifications and substitutions of the embodiments without departing from the gist of the present invention.
[0135]
In this specification, three degrees of freedom of the robot's trunk pitch axis 5, trunk roll axis 6, and trunk yaw axis 7 are defined as the posture (θ _hx , Θ _hy , Θ _hz However, the position of the lower back should be interpreted flexibly by comparing the humanoid robot 100 with the physical mechanism of a biped upright walking animal such as a real human or monkey.
[0136]
In short, the present invention has been disclosed in the form of exemplification, and should not be interpreted in a limited manner. In order to determine the gist of the present invention, the claims section described at the beginning should be considered.
[0137]
For reference, the joint model configuration of a humanoid robot is illustrated in FIG. In the example shown in the figure, a portion including the shoulder joint 5 to the upper arm, the elbow joint 6, the forearm, the wrist 7 and the hand portion 8 is referred to as an “upper limb”. The range from the shoulder joint 5 to the hip joint 11 is called a “trunk” and corresponds to the human torso. In addition, a range from the hip joint 11 to the trunk joint 10 among the trunk is referred to as a “lumbar region”. The trunk joint 10 has an effect of expressing the degree of freedom of the human spine. Further, a portion including the thigh 12, the knee joint 14, the crus 13, the ankle 15, and the foot 16 below the hip joint 11 is referred to as “lower limb”. Generally, the upper part of the hip joint is called the “upper body” and the lower part is called the “lower body”.
[0138]
FIG. 21 illustrates another joint model configuration of a humanoid robot. The example shown in the figure is different from the example shown in FIG. 20 in that the trunk joint 10 is not provided. Refer to the figure for the names of each part. As a result of the omission of the trunk joint corresponding to the spine, the upper body movement of the humanoid robot loses its expressive power. However, in the case of humanoid robots for industrial purposes such as substitution for dangerous work and difficult work, there is a case where the movement of the upper body is not required. It should be understood that the reference numerals used in FIGS. 20 and 21 do not match those in the other drawings.
[0139]
【The invention's effect】
As described in detail above, according to the present invention, an excellent legged mobile robot in which each movable leg can realize a flexible motion pattern by cooperatively repeatedly performing landing and leaving motions. And a control method thereof.
[0140]
Further, according to the present invention, there is provided an excellent mechanism for a legged mobile robot capable of realizing a dynamic and high-speed moving work as compared with normal walking by wearing roller skates and a control method thereof. can do.
[0141]
According to the legged mobile robot according to the present invention, only the motion pattern that can be easily realized with only a normal joint degree of freedom can be obtained by mounting the sliding unit at the substantially lowermost end of each movable leg. As a result, a dynamic and high-speed moving operation can be performed. The sliding unit is detachably attached to the movable leg, for example. Therefore, the legged mobile robot can execute a normal legged movement operation pattern such as walking or running only by removing the sliding unit.
[0142]
The sliding unit hardly receives a load such as a frictional force in the traveling direction along the sliding direction. For this reason, the moving speed during sliding can be maintained by aligning the sliding units of the movable legs in the traveling direction. On the other hand, a frictional force is applied in a traveling direction that does not coincide with the sliding direction (for example, orthogonal to the sliding direction). For this reason, at the start of sliding or when the moving speed is reduced, the sliding direction of the sliding unit is set so as to cross the traveling direction of the legged mobile robot in one movable leg, and the movable leg is kicked backward. Thus, acceleration operation can be realized. Also, during the sliding period, the sliding direction of the sliding unit is crossed with the moving direction of the legged mobile robot and the movable leg is landed to generate a frictional force between the road surface and the braking action. Can be derived.
[0143]
In addition, during the period in which the legged mobile robot performs a series of sliding motions, the control means can perform posture stabilization control by ZMP trajectory control, thereby preventing the robot from sliding down.
[Brief description of the drawings]
FIG. 1 is a view showing a state in which a humanoid robot 100 used for carrying out the present invention is viewed from the front.
FIG. 2 is a view showing a state in which a humanoid robot 100 used for carrying out the present invention is viewed from behind.
FIG. 3 is a diagram showing a state where a roller skating unit is mounted on the foot of the humanoid robot 100;
4 is a view showing a state where a roller skating unit is mounted on the foot of the humanoid robot 100. FIG.
FIG. 5 illustrates a detection mechanism attached to a roller skating unit 200.
FIG. 6 is a view of the humanoid robot 100 with the roller skating unit 200 attached to both feet as viewed from the front, sliding on the road surface.
FIG. 7 is a view of the humanoid robot 100 with the roller skating unit 200 attached to both feet as viewed from the rear, sliding on the road surface.
FIG. 8 is a diagram schematically illustrating a degree-of-freedom configuration model included in the humanoid robot 100 according to the present embodiment.
FIG. 9 is a diagram schematically illustrating a control system configuration of the humanoid robot 100 according to the present embodiment.
FIG. 10 is a diagram showing a linear and non-interfering multi-mass point approximation model of the humanoid robot 100 introduced for calculation of walking control according to the present embodiment.
11 is an enlarged view around the waist in the multi-mass point approximate model of the robot 100 shown in FIG.
FIG. 12 is a flowchart showing an example of a control process procedure of a waist motion that allows the humanoid robot 100 according to the present embodiment to perform a stable skating operation.
FIG. 13 is a flowchart illustrating another example of the control process procedure of the waist motion that enables the humanoid robot 100 according to the present embodiment to perform a stable skating operation.
FIG. 14 is a diagram showing the movement of each sole when a legged mobile robot 100 with a roller skating unit 200 mounted on each movable leg performs a skating operation; more specifically, the robot It is the figure which showed the motion of the sole when turning 100 straightly or turning right and left.
FIG. 15 is a diagram showing the movement of each sole when a legged mobile robot 100 with a roller skating unit 200 mounted on each movable leg performs a skating operation; more specifically, the robot It is the figure which showed the motion of the sole when turning 100 straightly or turning right and left.
FIG. 16 is a diagram showing the movement of each sole when the legged mobile robot 100 with the roller skating unit 200 mounted on each movable leg performs a skating operation; more specifically, the robot It is the figure which showed the motion of the sole when turning 100 straightly or turning right and left.
FIG. 17 is a diagram showing the movement of each sole when the legged mobile robot 100 with the roller skating unit 200 attached to each movable leg performs a skating operation; more specifically, the robot It is the figure which showed the motion of the sole when decelerating and / or stopping 100. FIG.
FIG. 18 is a diagram showing the movement of each sole when a legged mobile robot 100 with a roller skating unit 200 attached to each movable leg performs a skating operation; more specifically, the robot It is the figure which showed the motion of the sole when decelerating and / or stopping 100. FIG.
FIG. 19 is a diagram showing the movement of each sole when a legged mobile robot 100 with a roller skating unit 200 mounted on each movable leg performs a skating operation; more specifically, the robot It is the figure which showed the motion of the sole when decelerating and / or stopping 100. FIG.
FIG. 20 is a diagram schematically showing a joint model configuration of a humanoid robot.
FIG. 21 is a diagram schematically showing a joint model configuration of a humanoid robot.
[Explanation of symbols]
1 ... head, 2 ... neck yaw axis
3 ... Neck joint pitch axis, 4 ... Neck joint roll axis
5 ... trunk pitch axis, 6 ... trunk roll axis
7 ... trunk yaw axis, 8 ... shoulder joint pitch axis
9 ... Shoulder joint roll axis, 10 ... Upper arm yaw axis
11 ... Elbow joint pitch axis, 12 ... Forearm yaw axis
13 ... wrist joint pitch axis, 14 ... wrist joint roll axis
15 ... hand, 16 ... hip yaw axis
17 ... Hip pitch axis, 18 ... Hip roll axis
19 ... Knee joint pitch axis, 20 ... Ankle joint pitch axis
21 ... Ankle joint roll axis, 22 ... Foot (plantar)
30 ... head unit, 40 ... trunk unit
50 ... arm unit, 51 ... upper arm unit
52 ... Elbow joint unit, 53 ... Forearm unit
60 ... Leg unit, 61 ... Thigh unit
62 ... knee joint unit, 63 ... shin unit
80 ... control unit, 81 ... main control unit
82. Peripheral circuit
91, 92 ... Grounding confirmation sensor
93 ... Attitude sensor
100 ... humanoid robot
200: Roller skating unit
201 ... Slider
202 ... guide rail
203 ... Stopper
211A ... Dog
211B ... Micro switch
213 ... Encoder (rotation detector)

Claims (13)

A legged mobile robot composed of at least an upper limb, a lower limb, a foot, a trunk and a waist ,
A sliding unit disposed on the foot and having a predetermined sliding direction;
Control means for performing posture stability control of the legged mobile robot by ZMP trajectory control during a sliding operation period using the sliding unit ;
Comprising
The control means includes
(A) Set foot motion, trunk motion, upper limb motion, posture of the waist and height for realizing desired motion during the sliding motion period, and (b) based on the set foot motion ZMP trajectory is set, (c) a solution of a waist motion in which moments are balanced on the set ZMP is obtained, and (d) a whole body motion pattern of a desired sliding motion is generated based on the solution of the waist motion. ,
This is a legged mobile robot. The legged mobile robot according to claim 1, wherein the sliding unit is detachably attached to the foot .   2. The control unit according to claim 1, wherein the control unit performs control so that the moving speed during the sliding is maintained by aligning the sliding direction of the sliding unit of each movable leg with the traveling direction of the legged mobile robot. Legged mobile robot.   The control means sets the sliding direction of the sliding unit of at least one movable leg to cross the traveling direction of the legged mobile robot, and realizes an acceleration operation by kicking the movable leg backward. The legged mobile robot according to claim 1. 2. The legged mobile robot according to claim 1, wherein the control unit brakes a moving speed associated with a sliding operation by adjusting a sliding direction of the sliding unit and a traveling direction of the mobile robot. 3. The control means sets the sliding direction of the sliding unit of at least one movable leg to cross the traveling direction of the legged mobile robot, and derives a braking action by landing the movable leg. The legged mobile robot according to claim 1. Furthermore, it comprises posture detection means for detecting the inclination or posture of the upper body, ground contact confirmation means for detecting landing and leaving of the movable leg, and movement speed detection means for detecting the movement speed by the sliding action,
The control means performs posture stability control of the legged mobile robot by ZMP trajectory control based on at least one output of the posture detection means, the ground contact confirmation means, and the movement speed detection means. The legged mobile robot according to 1. An operation control method for a legged mobile robot comprising at least an upper limb, a lower limb, a foot, a trunk and a waist , and a sliding unit having a predetermined sliding direction disposed on the foot,
(A) a step of setting a foot motion, trunk motion, upper limb motion, waist posture and height for realizing a desired motion during the sliding motion period; and (b) the set foot motion. A step of setting a ZMP trajectory based on the following: (c) a step of obtaining a solution of a lumbar motion in which moments are balanced on the set ZMP; Generating a whole body movement pattern;
And controlling the posture of the legged mobile robot by means of ZMP trajectory control during a sliding motion period using the sliding unit . The legged mobile robot according to claim 8, further comprising a step of controlling the traveling speed during the sliding by maintaining the sliding direction of the sliding unit of each foot in the traveling direction . Operation control method. And a step of setting the sliding direction of the sliding unit of at least one movable leg so as to cross the traveling direction of the legged mobile robot and realizing the acceleration operation by kicking the movable leg backward. The operation control method for a legged mobile robot according to claim 8, wherein And a step of setting the sliding direction of at least one movable leg sliding unit so as to cross the traveling direction of the legged mobile robot and deriving a braking action by landing the movable leg. The operation control method for a legged mobile robot according to claim 8. 9. The operation control of the legged mobile robot according to claim 8, further comprising a step of braking a moving speed associated with the sliding operation by adjusting a sliding direction of the sliding unit and a traveling direction of the mobile robot. Method. The legged mobile robot includes posture detecting means for detecting the inclination or posture of the upper body, ground contact confirmation means for detecting landing and leaving of the movable leg, and moving speed detecting means for detecting a moving speed by a sliding action. And further comprising
The method further comprises a step of performing posture stability control of the legged mobile robot by ZMP trajectory control based on at least one output of the posture detection unit, the ground contact confirmation unit, and the movement speed detection unit. 9. An operation control method for a legged mobile robot according to 8.

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