JP5413846B2 - Biped robot - Google Patents

Description

  The present invention relates to a biped walking robot.

  Many biped robots perform walking on a trajectory (hereinafter referred to as knee flexion walking) in which the sole is always moved parallel to the ground in a state where the knee is bent after the start of walking. Since knee flexion walking does not require heels or toes, a flat foot can be used, and there is an advantage that the contact area of the sole can be increased and stability can be improved by the absence of toes. In addition, when the lower limb trajectory is derived by inverse kinematics, when the knee extends, it may cause a singular point where the joint angular velocity takes an infinite value, and knee flexion and extension walking to extend the knee is not actively adopted. .

  However, the knee flexion walk not only causes a sense of incongruity in the surroundings, but also requires constant power at the knee, so energy consumption is intense and long distance walking is difficult. Therefore, one with a two-degree-of-freedom actuator mounted on the waist (for example, see Non-Patent Document 1), or one with a parallel link on the leg so that the knee is stretched in the middle of the stance ( For example, refer to Non-Patent Document 2.).

Yu Ogura, Yoshishi Shimomura, Shinpei Momogi, Tatsuo Okubo, Noritama Hayashi, Ikuo Takanishi, “Human Grounding Robot with Humanoid Robot with Toe Passive Joints” Collection, 3H14, 2006 Motohiro Sakamoto, Haruhiro Katayose, Kouji Miyazaki, Ryohei Nakatsu, “Humanoid Robot Knee Joint Walking Using Parallel Link Mechanism”, Proceedings of the 26th Annual Conference of the Robotics Society of Japan, 1O1-06, 2008

  However, in the case of the technique described in Non-Patent Document 1, the number of objects to be controlled increases because two actuators are added to the waist. It is also disadvantageous in terms of reducing energy consumption. Furthermore, in the case of the technique described in Non-Patent Document 2, the foot part still moves in parallel with the ground, so that unnatural walking motion remains.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a biped walking robot capable of suppressing energy consumption while performing a biped walking operation in which a knee is bent and stretched like a human. And

The present invention employs the following means in order to solve the above problems.
A biped robot according to the present invention is a knee-bend-extending biped robot provided with a pair of movable legs with joints arranged at the tips thereof, at least in the pitch direction with respect to the pair of movable legs. On the front side of the base part formed with a foot main body part rotatably connected to the joint part, a base surface facing the foot back surface of the foot main body part, and a base back surface facing the ground A connecting portion for connecting the foot main body portion to the base portion so as to be rotatable at least in the pitch direction or the roll direction, and a control portion for sequentially changing the foot main body portion to a predetermined angle with respect to the pair of movable leg portions. And the base part is formed with a front edge projecting forward of the foot body part and a rear edge projecting rearward of the joint part, and is in contact with the ground when the knee is extended. A protrusion formed on the tip of the ground is arranged on the back of the table, and the grounding There, characterized in that arranged on the rear side of the rotational center of the foot main body portion relative to said platform portion at the connecting portion.

  According to the present invention, when walking on a knee bent and extended biped, first, when a foot main body connected to one of the movable legs is landed, the joints of the pair of movable legs are sequentially changed to a predetermined angle. The center of gravity moves in the height direction as the knee extends in the middle of the stance. At this time, a thrust due to falling in the traveling direction is generated with the grounded protruding portion serving as a rotation center. Then, when the front edge of the pedestal comes in contact with the ground in the later stage of stance, the rotation of the pedestal is temporarily restricted, and the foot main body is rotated in the pitch direction and the roll direction with respect to the pedestal by the connecting part. As a result, the pedestal leaves the floor as it kicks back.

  Further, the biped walking robot according to the present invention is the biped walking robot, wherein the connecting portion extends in front of the foot main body portion and an elastic member near the front edge of the base portion. A connecting member that rotatably supports the elastic member, and the projecting portion is located on the rear side of the connecting member and on the front side of a vertically lower position of the joint portion when the knee is stretched. A front projection that projects from the back of the foot, and a projection that projects from the back of the foot further from the vertical lower position of the joint when the knee is extended apart from the front projection. And a side protrusion.

  In the present invention, when walking, the rear projection first comes into contact with the center of rotation of the first stance leg, and in the middle stance, the rear projection and the front projection come into contact with each other. The protrusion is the center of rotation. Furthermore, when the front edge of the base portion lands, both the front edge and the front side protrusion are in a grounded state to restrict the rotation of the base portion, so that the foot main body portion is centered on the connection member. However, it becomes easier to rotate depending on the pitch direction and roll direction.

  Further, the biped walking robot according to the present invention is the biped walking robot, wherein the protruding portion protrudes from the front edge of the base portion or the vicinity of the front edge while gradually forming a slope toward the rear. It is characterized by being.

  In the present invention, the ground state transitions from the ground surface to the slope after the projecting portion is grounded during walking. When the front edge of the base portion lands, both the front edge and the inclined surface are in a grounded state to restrict the rotation of the base portion, so that the foot body portion is centered on the connection member with respect to the base portion. Therefore, it becomes easier to rotate depending on the pitch direction and roll direction.

  According to the present invention, compared to knee-flexion biped walking, the change in positional energy due to the movement of the center of gravity during walking can be changed to kinetic energy and used, and energy consumption during walking can be saved.

It is a schematic diagram showing a knee flexion and extension biped robot according to an embodiment of the present invention. It is a principal part enlarged view which shows the knee bending extension biped walking robot which concerns on one Embodiment of this invention. It is explanatory drawing which shows the walking state of the knee flexion extension biped walking robot which concerns on one Embodiment of this invention. It is a schematic diagram which shows the relationship between the leg main-body part and a base part in the midst of the stance stand of the knee flexion-extension biped walking robot which concerns on one Embodiment of this invention. It is a schematic diagram which shows the relationship between the leg main-body part and a base part in the stance first stage of the knee-flexion-and-biped walking robot which concerns on one Embodiment of this invention. It is a schematic diagram which shows the relationship between the leg main-body part and a base part in the stance stand late stage of the knee flexion and extension biped walking robot which concerns on one Embodiment of this invention. The model which shows the relationship between the leg main-body part and a base part in (a) middle stance phase, (b) early stance phase, (c) late stance phase in other examples of the knee flexion and extension biped robot according to the embodiment of the present invention. FIG. The model which shows the relationship between the leg main-body part and a base part in the (a) middle stance phase, (b) the first stance phase, (c) the second stance phase in another example of the knee flexion and extension biped walking robot according to the embodiment of the present invention. FIG. It is the graph which compared the electric current consumption value at the time of the walk of the knee bending extension biped walking robot which concerns on one Embodiment of this invention, and the conventional knee bending biped walking robot.

An embodiment according to the present invention will be described with reference to FIGS.
As shown in FIGS. 1 and 2, the knee flexion / extension biped walking robot 1 according to the present embodiment includes a pair of movable legs 3 </ b> A and 3 </ b> B having a joint 2 at the tip thereof. And with respect to the pair of movable leg portions 3A and 3B, a foot main body portion 5 connected to the joint portion 2 so as to be rotatable at least in the pitch direction, and a base surface 6A facing the foot bottom surface of the foot main body portion 5; A pair of movable parts by rotating a base part 6 formed with a base back surface 6B facing the ground, a connection part 7 connecting the base part 6 and the foot main body part 5, and a knee part or joint part 2 (not shown). A control unit 8 that sequentially changes the foot main body 5 to a predetermined rotation angle with respect to the legs 3A and 3B.

  The pedestal 6 is formed with a front edge 6C projecting forward of the foot body 5 and a rear edge 6D projecting rearward of a position that is vertically below the joint 2 during knee extension. Yes.

  The connecting portion 7 includes an elastic plate (elastic member) 10 that extends to the front side of the foot main body portion 5, and a connecting member 11 that supports the elastic plate 10 at one point in the vicinity of the front edge 6C of the base portion 6. It is equipped with. Thereby, the foot main body 5 is connected to the front side of the base part 6 so as to be rotatable at least in the pitch direction or the roll direction with respect to the base part 6.

  A projecting portion 12 that projects to the ground side is disposed on the back surface 6B on the rear side of the connection member 11. The projecting portion 12 is arranged to project from the base back surface 6B of the base portion 6 which is the rear side of the connecting member 11 and the front side of the position where the joint portion 2 is vertically below when the knee is stretched. And a rear protrusion 12B that is spaced from the front protrusion 12A and protrudes further from the back surface 6B on the rear side of the vertical lower position of the joint 2. 12C of grounding surfaces which contact | ground at the time of knee extension are each formed in the front-end | tip of 12 A of front side protrusions, and the front-end | tip of 12B of rear side protrusions. That is, the front protrusion 12A functions as an anterior tooth, the rear protrusion 12B functions as a rear tooth, and the connection portion 7 functions as a clog of the nose.

  The control unit 8 transmits a specified angle in the joint unit 2 included in the pair of movable legs 3A and 3B and other joints (not shown) to servo motors (not shown) arranged in the joints, and according to a predetermined timing. Sequence control is performed in which each servo motor is sequentially driven to obtain a predetermined operation posture. Note that the control method is not limited to such sequence control, but may be feedback control using a gyro sensor, an angular velocity sensor, a ground sensor, a force sensor, or the like.

Next, with respect to the action of the knee flexion / extension biped walking robot 1 according to the present embodiment, referring to FIG. 3 (the direction from the left side to the right side is the forward direction), the movable leg portion 3A that becomes the right foot from the standing posture is used. The case where the foot body part 5 is stepped forward to start walking will be described as an example.
First, the body is slightly tilted in the advancing direction, and the weight is brought to the other movable leg 3B side that is the left foot, and the leg main body 5 of the one movable leg 3A is pulled up above the body.

  Next, the foot main body 5 of one movable leg 3A is swung forward, and the foot main body 5 of the other movable leg 3B is rotated backward in the traveling direction. And one movable leg part 3A is earth | grounded to the ground E from the rear edge 6D of the base part 6, or the rear side protrusion part 12B, extending a knee. At this time, the foot main body 5 of the other movable leg 3B rotates backward, while the platform 6 tilts forward with the front protrusion 12A as the center of rotation, and the rear protrusion 12B rises.

  Subsequently, the rear protrusion 12B of the base 6 of the one movable leg 3A becomes the rotation center of the first stage of the stance after the ground contact surface 12C is grounded, and in the middle stage of the stance, the rear protrusion 12B and the front protrusion 12A The knees extend while the ground contact surfaces 12C are in contact with each other, and the center of gravity moves in the height direction. Then, the entire leg body 5 of the one movable leg 3A is started to be pulled back, and the weight is shifted from the left foot side to the right foot side. As one movable leg 3A continues to rotate backward, a thrust in the forward direction is generated in one movable leg 3A due to a fall with the front protrusion 12A as a rotation center. When the front edge 6C of the pedestal 6 is grounded in the later stage of stance, both the front edge 6C and the front edge of the front projection 12A are in a grounded state, and the rotation of the pedestal 6 is restricted.

  At this time, the entire body moves forward, while the other movable leg 3B cannot move while the base 6 is in contact with the ground E. Then, with the weight supported by both the front edge 6C of the pedestal 6 and the front edge of the front protrusion 12A, the foot main body 5 elastically deforms the elastic plate 10 while the connecting member 11 is moved in the pitch direction and It rotates with respect to the base 6 as a center of rotation in the roll direction. Eventually, the pedestal 6 leaves the floor as it kicks back.

  On the other hand, one movable leg 3A continues to rotate backward, while the base 6 of the other movable leg 3B leaves the ground E and then swings the foot main body 5 forward. The other movable leg 3B contacts the ground E from the rear edge 6D of the base 6 or the rear protrusion 12B while extending the knee. At this time, the foot main body 5 of the one movable leg 3A rotates backward, and tilts forward with the front protrusion 12A of the base 6 as the center of rotation, and the rear protrusion 12B rises.

  Subsequently, the rear protrusion 12B on the base 6 of the other movable leg 3B serves as the center of rotation of the first stage of the stance after the ground contact surface 12C is touched. In the middle stage of the stance, the rear protrusion 12B and the front protrusion 12A The knees extend while the ground contact surfaces 12C are in contact with each other, and the center of gravity moves in the height direction. Then, the entire leg body 5 is started to be pulled back, and the weight is shifted from the right foot side to the left foot side. The other movable leg 3 </ b> B continues to rotate rearward, thereby generating a forward thrust due to falling with the front protrusion 12 </ b> A as the center of rotation. When the front edge 6C of the pedestal 6 is grounded in the later stage of stance, the front edge 6C of the pedestal 6 and the front edge of the front projection 12A are grounded to the ground E, and a stable grounding state is achieved.

  Furthermore, the leg body 5 of the other movable leg 3B continues to rotate backward, and the entire body advances forward. The main body part 5 of one of the movable leg parts 3A cannot move while the base part 6 is in contact with the ground E with respect to the progress of the whole body by moving forward. Then, with the weight supported by both the front edge 6C and the front edge of the front protrusion 12A, the foot body 5 rotates the elastic plate 10 while the connecting member 11 is rotated in the pitch direction and the roll direction. It rotates with respect to the base part 6 as a center. Eventually, the pedestal 6 leaves the floor as it kicks back.

  At this time, the foot body 5 of the other movable leg 3B continues to rotate backward, while the base 6 of the one movable leg 3A leaves the ground E and then moves the foot body 5 forward. Swing out. In this way, walking is repeated.

  According to this knee flexion / extension biped walking robot 1, when the base portion 6 of one movable leg portion 3A comes into contact with the ground in the first stage of stance, the knee is slightly bent and extended as it goes toward the middle stage of stance. Can be filled. Then, when the foot main body 5 and the base 6 start to rotate in the advancing direction with the front protrusion 12A as the rotation center at the end of standing, the entire body can be brought into a free fall state, and the position at this time Most of the energy loss can be converted into kinetic energy in the direction of travel. Therefore, in the case of biped walking with knee flexion, the knee is bent at the start of walking and the potential energy is lost because it walks as it is. Instead, the change in potential energy due to movement of the center of gravity during walking is used as kinetic energy. Can save energy consumption during walking.

  In particular, since the protrusion 12 includes the front protrusion 12A and the rear protrusion 12B, when only the rear protrusion 12B is grounded, and when the front protrusion 12A and the front edge 6C of the base 6 are grounded Thus, the length of the legs of the movable leg portions 3A and 3B can be apparently increased. Therefore, even when the knee of one of the movable legs is extended, the weight can be supported by both, and the knee flexion and extension walking can be performed more easily.

The technical scope of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.
For example, in the above-described embodiment, the front protrusion 12A is arranged as a front tooth of a clog and the rear protrusion 12B is arranged as a back tooth of a clog, but the present invention is not limited thereto. For example, as shown in FIG. 4, the foot main body 5 and the base 6 are connected to each other with a function similar to that of the connecting part 7. Those having the same function may be provided. In such a case, as shown in FIG. 5, in the first stage of stance, the rear projection 12B is grounded, and in the second stage of stance, as shown in FIG. 6, the front edge 6C of the base 6 and the front projection 12A are in contact with each other. It is in a grounded state, and knee flexion and extension walking is possible.

  Moreover, as shown to the said embodiment, the protrusion part 12 is not restricted to what was isolate | separated from 12 A of front side protrusions, and 12 A of rear side protrusions. For example, as shown in FIG. 7 (a), the protruding portion 13 protrudes from the front edge 6C of the base portion 6 while gradually forming the inclined surface 13A toward the rear, and a pocky having a grounding surface 13B formed at the tip, It may be something like snow. In this case, in the first stage of the stance, as shown in FIG. 7B, the ground contact surface 13B of the projecting portion 13 is the center of rotation, and the slope 13A is grounded in the later stage of the stance. At this time, the slope 13A and the front edge 6C of the pedestal 6 support the weight, and the same walking as in the above embodiment is possible.

  Further, as shown in FIG. 8 (a), shoes 15 or high heels may be worn. Also in this case, as shown in FIGS. 8B and 8C, the same walking as in the above embodiment can be performed via the shoes 15.

  In order to compare power consumption when performing knee flexion and extension walking according to the present embodiment and conventional knee flexion walking using the same body and a pair of movable legs 3A and 3B, a stabilized power supply is used to provide DC 8.0. In the state where [V] was supplied, the current value from the power source was measured for 5 seconds after the start of walking (3 to 4 steps). The results are shown in FIG.

  In the case of knee flexion walking, the current value has changed at a certain level from the start of walking. This is because the knee joint and the like continue to be burdened by bending the knee, and a constant current consumption is required.Although the efficiency of the electromagnetic motor is reduced due to heat generation, a constant output is output to the load. This is because it is necessary to continue and consume more current.

  On the other hand, in the case of knee flexion / extension walking, like the knee flexion walking, the current value increases to a certain level from the start of walking, but then decreases to a stable tendency. This is probably because a large amount of electric power is required to accelerate the entire body forward at the start of walking, but if the walking speed becomes constant thereafter, the amount of current consumption becomes unnecessary. Although the average value of current consumption seems to be increasing, the gradient is smaller and gentler than that of knee flexion walking.

  Moreover, while continuing knee flexion / extension walking, the current value is stabilized while repeatedly increasing and decreasing in small increments within a certain range. Here, unlike the knee flexion walking, the upward tendency is not seen because of the characteristics of walking, because the knee and ankle joints are shallower than the knee flexion walking. This is thought to be due to the fact that the load is almost eliminated and heat generation is suppressed.

1 Knee flexion and biped walking robot (biped walking robot)
2 joint part 3A, 3B movable leg part 5 foot main part 6 base part 6A base surface 6B base back surface 6C front edge 6D rear edge 7 connection part 8 control part 10 elastic plate (elastic member)
11 Connection members 12, 13 Protruding part 12A Front side protruding part 12B Rear side protruding parts 12C, 13B Grounding surface 13A Slope E Ground

Claims (3)

A knee-bend-and-extend biped walking robot having a pair of movable legs with joints at the tips,
A foot main body connected to the joint so as to be rotatable at least in the pitch direction with respect to the pair of movable legs,
A base portion formed with a base surface facing the foot back surface of the foot main body portion and a base back surface facing the ground;
On the front side of the base part, a connection part for connecting the foot main body part to the base part so as to be rotatable at least in the pitch direction or the roll direction;
A controller that sequentially changes the foot main body to a predetermined angle with respect to the pair of movable legs;
With
The base portion is formed with a front edge protruding on the front side of the foot main body portion, and a rear edge protruded on the rear side of the joint portion,
A projecting portion having a grounding surface that is grounded at the time of knee extension formed on the tip is disposed on the back surface of the base, and the grounding surface is disposed on the rear side of the center of rotation of the foot main body with respect to the base in the connection portion. A bipedal walking robot characterized by The connection portion includes an elastic member arranged to extend to the front side of the foot main body portion, and a connection member that rotatably supports the elastic member in the vicinity of the front edge of the base portion;
A front side protruding portion that is arranged to protrude from the back surface of the base portion that is on the rear side of the connecting member and on the front side of the vertical lower position of the joint portion when extending the knee;
A rear projection that is spaced from the front projection and is arranged to protrude from the back of the foot further than the vertical lower position of the joint during knee extension;
The biped robot according to claim 1, comprising: 2. The biped walking robot according to claim 1, wherein the protruding portion protrudes while forming a slope gradually from the front edge of the base portion or the vicinity of the front edge toward the rear.

Images