JPH04201186A - Walk controller on leg type mobile robot - Google Patents

Abstract

PURPOSE:To rapidly recover an attitude by providing a control value deciding means for deciding a driving control value of a joint so as to make it follow a target value set in advance on a leg part link, a predicting means for predicting a possibility of a fall of a robot, and a control value correcting means for correcting a control value of a supporting leg link according to the predicted possibility. CONSTITUTION:A control value deciding means for deciding a control value for driving a joint so as to have it follow a target value set in advance on a leg part link and a predicting means for predicting a possibility of a fall of a robot 1 are provided. Then, a control value of a supporting leg link is corrected by a control value correcting means according to the predicted possibility. According to this corrected control value, joints 10R, 10L, 12R, 12L, 14R, 14L, 16R, 16L, 18R, 18L, 20R and 20L are driven by an actuator, and stable walking is realized flexibly responding to unpredicted change in walking conditions.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a walking control device for a legged mobile robot, and more specifically to a walking control device for a legged mobile robot such as a bipedal walking robot to stabilize uneven road surfaces. The present invention relates to a walking control device for a legged mobile robot that is capable of walking.

(Problems to be solved by the prior art and the invention) There are two conventional methods for making the robot with leg holes walk. The drive data for the leg joints is calculated separately in advance using a large computer, stored in the storage device of the computer installed in the robot, and the data is output when walking.
The other is, for example, “Legged Robots on
Rough Terrain: Experience
nts in Adjusting 5tep
Length: TEEE1988+ By Jes
As proposed by sica Hodgin3, this is a method in which the robot itself is equipped with a high-performance computer to calculate the optimal joint angles in real time during walking, and outputs the results to the joint drive motors to make the robot walk.

The former has the advantage of requiring only a low-level computer, but since the walking data is calculated in advance, it is a prerequisite that the actual walking conditions match those expected. , if a change occurs in the walking situation,
For example, when encountering unexpected undulations or uneven road surfaces, they lack the ability to respond to changes. In other words, bipedal walking robots are physically unstable because their center of gravity is high and the bottom area of their feet is small.In order for a robot to walk stably, it is necessary to balance the forces of gravity and inertia that act on the robot's center of gravity. It is necessary to secure the resultant force within the ground contact area of the support leg. Although gravity is constant, inertial force constantly changes due to the movement of the robot, and if the external conditions of the robot are constant, the degree of change becomes a fluctuation that repeats with a constant period in space and time. In addition, external conditions such as the slope, undulation, and unevenness of the road surface change from time to time, and physical property values such as the hardness of the road surface are not constant. These fluctuations change the road reaction force that the robot receives when the free leg lands, making walking unstable. Although the fluctuations are relatively small compared to the external conditions, the actual internal conditions of the robot also include, for example, the friction of each joint varies depending on the warm-up state, and deflection due to lack of rigidity of mechanical parts also plays a role. It is impossible to accommodate these fluctuations with pre-calculated data.

In addition, the latter method requires a computer with high-speed processing capacity to be installed, which consumes a lot of power, and the computer itself is large, heavy, and expensive, and has many drawbacks that are unacceptable for mobile robots. there were.

Therefore, an object of the present invention is to eliminate the drawbacks of the above-mentioned prior art, inherit the advantages of the former method of walking based on data calculated in advance off-line, while flexibly responding to unexpected changes in walking conditions. An object of the present invention is to provide a walking control device for a legged mobile robot that can realize stable walking.

In addition, changes in road surface conditions are determined regardless of whether the former is based on data calculated offline, or the latter is based on a method that determines gait in real time.
Equally possible. In this case, even when using the latter method, it is not always possible to respond quickly to sudden changes in walking conditions, and in that sense, this problem is also applicable when using the latter method.

Therefore, the second object of the present invention is to provide a legged mobile robot that can quickly respond to sudden changes in road surface conditions and maintain a stable posture, regardless of the method used. The object of the present invention is to provide a walking control device.

Furthermore, as a stabilization control method for robots, recently, kinematic analysis of the links of robots, including legged mobile robots, has been carried out, and various control theories collectively referred to as modern control theory have been used to control the behavior of robots. There are also many attempts to capture it in terms of variables, convert it into a mathematical formula, and solve it to determine the control value. However, while using modern control theory, for example, allows for the precise determination of control values, it also requires solving a large number of determinants, which requires a high level of processing power from the on-board computer. Even so, it is not possible to completely understand the rigidity of the link, and in reality, the results have not yet been achieved compared to the amount of effort that should be made.

Therefore, the third object of the present invention is to be able to quickly recover posture stability in response to unexpected changes in walking conditions, and to have a relatively low level of processing power onboard the onboard computer. To provide a highly practical walking control device for a legged mobile robot.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the present invention includes, for example, claim 1.
In the walking control device for a legged mobile robot comprising a base and a plurality of leg links each coupled to the base and each having at least one joint, the leg links are set in advance. control value determining means for determining a control value for driving the joint to follow the target value;
prediction means for predicting the possibility of the robot falling; control value modification means for modifying the control value of the support leg link according to the predicted possibility; and driving the joint according to the modified control value. The structure was such that it was equipped with an actuator.

(Function) The robot's posture is corrected by predicting the possibility of the robot falling and driving the joints of the supporting leg links accordingly. tJ! It is possible to flexibly respond to changes in walking conditions and achieve stable walking.

(Example) Hereinafter, the present invention will be described in detail by taking a bipedal walking robot as an example of a legged mobile robot. FIG. 1 is an explanatory skeleton diagram showing the entire robot 1, and each of the left and right legs has six joints (axes). The six joints (
From the top, the joints (axis) for rotation of the legs at the waist are 10R.
, 10L (the right side is R1, the left side is L, hereinafter), the joints (axes) in the pitch direction of the waist 12R, 12L, the joints (axes) in the roll direction 14R, 14L, the joints in the pinch direction of the knee ( axis) 16R, 16L, ankle joint in pinch direction (
Axis) 18R, 18L, joints in the same roll direction (axis) 2OR
, 2OL, and at the bottom there are foot parts 22R, 22
L is attached, and a body part (base body) 24 is attached to the top.
is provided, and a control unit 26 is housed therein.

In the above, the hip joint is a joint (axis) IOR (L), 12
It is composed of R(L) and 14R(L), and their axes are all arranged to intersect at one point. Also joint (axis) 1
The ankle joints composed of 8R(L) and 2OR(L) are also arranged so that their axes are perpendicular to each other, and the three pinch direction joints (axes) 12R(L) and 16R(L) mentioned above
, 18R(L) are arranged parallel to each other, and their relative positional relationship always remains unchanged regardless of the behavior of other joints (axes). As shown in the figure, one leg is given six degrees of freedom, and even if the body part 24 is fixed, the foot part 22R(L) can be placed at any position and in any direction. That is, while walking, these 6X2=
By driving each of the 12 rails V (axes) at appropriate angles, the entire layer can be given a desired movement, allowing it to walk freely in three-dimensional space. The hip joint and knee joint are connected by thigh links 27R and 27L, and the knee joint and ankle joint are connected by lower leg links 28R and 28L.

These joints mainly consist of an electric motor and a reduction gear that boosts its output. The details of the parts below the knee joint will be explained below with reference to FIGS. 2 and 3, but the lumbar joint has a similar structure. It should be noted that since it is bilaterally symmetrical, the following explanation will be given for the right leg side. In FIG. 2, the output of an electric motor (not shown) attached to the midway position of the thigh link 27R is transmitted to the knee joint (
It is input to the input shaft of the Harmoninck reducer 84 mounted on the shaft) 16R. A recess 87 is also formed on the upper end side of the lower leg link 28R, and an electric motor 88 is housed therein.
The output is inputted via a belt 90 to a harmonic reducer 92 disposed at the ankle, and drives the foot 22R in the pitch direction about the axis 18R mentioned above. Further, the foot portion 22 is configured to be able to swing freely in the roll direction about the aforementioned axis 2OR which is perpendicular to the axis 18R, and therefore the harmonic reduction gear 94 and the electric motor 96 that supplies power thereto are directly connected. provided. Each electric motor is provided with a rotary encoder to detect the rotation angle of the motor shaft (only the rotary encoder 89 for the electric motor 88 is shown in the figure).

A six-axis force sensor 98 is provided at the ankle, and x and y are transmitted to the robot via the foot.

The three directional components of Z and the three directional components of moment are separated and measured separately to detect whether or not the foot has landed and the magnitude and direction of the force applied to the supporting leg. Further, a known grounding switch 99 is provided at the four corners of the sole of the foot, which is formed substantially flat and is equipped with an elastic material 220 such as rubber to absorb the impact upon landing, to detect whether or not there is contact with the ground (second (Omitted in Figures 3 to 3).

Furthermore, as shown in FIG.
A pair of tilt sensors 100, 102 are installed to detect the tilt with respect to the Z axis in the xz plane and its angular velocity, as well as the tilt with respect to the Z axis in the yz plane and its angular velocity. These outputs are sent to the control unit 26 within the fuselage section 24 described above.

FIG. 4 is a block diagram showing details of the control unit 26, which is composed of a microcomputer. There, the outputs of the tilt sensors 100, 102, etc. are converted into digital values by the A/D conversion circuit 104, and the output is
6 to RAM10. Also encoder 8
The outputs of the grounding switches 99, etc. are inputted into the RAM 108 via the counter 110, and the outputs of the grounding switches 99, etc. are similarly stored in the RAM 108 via the waveform shaping circuit 112. A CPU 114 is provided in the control unit,
As will be described later, the CPU 14 reads the stored walking data, calculates a speed command value from the deviation from the actual measurement value sent from the counter 11O, and converts the speed command value to the D/A conversion circuit 118.
The signal is sent to the servo amplifier 120 via the servo amplifier 120. The control value is then converted into a current value and supplied to the electric motor of each joint.

Also, as shown in the figure, the encoder output is output from the F/V conversion circuit 12.
2 to the servo amplifier, realizing speed feed hack control as a minor loop. Reference numeral 128 indicates a joystick for commanding gait changes such as course and stride length, numeral 130 indicates an origin switch for determining the origin (upright) posture, and numeral 132 indicates a limit switch for overrun prevention.

The operation of this control device will be explained below with reference to the flow chart in FIG. The control algorithm shown in the figure assumes virtual compliance control in which impedance control is realized by velocity resolution control ("Virtual compliance control of multi-degree-of-freedom robots", Proceedings of the Society of Instrument and Control Engineers, Vol. 22. No.

3, March 1986).

First, after initializing each part of the device with SIO, S12
The walking pattern l θt is searched for. This indicates the target value of each joint angle when the robot walks on an ideally flat road surface with uniform hardness.

Here, the subscript i indicates the number of the joint, and the subscript indicates the angle at the time of the clock. From the bottom, the joint numbers are 2OR=1.
20L=2. ,,. These time series data are calculated in advance by a large computer and stored in the ROM 116 of the microcomputer in the control unit.

Next, in S14, parameters Kp, Kv, . . . are input. These are feedback gains, details of which will be described later. Next, in 316, the timer value t, counter value c, U
Reset the NT and joint number (counter) values to zero, and
Walking is started at step S18, and a counter value for counting joint number i is set to one at step S20. Next, the joint angle i θt (i=1
) etc. are read from memory. Here iθt
±1 indicates the time next to the current time t (when the current program is started), that is, the target joint angle at the next time the program is started. ωDt indicates a target angular velocity (described later). Ft (ω
W) is the double-leg support phase, Ft (ωS) is the single-leg support phase, F
t(C) is a flag indicating the shock absorption control period, which is determined by the above-mentioned microcomputer based on the output of the 6-axis force sensor, etc., and the bit is set to 1 when the period is within that period.

Next, in S24, the detected values of the tilt sensor, etc. are read. Here, i θR is the i-th (circuit 22R in this example)
The actual joint angle of the joint, ωR represents the actual tilt angular velocity, and M represents the actual moment applied to the foot. then 3
At 26, a position feedback control value iV1 is calculated, and at 328, a velocity feedback (forward) control value iV2 is calculated. That is, as shown in FIG. 6, in this control, the position feedback value obtained by multiplying the deviation Δθ between the joint angle command value iθt and the actual joint angle iθR by the proportional gain kp, and the joint angle command when the timer is used. value i
Joint angle command value i θt when θt and time t are +1
A speed command value obtained by adding a feedforward value obtained by multiplying the deviation from +1 by a gain is output to the servo amplifier 120.

Incidentally, FIG. 6 is a Bronk diagram of joints other than the ankle joint, and the ankle joint is also fed a tilt angular velocity signal and the like as shown in the Bronk diagram of FIG. 7, which will be described later.

Next, in S30, it is determined whether the joint number i is within 4, that is, whether or not the control value of the ankle joint is being calculated. . That is, calculation of the third and fourth feedback control values described below is performed only for the ankle joint. Specifically, first, the flag Ft is set in S32 to S34.
(ω-) or Ft (ωS), that is, whether it is in the two-leg support phase or one-leg support phase is determined, and based on the determination result, the target inclination angular velocity ωDt and the actual The third velocity feed bank control value iV3 is calculated by multiplying the deviation Δω from the inclination angular velocity ωR by the gain.

To explain this below, in this control, if the tilt angular velocity deviates from the target value, it is determined that there is a possibility that the robot will fall, and depending on the degree of risk, a predetermined coefficient (gain) is applied to the deviation of the tilt angular velocity. is multiplied by ω) to drive the ankle joint of the landing leg to generate a ground reaction force,
Corrected the collapse of the robot's posture. Regarding this gain and ω, the two-leg support period shown in Figures 8 and 9,
In the one-leg support period shown in FIGS. 10 and 11, the commitment is made as shown. That is, FIGS. 8(a) and 8(b) show the direction of the tilt angular velocity deviation Δω acting on the robot when the robot is viewed from the front and back. At this time, the direction of the speed command value to be fed back is shown in the figure. We promise that it will be defined as: That is, regarding the ankle joints 2OR and L in the roll direction, ω is assumed to be zero in the gain of the ankle joint that floats due to the action of the tilt angular velocity deviation Δω, and the direction of the gain of the ankle joint to which the load is applied is set as shown in the figure. promise. Also the 9th
The figure is a side view of the robot, and as shown in figure (a), the tilting angular velocity acts to force the robot to fall forward (sometimes the ankle joint 18 in the pitch direction of the front foot is in the direction in which the heel of the front foot hits the ground).
Take the gain of R (L) and at the same time adjust the ankle joint 18L (
The gain of R) is set in the direction of raising the toe. On the other hand, for the tilting angular velocity that causes the robot to fall backwards, we decided to take the gain of the ankle joint 18L (R) in the direction in which the toe of the hind foot kicks the ground, as shown in Figure (b), and at the same time The gain of the ankle joint 18R (L) of the forefoot is set in the direction of lifting the heel.

On the other hand, FIG. 10 shows the state in which the robot is seen from the front and back during the single leg support phase, and at this time, the gain ω is adjusted such that the ankle joint 2OL of the one that is landing is adjusted and driven in the direction shown in the figure. Determine the sign of At this time, the ankle joint on the free leg side may or may not be corrected. Further, FIG. 11 is a side view of the robot during the one-leg support phase, and at this time as well, the gain is set to ω so that the ankle joint 18L(R) of the support leg is driven in the direction shown in the figure. Also, the free leg side may or may not be modified.

FIG. 12 is an explanatory diagram showing the characteristics of ω in gain. In the illustrated example, the absolute value of ω is the same for the gain, and only the sign is changed as explained above, but it is not necessary to make the absolute value the same (although it may be changed for each of the above states. , the gain is the same for each joint.As is clear from the figure,
When transitioning from the two-legged supporting period to the one-legged supporting period, the sign of the gain is reversed before and after the transition. This is undesirable for achieving smooth walking, so in order to make the changeover smooth, a short period of time during which the gain becomes zero should be provided in the middle of the changeover, or as shown in Figure 13. So that the gains before and after are connected smoothly. The timing when applying the velocity proportional to the tilt angular velocity deviation Δω is basically set to O during the swing phase, but it can be set to a predetermined magnitude from an appropriate time immediately before landing to provide a transient be able to sufficiently follow such phenomena. Incidentally, when it is determined in the flow chart of FIG. 5 that neither the two-legged support period nor the one-legged support period is present, the control value is set to zero in S40.

Subsequently, a virtual compliance control value of 342 or less is determined. That is, as shown in FIG. 14, the predetermined time TCOMP from when the free leg of the robot 7) leaves the floor to when it lands on the floor is defined as the shock absorption control period, and when it is determined in 342 that the period is within that period, the process proceeds to S44. Then, the gain kc is kc = kcom
pX r (count), and multiplies it by the moment M detected in S46 to obtain the fourth speed feed bank value i.
V4 is calculated (Fig. 7), and when landing is detected in S48, the counter value is incremented in 350. That is, the impact absorption gain is set as a function of the counter values c and 11NT, and is set so that it gradually decreases over time at the same time as the landing, and finally reaches zero, as shown in FIG. If it is determined in S42 that the shock absorption control period is not in effect, the control value iV4 is set to zero in 352, and the counter value is reset to zero in S54.

Next, add all the control values calculated in step 356 to get the total i
Find VCOMM and output it to the servo amplifier 120,
The joint number counter is incremented at step 58, and it is determined whether or not it is the last joint at step S60. If the result is negative, the process proceeds to step 362, where the timer value t is incremented to search for the next target joint angle iθt.
is incremented, and the control is continuously applied to each joint unless it is determined that the walking has ended in S64. Determine the Il value.

As described above, in this embodiment, when the robot deviates from the preset normal walking state and tilts, the ankle joint of the foot that is in contact with the ground is moved to the ground in the direction to correct the posture according to the deviation of the tilt angular velocity. Since it is configured to produce a kicking motion, stable walking can always be achieved regardless of changes in external or internal conditions. This calculation is mainly performed using simple geometric equations and does not use many complex determinants as shown in modern control theory, so it is especially useful for calculating basic walking patterns off-line. When used in conjunction with a control method to control robots, the onboard computer can be relatively small and low-speed, which greatly contributes to the feasibility of legged mobile robots. That is, since the subsequent processing is extremely simple just by selecting an appropriate gain, a computer with a relatively low level and low energy consumption is sufficient.

FIG. 15 shows a second embodiment of the present invention, in which the ankle joint 18 is
An example will be shown in which only one of R(L) is modified. That is, the first
In the embodiment, feedback control values were given to both ankle joints as shown in FIG. 9, but in this example, the feedback control values were given to only one foot. The same type of effect can also be achieved by this method.

FIGS. 16 and 17 show a third embodiment of the present invention, in which in addition to the interleg wJ18R(L), the knee joint 16R(L)
) is also modified in the same manner as shown above.

In this example, as shown in FIGS. 16(a) and 17(a), the directions of gain may be opposite between the knee joint and the ankle joint. In addition, when using this embodiment, the flowchart in FIG. 5) (7) S30 is
i16L(7)ISHff number)". At this time, it is also possible to modify only the knee joint.

In addition, in the first to third embodiments described above, the deviation between the target value and the actual value of the tilt angular velocity is used to detect the unstable posture of the robot, but there is no need to limit it to this.
The determination may be made by determining the angular acceleration, which is the differential value, or alternatively, the angle, which is the integral value thereof, may be determined. Alternatively, measure the time from when the heel hits the ground until the entire surface of the sole is in contact with the floor, and compare it with a predetermined value that is set appropriately.If it is shorter than that, the foot is likely to fall forward, and if it is longer, the foot is likely to fall backward. In other words, if the point of action of the road reaction force is calculated, and the velocity of the locus of the point of action moves faster than normal, for example, from a region corresponding to the heel to a region corresponding to the toes, it is determined that the vehicle is likely to fall forward. , if it is the opposite, it may be determined that the user is likely to fall backwards. In summary, it is sufficient to obtain an index that predicts that the posture of the robot is unstable, and to control the index so as to generate a ground reaction force on the supporting leg side based on the magnitude of the index.

Also, although the gain is the same for each joint, it may be changed as appropriate.

Further, although the present embodiment has been shown to be performed simultaneously with virtual compliance control, the present invention is not limited to this, and it is also possible to perform it independently. However, since both contribute to posture stabilization, by using them together, stable walking can be realized in a more effective manner.

Furthermore, although the present invention has been explained using an example in which the target joint angles (and target angular velocities) are calculated off-line, the present invention is not necessarily limited to this. , center of gravity, etc., and is also valid when determining gait in real time, as far as circumstances allow.

Furthermore, although the present invention has been described with respect to a legged mobile robot that walks on two legs, it is not limited thereto, and is also applicable to legged mobile robots with three or more legs.

(Effect of the invention) The walking control device for a legged mobile robot according to claim 1 has the following features:
Control value determining means for determining the drive control value of the joint to follow a preset target value for the leg link, prediction means for predicting the possibility of the robot falling, and supporting leg link in accordance with the predicted possibility. Since the configuration includes a control value modifying means for modifying the control value of and an actuator for driving the joint according to the modified control value, when the joint is driven based on walking data set offline in advance, Even if your posture collapses due to a change in walking conditions, you can quickly recover and achieve stable walking. Furthermore, since the basic walking data is set offline in advance, when the control device is constructed from a computer, it can be implemented with a relatively small, inexpensive, and low-level device.

A walking control device for a legged mobile robot according to claim 2,
A control value determining means for determining a speed control value for driving a joint to make the leg link follow a preset target position; an anticipating means for predicting the possibility of the robot falling; Since the configuration includes a correction means for correcting the control value of the support leg link by multiplying it by a predetermined coefficient and an actuator for driving the joint according to the corrected control value, in addition to the above-mentioned effects, it is possible to adjust the coefficient appropriately. Calculating control values is extremely easy just by setting them.
Further, the walking control device for a legged mobile robot according to claim 3, wherein an extremely simple control device is sufficient and a computer that realizes the same can be achieved by an even lower level computer. Since the coefficient is set to zero once when switching between the two-leg support period and the one-leg support period, smoother and more stable walking can be achieved in addition to the above-described effects.

The walking control device for a legged mobile robot according to claim 4 comprises:
The prediction means is configured to predict the possibility of falling from the n-th differential value of the inclination angle of the base body and/or the leg link, and therefore, although it has a simple configuration, it can reliably prevent the robot's posture from becoming unstable. This allows for rapid response and stable walking.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram showing the entire walking control device for a legged mobile robot according to the present invention, FIG. 2 is an explanatory side view showing the parts below the knee joint in FIG. 1, and FIG. 3 is an I- I [[ Line section sectional view, Figure 4 is the control unit. 5 is a flow chart showing the operation of this control device. FIG. 6 is a block diagram explaining the control algorithm shown in the flow chart of FIG. 5 for joints other than the ankle joint. Similarly, Figure 7 is a block diagram explaining the control algorithm for the ankle joint, and Figure 8 (
a) and (b) are explanatory diagrams showing the stabilization control method used in the flow chart in Fig. 5 when viewed from the front and rear directions of the robot during the two-leg support phase, and Fig. 9 (a) and (b) are similarly shown in the left and right directions. An explanatory diagram showing the method seen from the direction, FIGS. 10(a) and 10(b) are explanatory diagrams showing the same method seen from the front and back direction during the single leg support phase,
FIGS. 11(a) and 11(b) are explanatory diagrams showing the method similarly viewed from the left and right directions, and FIG. 12 is an explanatory diagram showing the setting characteristics of the gain used there when switching between the two-leg support period and the one-leg support period. Similarly, FIG. 13 is an explanatory diagram showing another setting characteristic of the gain, and FIG. 14 is an explanatory diagram showing the virtual compliance control period in the flow chart of FIG. 5 and the gain setting characteristic used therein. 15(a) and (b) are explanatory diagrams showing a second embodiment of the present invention and a method similar to FIGS. 9(a) and (b), and FIG. Explanatory diagrams showing a method similar to FIGS. 9(a) and (b) in the embodiment and FIGS. 17(a) and (b) are similar to FIGS. 11(a) and (b) in the third embodiment. It is an explanatory diagram showing a method. 1... Legged mobile robot (bipedal walking robot, g), IO
R, IOL... Joint (axis) for leg rotation, 12R, 1
2L... Joint (axis) in the pitch direction of the crotch, 14R, 1
4L... Joint (axis) in the roll direction of the crotch, 16R, 1
6L... joint (axis) in the pitch direction of the knee, 18R, 1
8L...Ankle joint (axis) in pitch direction, 2OR,
20L... Joint (axis) in the roll direction of the ankle, 22R
. 22L...leg, 24...body, 26.・Control unit, 27R, 27L...thigh link, 2
8R, 28L...Lower leg link, 84,92.94...
・Harmonic reducer, 82.90...Belt, 88
．． 96... Electric motor, 89... Rotary encoder, 87... Recess, 98... 6-axis force sensor number, 99...
...Earth switch, 100,102...Inclination sensor,
104... A/D conversion circuit, 106... Lotus, 10
8...RAM, 110...Counter, 112...
Waveform shaping circuit, 114...cpu, 116...RO
M, 118... D/A conversion circuit, 120... Servo amplifier, 122... F/V conversion circuit, 128... Joystick, 130... Origin switch, 132...
··Limit switch,

Claims (4)

[Claims] (1) a substrate and at least one
In a walking control device for a legged mobile robot comprising a plurality of leg links each having joints, a) a control value for driving the leg link to follow a preset target value; control value determining means for determining; b. predicting means for predicting the possibility of the robot falling; c; control value modifying means for modifying the control value of the support leg link in accordance with the predicted possibility; and d. A walking control device for a legged mobile robot, comprising: an actuator that drives the joint according to a corrected control value. (2) a substrate and at least one
In a walking control device for a legged mobile robot comprising two leg links each having two joints, a, a speed control value for driving the leg links to follow a preset target value; b. Prediction means for predicting the possibility of the robot falling; c. Control for correcting the control value of the support leg link by multiplying it by a predetermined coefficient according to the predicted possibility. A walking control device for a legged mobile robot, comprising: a value correcting means; and e, an actuator that drives the joint according to the corrected control value. (3) The walking control device for a legged mobile robot according to claim 2, wherein the coefficient is temporarily set to zero when the leg link is switched between a double leg support period and a single leg support period. (4) The prediction means predicts the possibility of falling from the n-th differential value of the inclination angle of the base body and/or the leg link. Walking control device for legged mobile robots.