JPH1190866A - Editing method for operating pattern for multiped walking body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an editing method of an operating pattern of a multiped walking robot whereby in the case of giving its operating pattern, the robot can be prevented from tumbling. SOLUTION: Relating to a main unit 2, a plurality of feet are provided, and the foot has an articulation relating to a multiped walking body 1 able to walk. In a method editing an operating pattern for editing it, one foot of a plurality of the feet is selected. In the case of defining movement of an articulation of the selected foot, in order to move a position of the center of gravity of the multiped walking body 1, movement of the articulation is defined in cooperation with also at least one foot of the rest of feet.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for editing a motion pattern of a multi-legged walking robot.

[0002]

2. Description of the Related Art Various types of multi-legged walking robots having two or more legs have been proposed. For example, a multi-legged walking robot of this type has a form like an animal such as a cat or a dog. A multi-legged walking robot of such a form has, for example, four legs. I have. Each foot has a predetermined number of joints. By the way, position teaching (teaching) for instructing a position to a joint of a leg of a robot of this type is performed by directly inputting numerical data, or when a robot is not operating, a joint portion of the robot is actually used. There is a method in which an operator manually moves the robot to a position where the user wants to teach the robot, and stores the position information of the joint portion of the robot to perform teaching.

[0003]

By the way, when the operator attempts to give a motion to the joint of the foot of the robot as described above, the motion of each joint is defined. Since the joints are defined separately, data that may cause the robot to fall when actually moved may be given to the joints. Also, the setting of movable parts such as joints must be manually performed by an operator one by one, and data is given to the joints of the feet so as not to fall over well, so the work is difficult. . Therefore, an object of the present invention is to provide a method for editing a motion pattern of a multi-legged walking robot capable of preventing the robot from falling down when the motion pattern of the multi-legged walking robot is given. I have.

[0004]

SUMMARY OF THE INVENTION The object of the present invention is to provide a multi-legged walking body having a plurality of feet with respect to a main body, the feet having joints and being free to walk. In the method of editing a motion pattern for editing a pattern, one of the plurality of feet is selected, and the position of the center of gravity of the multipedal walking body is moved when defining the motion of the joint of the selected foot. This is achieved by a method of editing a motion pattern of a multi-legged walking object, wherein the motion of at least one of the remaining feet is defined in a coordinated manner.

According to the present invention, when one of the plurality of feet is selected and the movement of the joint of the selected foot is defined, the position of the center of gravity of the multi-legged walking robot is moved. The joint movement is also defined for at least one of the feet. Accordingly, the position of the center of gravity of the multi-legged walking robot moves, so that the multi-legged walking robot can be prevented from falling.

[0006] The object of the present invention is to provide a method for controlling the distance between a plurality of grounding points of a plurality of remaining grounding feet when the selected foot is separated from the grounding point. The method according to claim 1, wherein the projection point of the center of gravity of the foot walking object with respect to the ground contact surface is located. In the present invention, preferably, when the selected foot is separated from the ground contact point, within the range of the figure formed by the ground contact points of the remaining ground legs, the center of gravity position of the multi-legged walking robot relative to the ground plane By locating the projection point, it is possible to properly balance the multi-legged walking robot and prevent the multi-legged walking robot from falling.

Further, in the present invention, preferably, a virtual spring and a damper are defined in the main body and each foot to move the center of gravity of the multi-legged walking robot when defining the motion of the joint of the selected foot. Then, at least one of the remaining feet cooperates with the spring and the damper to generate joint movement. Thus, by moving the position of the center of gravity of the multi-legged walking robot, it is possible to prevent the multi-legged walking robot from falling.

[0008]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. Note that the embodiments described below are preferred specific examples of the present invention,
Although various technically preferable limits are given, the scope of the present invention is not limited to these modes unless otherwise specified in the following description.

FIG. 1 shows a preferred embodiment of a multi-legged walking robot according to the present invention. This multi-legged walking robot is an articulated robot, which is in the form of an animal having four legs. The articulated robot 1 has a main body 2, a right forefoot 3,
It has a left front foot 4, a right rear foot 5, a left rear foot 6, a head 7, a torso 8, a tail 9, and the like. The articulated robot 1 has joint parts 1 such as a right forefoot 3, a left forefoot 4, a right hindfoot 5, a left hindfoot 6, and the like.
The brake mechanisms 30 are provided at 0, 11, 12, and 13, respectively. By using the operation of the brake mechanism 30, the relative positional relationship of an arbitrary moving part (leg) of each of the right front foot 3, the left front foot 4, the right rear foot 5, and the left rear foot 6 is operated by a direct teaching method. Can teach the position.
The main body 2 includes brackets 20, 21, 22, 23 for the right forefoot 3, the left forefoot 4, the right hindfoot 5, and the left hindfoot 6. The head 7 is set on the front part on the main body 2, and the body part 8
Is located behind the head 7. The tail 9 projects upward from the body 8.

Each element set for the main body 2 will be described sequentially. First, right forefoot 3 is leg 3a, leg 3b
(Moving part), bracket 20 (moving part), joint part 1
0, 10a, brake mechanism 30, motors 3c, 3d, 3
e etc. The upper end of the leg 3a is connected to the bracket 20, and the leg 3a
It is rotatable in one direction. The leg 3a and the leg 3b are connected by the joint part 10. The motor 3c is the main body 2
When the motor 3c operates, the bracket 20 can rotate about the central axis CL2 in the direction of R2. When the motor 3d operates, the leg 3a can rotate in the R1 direction about the center axis CL1. When the motor 3e operates, the leg 3b can rotate in the R3 direction about the center axis CL3 with respect to the leg 3a.

The left forefoot 4 has legs 4a and 4b (moving parts), a bracket 21 (moving part), joints 11 and 11a, a brake mechanism 30, and motors 4c, 4d and 4e.
The leg 4a is connected to the bracket 21, and the center axis CL
4 can be rotated in the R4 direction. The leg 4b is connected to the leg 4a by a connecting portion 11. The motor 4c is built in the main body 2,
When the motor 4c operates, the bracket 21 moves to the center axis CL.
Rotate around R5 in the R5 direction. When the motor 4d is operated, the leg 4a moves with respect to the bracket 21 to the center axis CL4.
Rotate in the R4 direction around. When the motor 4e operates, the leg 4b rotates in the R6 direction about the center axis CL6.

Next, the right hind leg 5 includes a leg 5a, a leg 5b (moving portion), a bracket 22 (moving portion), and joint portions 12, 12.
a, a brake mechanism 30, and motors 5c, 5d, 5e. The upper end of the leg 5a is connected to the bracket 22. When the motor 5c is operated, the bracket 22 is moved to CL7.
Can be rotated in the R7 direction around. When the motor 5d operates, the leg 5a can rotate in the R8 direction around the CL8. When the motor 5e operates,
The leg 5b can rotate in the R9 direction about the center axis CL9.

The left rear foot 6 has legs 6a and 6b (moving parts), a bracket 23 (moving part), joints 13 and 13a, a brake mechanism 30, and motors 6c, 6d and 6e.
When the motor 6c operates, the bracket 23 can rotate around the CL10 in the R10 direction. When the motor 6d operates, the leg 6a can rotate in the R11 direction about CL11. When the motor 6e operates, the leg 6b moves to the center axis C.
It can rotate in the R12 direction about L12. As described above, each of the right forefoot 3, the left forefoot 4, the right hindfoot 5, and the left hindfoot 6 can be driven by the motors around the plurality of axes.

The head 7 has motors 7a, 7b and 7c. When the motor 7a operates, the head 7 can swing about the CL20 in the R20 direction. When the motor 7b operates,
The head 7 swings in the R21 direction around the CL21.
When the motor 7c operates, the head 7 can swing in the R22 direction about the central axis CL22. The body portion 8 has a motor 8a. When the motor 8a is operated, the tail 9 is rotated about the center axis CL23 by R23.
Rocks in the direction.

FIG. 2 shows the control unit 100 of the articulated robot 1 shown in FIG. 1, and the motors and motors of the right forefoot 3, left forefoot 4, right hindfoot 5, left hindfoot 6, head 7, and tail 9. 4 shows an example of a connection relationship between position sensors. The control unit 100 has a memory 101 and a CPU (central processing unit) 102,
The bus 103 of the CPU 102 is connected to the respective elements of the right forefoot 3, left forefoot 4, right hindfoot 5, left hindfoot 6, head 7, and tail 9 described above. The right forefoot 3 is a motor 3c, 3d, 3
e, and position sensors 3P1, 3P2, 3P3. The motors 3c, 3d, 3e are connected to a driver 3D, respectively, and the position sensors 3P1, 3P2, 3
P3 is also connected to the driver 3D. Each driver 3D is connected to the bus 103.

Similarly, the motors 4c, 4
d, 4e and the position sensors 4P1, 4P2, 4P3 are connected to the driver 4D. Motors 5c, 5 of right hind leg 5
d, 5e and the position sensors 5P1, 5P2, 5P3 are connected to the driver 5D, respectively. Motors 6c, 6d, 6e of the left rear foot 6, and position sensors 6P1, 6P2, 6
P3 is connected to the driver 6D. Motors 7a, 7b, 7c of the head 7 and position sensors 7P1, 7P2, 7
P3 is connected to the driver 7D. The motor 9a of the tail 9 and the position sensor 9P1 are connected to a driver 9D.

Right front foot 3, left front foot 4, right rear foot 5, left rear foot 6
Position sensors 3P1, 3P2, 3P3, 4P1, 4P
2,4P3,5P1,5P2,5P3,6P1,6P
2, 6P3 is for obtaining position information at each location. For example, a rotation angle sensor can be used as these position sensors. When the position information obtained by the position sensors 3P1 to 6P3 such as the rotation angle sensors is fed back to the CPU 102, the CPU 1
02 gives a command to each driver based on the fed back position information. As a result, the corresponding driver performs servo control on the corresponding motor, and C
The motor rotates to a command position given from the PU 102.

FIGS. 3 to 6 show the multi-legged walking robot 1 shown in FIG. 1 in a more simplified manner. The torso portion 8 has a head 7, a right front leg 3, a left front leg 4, a right rear leg 5, and a left rear leg 6. Each leg 3-6 has a joint part 10, 11, 1
2, 13, 30, 30, 30, 30 are provided, respectively. The posture of the multi-legged walking robot 1 shown in FIG. 3 is a basic posture in which the right front leg 3, the left front leg 4, the right rear leg 5, and the left rear leg 6 are straightened. FIG. 4 shows a state in which the joints 11 and 30 of the left forefoot 4 have been moved from the basic posture of FIG.

The right front leg 3, left front leg 4, right rear leg 5, and left rear leg 6 of the multi-legged walking robot 1 shown in FIG. In the state of FIG. 4, the motion is given to the joint portions 11 and 30 of the left forefoot 4, so that the left forefoot 4 is in a posture protruding forward. When the operator intends to determine the angle with respect to the joint portion 11 corresponding to the left front elbow of the left front leg 4 of the multi-legged walking robot 1 and the joint portion 30 corresponding to the left front shoulder, the following is performed. The method of editing the motion pattern of the multi-legged walking robot.

In the editing operation for giving motion to the joint portions 11 and 30 to the multi-legged walking robot 1 shown in FIGS. 3 and 4, the editing operation is performed on the software of the computer 400 in FIG. The position of the center of gravity W0 of the multi-legged walking robot 1 is calculated, and at least one of the other right front leg 3, the right hind leg 5, and the left hind leg 6 is set so that the multi-legged walking robot 1 does not fall from the position of the center of gravity W0. The angle of the joint of one foot can be automatically set. This instruction is given from the external editing instruction computer 400 shown in FIG. 2 to the CPU 102 in FIG.
102 can give an operation command to the motor of the corresponding foot. In this case, the weight of each part of the multi-legged walking robot 1, that is, the weight of the body 8 and the main body 2, the right forefoot 3,
The weight of each of the left front foot 4, right hind foot 5, left hind foot 6, and head 7 is stored in advance in the memory 402 of the external editing instruction computer 400, and based on the weight data, Multi-legged walking robot 1 shown in 4
Of the center of gravity W0 can be calculated.

Next, an example of a method for editing a motion pattern of a multi-legged walking robot will be described with reference to FIG. First, FIG.
In step S1, the memory 101 of the multi-legged walking robot 1 of FIG. 2 stores in advance information such as the weight and shape of each component of the multi-legged walking robot 1 of FIGS. That is, the main body 2, the body 8, the head 7, the right forefoot 3,
Information on the weight and shape of each element such as the left front foot 4, right rear foot 5, left rear foot 6, and tail 9 is stored. Then, the information is transferred from the memory 101 to the memory 402 of the external editing instruction computer 400. This is information acquisition such as weight and shape in step S1 of FIG.

Next, in step S2 of FIG. 7, the multi-legged walking robot 1 is different from the multi-legged walking robot 1 of FIGS.
Start editing the posture of. That is, from the basic posture shown in FIG. 3, the left front leg 4 is made to protrude forward as shown in FIG. At this time, the joint part 11 and the joint part 3
Although the movement is taught to 0, if the robot is left as it is, the center of gravity of the multi-legged walking robot 1 moves to the left front foot 4 side as shown in FIG. become.

In order to prevent the multi-legged walking robot 1 from overturning as shown in FIG. 5, when the left forefoot 4 is bent forward to move the joints 11, 30 as shown in FIG. In step S3, the external editing instruction computer 400 in FIG. 2 calculates the center of gravity W0 of the multi-legged walking robot 1 and calculates a new center of gravity W1 along the back T with respect to the main body 2 and the body 8 as shown in FIG. Let the data be the new calculated centroid value. In order to shift the center of gravity W0 to the new center of gravity W1, the joint parts 10, 12, 13 and the joint parts 30, 30, 30 of the right forefoot 3, the right hindfoot 5, and the left hindfoot 6, as shown in FIG. Give movement to. It is the external editing instruction computer 400 that gives this movement.

In this case, in order to ensure the balance of the multi-legged walking robot 1, the joint portions 10, 12, 13 and 30, 30, 30 of the right front leg 3, the right rear leg 5, and the left rear leg 6 are used. It is preferable that the motion given to the user is as in steps S4 and S5. That is, the projection point IM of the new center of gravity W1 of the multi-legged walking robot 1 onto the ground plane 300 is located within the triangular center-of-gravity position proper range AR. This proper range AR is determined by the ground contact point CP1 of the right forefoot 3 and
This is a triangular area formed by connecting the ground point CP2 of the right hind foot 5 and the ground point CP3 of the left hind foot 6. Since the projection point IM of the center of gravity W1 is always within the appropriate range AR, the multi-legged walking robot 1 is prevented from falling down, and the joint portion 10 in each of the right front foot 3, the right rear foot 5, and the left rear foot 6 is prevented. ,
The movement of the joints 12, 13 and the joint portions 30, 30, 30 can be given, and such a stable posture can be selected with the least movement.

As is apparent from a comparison between FIG. 4 and FIG. 6, when the operator applies a posture in which the left forefoot 4 protrudes forward to the multi-legged walking robot 1, the center of gravity is automatically shifted from W0. Shifting to W1, the rear side of the multi-legged walking robot 1 is lowered as a whole. After calculating the position of the center of gravity in step S3 in FIG. 7 in this way, it is checked whether the multi-legged walking robot 1 falls in step S4 in FIG. 7, and if it is likely to fall, the external editing instruction computer 400 in FIG. Calculates or changes the movement (table of angles) of the other joints, and calculates the center of gravity again in step S3.

If it is clear in step S4 that the robot has not fallen, the process proceeds to step S6, and the external editing instruction computer 400 ends the editing of the operation pattern of the multi-legged walking robot 1. When you finish editing in this way,
The external editing instruction computer 400 formally inputs an operation pattern to the CPU 102 of the multi-legged walking robot 1 in FIG. 2 (step S7).

Next, FIGS. 8 to 12 show another embodiment of the method of editing a motion pattern of a multi-legged walking robot according to the present invention. As shown in FIG. 8, the external editing instruction computer 400 shown in FIG. 2 is used. In this embodiment, the editing method is virtually performed on the display 403 of the external editing instruction computer 400. The multi-legged walking robot 1 displayed on the display 403 in FIG. 8 is the same as the multi-legged walking robot described with reference to FIGS. However, in order to edit the motion pattern so that the multi-legged walking robot 1 does not fall down in the virtual space, when editing the motion of the multi-legged walking robot 1, the virtual Assuming the upper fixed part FX spring and damper system, the robot main body 2, body part 8, head 7, right forefoot 3,
The icons of the spring and damper functions (designs or pictograms indicating the contents of files, types and functions of programs, etc.) are set in relation to the left front foot 4, the right rear foot 5, and the left rear foot 6.

For example, in the examples shown in FIGS. 8 and 9, each part has the following spring / damper system with respect to the fixed part FX in the virtual space. The main body 2 and the body 8 are composed of four spring / damper systems 601 and 60 that can be freely fixed in a virtual space.
2,603,604 icons. Right forefoot 3
The icon of the spring / damper system 701 is set for a part that can be freely fixed in the virtual space.
Similarly, an icon of the spring / damper system 702 is set for a portion of the left forefoot 4 that can be freely fixed in the virtual space. For the right hind leg 5, the icon of the spring / damper system 703 is set for the portion that can be freely fixed on the virtual space, and the left hind leg 6 is set for the portion that can be freely fixed on the virtual space. For the spring / damper system 704
Icons are set.

Further, another icon of the spring / damper system 801 is set between the right forefoot 3 and the left forefoot 4, and the icon of the spring / damper system 802 is also provided between the right hindfoot 5 and the left hindfoot 6. You have set. Similarly, an icon of the spring / damper system 901 is set between the right front foot 3 and the right rear foot 5, and a spring / damper system 902 is set between the left front foot 4 and the left rear foot 6. .

Further, as shown in FIG.
There are three spring and damper systems 1001, 1002, 1
003 icons are set. Tail 9 and body 2
Spring and damper system 1101, 1
Icons 102 and 1103 are set. The operator operates the mouse 405 as the pointing means in FIG. 8 to position the pointer P on the arrow on a predetermined spring / damper system and clicks on the pointer P to set the spring constant of the corresponding spring / damper system. And so on.

Next, an example of a method for editing the above-described operation pattern will be described with reference to FIGS. In step S11 of FIG. 12, the memory 101 of the multi-legged walking robot 1 is replaced with the memory 402 of the computer 400.
The information such as the weight and shape of each component of the multi-legged walking robot 1 is transferred to the memory 4 on the CPU (central processing unit) side of the external editing instruction computer 400 in FIG.
00 is stored. The display 4 shown in FIG.
If the user wants to edit the posture of the multi-legged walking robot 1 on step S03 in step S12, for example, as shown in FIG.
0 and as shown in FIG. That is, for example, FIG.
It is assumed that the basic posture shown in FIG. 11 is edited by adding an operation of kicking the right hind leg 5 diagonally rearward along the direction of the arrow RT as shown in FIG.

Although the multi-legged walking robot 1 may fall if the right hind leg 5 is simply raised, the right fore leg 3 and the left hind leg 6 as shown in FIG.
By moving, it is possible to balance the multi-legged walking robot 1 so as not to fall. This is because the associated spring / damper system 603, 703, 701, 901, 80
2 can be moved in relation to the right hind foot 5, the left hind foot 6, and the right fore foot 3, respectively, as indicated by arrows RT, R2 and R1. In addition, the operator must use the mouse 4
8 by pointing the pointer PT of FIG. 8 to, for example, the spring / damper systems 901 and 802, and changing the spring constant from the keyboard 404, the movement amount of the right front foot 3 and the left rear foot 6 can be changed. it can. This allows the multi-legged walking robot 1 to be more balanced
Can be virtually edited on the display 403 for each foot while preventing the fall of the foot.

Steps S14 and S13 in FIG.
After editing the constants of the spring / damper so as not to overturn, if the operator does not fall in step S14, the process proceeds to step S15 and the operator inputs whether or not to end the editing. When the editing is completed, the operation pattern edited in this way is, for example, shown in FIG.
Is sent to the CPU side of the multi-legged walking robot 1 as edit information of the motion pattern (step S16). As described above, by using the method for editing the operation pattern of the multi-legged walking robot of the present invention, the creation of the motion of the multi-legged walking robot can be freely performed without concern that the multi-legged walking robot falls. And easily.

The editing method in FIGS. 1 to 7 also edits the motion on the computer display in the same manner as the editing method in FIGS. 8 to 12. That is, the robot displayed on the computer screen is provided with motion editing.
The multi-legged walking robot described in the embodiment of the present invention is an example of the multi-legged walking body of the present invention, but is not limited thereto, and may be applied to various machines such as other vehicles and machine tools. An editing method of a motion pattern of a walking object can be applied. The effect in the editing method of the motion pattern increases as the number of parts requiring cooperative movement of the multi-legged walking body increases. For example, the number of legs in a multi-legged walking robot as a multi-legged walking object is not limited to four, but may be two, three, or five or more.

In the present invention, when a motion pattern of a multi-legged walking object (multi-legged walking robot) is edited, if a joint portion is edited, other joint portions can be moved in coordination therewith. In a multi-legged walking robot, when an input for defining the movement is made, when a movement of one joint is made, the other joints are automatically made to move in a coordinated manner. In this case, the movement of other joints is determined by actively controlling the center of gravity of the multi-legged robot so that the multi-legged robot does not fall. For example, a virtual spring / damper system is defined in a limb portion where the multi-legged walking robot operates, for example, and a system in which one joint portion is moved with another joint portion is adopted. If you edit a joint in the virtual space on the software, the movement of other joints will be automatically calculated, so that a multi-legged walking object such as a multi-legged walking robot will perform proper operations such as walking. Will be able to do it.

[0036]

As described above, according to the present invention,
When giving the motion pattern of the multi-legged walking robot, it is possible to prevent the robot from falling down.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an example of a multi-legged walking robot in a preferred embodiment of a multi-legged walking object of the present invention.

FIG. 2 is a diagram showing each element of a control system of the multi-legged walking robot in FIG. 1;

FIG. 3 is a view schematically showing the multi-legged walking robot shown in FIG. 1 and showing a basic posture.

FIG. 4 is a diagram showing a state in which a left forefoot is raised from the basic posture of FIG. 3;

FIG. 5 is a diagram showing an example in which the posture of the multi-legged walking robot has collapsed.

FIG. 6 is a diagram showing a state in which the posture of the multi-legged walking robot does not collapse.

FIG. 7 is a diagram showing an example of a method of editing a motion pattern of the multi-legged walking robot.

FIG. 8 is a diagram showing another example of a method of editing a motion pattern of a multi-legged walking object according to the present invention.

FIG. 9 is a view of the multi-legged walking body in the editing method of FIG.

FIG. 10 is a view showing the basic posture of the multi-legged walking object of FIG. 8 from the rear side.

11 is a diagram showing a state in which the right hind leg has been moved from the basic posture in FIG. 10;

FIG. 12 is a diagram showing an example of a method for editing the operation pattern in FIG. 11;

[Explanation of symbols]

1 ... multi-legged walking robot (multi-legged walking body, articulated robot), 2 ... body, 3 ... right front leg, 4 ... left front leg, 5 ... right rear leg, 6 ...・ Left hind leg, 7 ・ ・ ・ Head,
8: body part, 9: tail, 400: external editing instruction computer, 601, 602, 603, 60
4,701,702,703,704,801,80
2,901,902 ・ ・ ・ Spring / damper system

Continuation of the front page (72) Inventor Hiroshi Osawa 6-7-35 Kitashinagawa Shinagawa-ku, Tokyo Inside Sony Corporation

Claims (3)

[Claims] 1. A motion pattern editing method for editing a motion pattern for a multi-legged walking object having a plurality of feet with respect to a main body, the feet having joints, and being free to walk. In selecting one of the feet and defining the motion of the joint of the selected foot, at least one of the remaining feet cooperates to move the center of gravity of the multi-legged walking object. A method for editing a motion pattern of a multi-legged walking object, wherein the motion pattern is defined by defining a joint motion. 2. Projection of the position of the center of gravity of the multi-legged walking object onto the ground plane within the range of the figure formed by the ground points of the remaining ground legs when the selected foot leaves the ground point The method according to claim 1, wherein the points are located. 3. A virtual spring and a damper are defined for a virtual fixed part on the main body and each foot, and when defining the motion of the joint of the selected foot, the position of the center of gravity of the multi-legged walking body is defined. 2. The method for editing a motion pattern of a multi-legged walking object according to claim 1, wherein in order to move the at least one of the remaining feet, joint movements are generated in cooperation with each other via a spring and a damper.