KR100877985B1 - Control methode for movements of walking robot - Google Patents

Abstract

The present invention relates to a motion control method of a walking robot, comprising: a first step of detecting position information of respective joints when the power is turned on in an arbitrary posture state in which the power of the walking robot is turned off; A second step of determining a driving order and a driving direction of the motor mounted to each joint by comparing the position information values, and a third step of generating a trajectory of each joint according to the determined driving order and the driving direction, respectively; Including the fourth step of transitioning the joints to the initial posture already set inside the walking robot, it is to prevent the interference and collision to each leg.

Description

Motion Control Method for Walking Robots {CONTROL METHODE FOR MOVEMENTS OF WALKING ROBOT}

1 is a perspective view showing the appearance of a walking robot which is an embodiment of the present invention.

2 is a block diagram schematically showing the internal structure of the walking robot,

3 is a flowchart illustrating a process of controlling the dynamics of the walking robot;

Figure 4 is a front view briefly showing a state viewed from the front of the walking robot according to an embodiment of the present invention,

Figure 5 is a rear view briefly showing a state viewed from the back of the walking robot according to an embodiment of the present invention,

Figure 6 is a left side view showing a simplified view of the walking robot as an embodiment of the present invention from the left side,

7 is a right side view briefly showing a state of a walking robot viewed from the right side of an embodiment of the present invention;

8 is a state diagram showing a state in which the walking robot is an initial posture of an embodiment of the present invention.

** Description of the symbols for the main parts of the drawings **

1: head 2: body

11, 12, 13, 14: thigh part 21, 22, 23, 24: shin part                 

31, 32, 33, 34: shoulder joint first motor 31a, 32a, 33a, 34a: shoulder joint first sensor

41, 42, 43, 44: second shoulder joint motor 41a, 42a, 43a, 4a: second shoulder joint sensor

51, 52, 53, 54: knee joint motor 51a, 52a, 53a, 54a: knee joint sensor

The present invention relates to a motion control method of a walking robot, which will be described in more detail. When the power is turned on while the walking robot takes an arbitrary posture, the walking robot prevents damage from being caused by interference and collision between components. It relates to an operation control method of.

In general, a robot apparatus includes a mechanical system in which an actuator having a predetermined degree of freedom, a sensor for detecting a predetermined physical quantity, and the like are arranged at predetermined positions, respectively, and by a controller using a microcomputer, according to the output and control program of various sensors It is possible to perform frequent and predetermined operations by driving control of various actuators individually. Moreover, this kind of robot apparatus is assembled to a predetermined shape by combining each structural unit, such as a trunk part, a leg part, and a head part, respectively in the state which has predetermined correlation.

Multi-legged walking robots that have two or more legs are in the form of animals such as cats and dogs. The multipedal walking robot of this type has four legs, and each leg has a predetermined number of joints. As a method for controlling the leg joints of this type of robot, a method of recording and reproducing positional information and velocity information by teaching, or generating and executing positional information and velocity information by using a motion model There is a way.                         

Recently, the development of a pet walking robot to replace the actual pet has been actively progressed. The walking robot takes a random posture while the power is off, and when the power is turned on by the user, the walking robot executes a transition operation with an initial posture set inside the walking robot.

In the case of the conventional pet walking robot, the transition operation between the various postures when the power is turned on does not interfere with each other between the moving legs, and programs the motor to operate without generating excessive torque (Torque) to the motor moving each leg. It is.

However, when the user turns on the power while the power is in an arbitrary position, the user moves on with the initial posture set inside the walking robot, causing interference between the legs or obstructing each joint by force. When the torque is increased in the driving motor, the consumption of the internal battery increases, thereby reducing the operating time, or causing damage to the mechanical part due to interference between the legs and the ground.

An object of the present invention devised in view of the above point is to provide an operation control method of a walking robot to prevent damage to the product by preventing interference and collision between components.

A motion control method of a walking robot for achieving the object of the present invention as described above is a first step of detecting the position information of each joint when the power is turned on in any posture in the state that the power of the walking robot is off And a second step of determining a driving order and a driving direction of the motor mounted to each joint by comparing the detected position information values, and generating a trajectory of each joint according to the determined driving order and driving direction. It includes a third step and a fourth step of transitioning each joint to the initial posture already set inside the walking robot.

Hereinafter, the motion control method of the walking robot according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a perspective view showing the appearance of a walking robot which is an embodiment of the present invention, Figure 2 is a block diagram schematically showing the internal structure of the walking robot, as shown in the walking robot is a body portion (2) The thighs 11 to 14 and the shin portions 21 to 24 are connected to each corner portion at the front and rear left and right, respectively, to have various degrees of freedom, and the head portion 1 is connected to the front center portion of the trunk portion 2. have.

As shown in FIG. 2, a central processing unit formed inside the body portion 2 includes a microprocessor 3 that controls the operation of the entire robot, and a RAM that stores an operating system and an application program. : Random Access Memory (4) and ROM (Read Only Memory) (5), and wired / wireless communication means (I / O bus, USB, RS232C, Wireless Link) connecting the central processing unit and the drive unit (6) Etc. are provided.

The driving device is mounted to the shoulder joint portion to which the thighs 11 to 14 are connected to the torso 2 so that each thigh 11 to 14 is in the longitudinal direction of the torso 2. The shoulder joint first motors 31 to 34 driven to rotate in a direction perpendicular to the shoulder, and the thigh portion attached to the trunk portion 2 to which the thighs 11 to 14 are connected to the trunk portion 2. Shoulders second motors 41 to 44 driven so as to be rotatable in parallel with the longitudinal direction of the trunk portion 2 and the shin portions 21 to the thighs 11 to 14. To knee joint motors 51 to 54 which are mounted to the knee joints to which the shanks 21 to 24 are rotatable in a direction perpendicular to the longitudinal direction of the thighs 11 to 14. ) Is configured to detect the position of each leg joint In order to detect the driving state of the shoulder joint first motor (31 to 34), the shoulder joint first sensor (31a to 34a), and the shoulder joint agent for detecting the driving state of the shoulder second motor (41 to 44) Two sensors 41a to 44a and knee joint sensors 51a to 54a for detecting a driving state of the knee joint motors 51 to 54 are provided.

Referring to the driving and operation control method of the walking robot configured as described above in more detail.

The walking robot has a predefined motion information that can implement the operation of the walking robot. Here, the predefined motion information means that the walking robot does not implement motion by generating motion information in real time by sensing a curved ground or environment, and simply executes the predefined motion information.

3 is a flowchart illustrating a process of a motion control method of the walking robot, which detects the position information of each joint when the power is turned on in any posture in which the power of the walking robot is turned off as shown in FIG. The first step is a shoulder joint first sensors 31a to 34a, shoulder joint second sensors 41a to 44a, and knee joint sensors 51a to, which are position sensors mounted on the shoulder joints and knee joints of the walking robot, respectively. In step 54a, the detection signal detected by the digital signal processor is converted into a position information value.

4 is a front view briefly showing a state of a walking robot according to an embodiment of the present invention, FIG. 5 is a rear view briefly showing a state of a walking robot according to an embodiment of the present invention, 6 is a left side view briefly showing a state of a walking robot as an embodiment of the present invention from the left side, and FIG. 7 is a right side view briefly showing a state of a walking robot as an embodiment of the present invention as seen from the right side thereof. 8 is a state diagram illustrating a state in which a walking robot, which is an embodiment of the present invention, takes an initial posture.

As shown in FIGS. 4 to 7, the walking robot takes an upright position as a 0 degree state (zero posture), which is a reference state, and the thigh part in the direction of each arrow based on the 0 degree state. 11 to 14 and the shin portions 21 to 24 are referred to as " + " position information values, and in the opposite direction to the arrow, "-"

The second step of determining the driving order and the driving direction of the motor mounted on each joint by comparing the detected position information values is to compare the position information values calculated by the central processing unit and the thigh part of the walking robot. Steps 11 to 14 and the shanks 21 to 24 determine the driving order and direction so that they do not interfere with each other and collide with each other, or excessive load is generated.

The driving sequence is called the upright position of the walking robot as a reference state of 0 degrees, step of opening the leg 90 degrees in a direction perpendicular to the body by driving the drive device mounted on the shoulder joint formed on each leg And driving the drive device mounted on the knee joint formed in each leg to form a straight line, and driving the drive device mounted on the shoulder joint formed in each leg so as to be perpendicular to the torso. It proceeds including the steps, which will be described in more detail as follows.

The step of opening a leg by a 90 degree angle in a direction perpendicular to the torso by driving the drive unit mounted on the shoulder joint formed on each leg drives the shoulder joint first motors 31 to 34 to the torso part 2 The process of spreading the legs by 90 degrees in the direction perpendicular to the longitudinal direction of), which prevents interference or excessive motion of the thighs 11 to 14 and the shins 21 to 24. It is a process that plays an important role.

As shown in Figs. 4 and 5, the thigh portion 11 and the shin portion 21 in the left direction of the front portion of the torso portion 2 are opened at an angle of 0 degrees and 31 degrees, respectively, and the torso portion (2) when the thigh 13 and the shin 23 in the left direction of the rear part are opened at an angle of 0 degrees and 33 degrees apart, the angles 31 and 33 are compared. First, the shoulder joint first motor 31 mounted on the front left side of the front part 2 is first driven, and if the angle 33 is large, the shoulder joint mounted on the left side of the rear part of the trunk 2 1 The motor 33 is driven first.

Similarly, the shoulder joint first motor 32 in the right direction of the front part of the trunk part 2 and the shoulder joint first motor 34 in the right direction of the rear part of the trunk part 2 also compare each 32 with each 34. The larger side is driven first, and the left and right directions of the trunk portion 2 are paired with each other, and the driving is performed, and the driving order of the left and right directions of the trunk portion 2 may be performed arbitrarily.

Next, the step of driving the drive device mounted on the knee joint formed in each leg to form a straight line is the knee to drive by connecting the thighs (11 to 14) and the shin portion (21 to 24) It drives the articulation motor 51 to 54 to drive the shank portions 21 to 24 in a straight line with respect to the longitudinal direction of the thighs 11 to 14. In other words, the shin portions ( 21 to 24 of the knee joint motors 51 to 54 such that the angles 51, 52, 53, and 54 of the longitudinal axis of the thighs 11 to 14 are in the 0 degree state. To drive.

Next, driving the drive device mounted on the shoulder joint formed in each leg to be in a vertical state with respect to the torso drives the second shoulder motors 41 to 44 of the shoulder joint in the longitudinal direction of the torso 2. With respect to the thigh portion (11 to 14) and the shank portion (21 to 24) is a process to be in a vertical state.

The third step of generating the trajectory of each joint according to the determined driving order and the driving direction is possible by comparing the calculated position information value in the initial arbitrary posture with the position information value of the initial posture already set inside the walking robot. In this step, the joint trajectory is generated.

The fourth step of transitioning each joint to the initial posture already set inside the walking robot is the shoulder joint first motors 31 to 34 and the shoulder joint second formed on each shoulder joint according to the determined driving order and direction. It is a process of transitioning to the initial posture as shown in FIG. 8 by driving the motors 41 to 44 and the knee joint motors 51 to 54 formed on the knee joints.

As described above, the motion control method of the walking robot according to the present invention includes a first step of detecting the position information of each joint when the power is turned on in any posture in which the power of the walking robot is turned off. A second step of determining a driving order and a driving direction of the motor mounted to each joint by comparing the position information values, and a third step of generating a trajectory of each joint according to the determined driving order and the driving direction, respectively; Including the fourth step of transitioning the joints of the joints to the initial posture already set inside the walking robot, it is possible to prevent the interference and collision between each leg.

As described above, when the user turns on the power in an arbitrary posture state in which the walking robot according to the present invention is turned off, each position sensor is in the process of performing a transition operation with an initial posture already set inside the walking robot. By setting the driving order and the driving direction of the driving apparatus mounted on each joint part using the position information value calculated by the signal detected by, the interference between the respective legs is not generated according to the arbitrary posture. Minimizes the impact of the ground and the trunk, and suppresses excessive torque generated by excessively pushing some joints to the ground to prevent damage to the walking robot mechanism and increase the use time of the battery mounted therein.

Claims (4)

A first step of detecting the position information of each joint when the power is turned on in an arbitrary posture with the power of the walking robot turned off; A second step of determining the driving order and driving direction of the motors mounted on the respective joints by comparing the detected position information values; Generating a trajectory of each joint according to the determined driving order and driving direction; And a fourth step of transitioning each joint to an initial posture already set inside the walking robot. The method of claim 1, wherein the first step is detected by a position sensor for detecting a position of a leg joint of the walking robot and transmitted to a central processing unit for driving a driving device. The method of claim 1, wherein the second step and the third step, And a driving order and a driving direction determined by the central processing unit are transmitted to the driving devices mounted on the respective joints through wired and wireless communication means. The method of claim 1, wherein the driving sequence, The standing posture of the walking robot is referred to as a reference state of 0 degree, and the process of spreading the legs by 90 degrees in a direction perpendicular to the torso by driving a drive unit mounted on the shoulder joints formed on each leg, Driving the drive device mounted on the knee joint formed on each leg so that the legs form a straight line, And a step of driving the driving device mounted to the shoulder joints formed on each leg to be in a vertical state with respect to the torso.

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