KR20050088695A - Biped robot which transforms itself into wheel-type vehicle and its method of operation - Google Patents

Abstract

The present invention relates to a biped walking robot driving method and a device for transitioning to a driving mode. The biped walking robot that forms two joints to walk in a human shape and forms each joint part similarly to a human joint to walk by driving. In the biped walking step (S1) to move while walking while balancing the center of gravity of the robot 50 in the front and rear left and right; A driving transition indicating step (S2) of instructing to perform a pre-stored traveling transition process according to a command of the remote controller 80 or a signal determined by a means for determining the necessity of a traveling transition in the biped walking step (S1); A driving mode transition step (S3) of executing the traveling transition process stored in advance in the driving transition indicating step (S2) to transition to the driving mode; A driving step (S4) for driving by driving the lower wheels (42, 74) in the driving mode transitioned in the driving mode transition step (S3); A biped walking instruction step (S5) of instructing to carry out a pre-stored bipedal walking transition process according to a command of the remote controller 80 or a signal for determining a necessity of a bipedal transition in the driving step (S4); It is characterized in that it comprises a biped walking transition step (S6) to transition to biped walking by executing a pre-stored biped walking transition process in the biped walking instruction step (S5).

Description

Biped robot which transforms itself into wheel-type vehicle and its method of operation}

The present invention relates to a biped walking robot driving method and apparatus for transitioning to a driving mode, and more particularly, a biped capable of walking on uneven terrain that can be easily adapted to a human working and living space with a joint system similar to a human. It forms the wheel necessary for driving on the walking robot and automatically transitions without any external operation by the module stored inside to form the shape suitable for driving, so it is formed to reduce the fast moving speed and energy consumption according to the driving mode, and change the shape as needed. A biped walking robot driving method and apparatus for shifting to a biped walking mode and a biped walking mode are provided.

In general, a robot is an artificial human being, and it is an automatic doll that assembles a mechanical device inside a doll that is originally a human figure, and operates hands and feet and other parts like the original person. Mobility was granted by using a driving mechanism using a caterpillar or the like, or by using a walking mechanism using a leg like an insect, an animal, or a human.

The advantages and disadvantages of the mechanism for imparting robot mobility are as follows.

The driving robot, in which wheels are installed to have the mobility of the robot using the driving mechanism, is widely used because of its high payload, relatively simple system configuration and control, high moving speed, and relatively high stability.

However, the driving robot has a problem that the movement performance is greatly reduced in the uneven terrain of the threshold, staircase, outdoor, it is impossible to move to the desired position.

In addition, the pedestrian robot, which uses the walking mechanism to have the mobility of the robot, is used for terrains with a high degree of complexity that is widely used in landmine removal, space projects, volcanic exploration, etc. even in foreign countries. It is known to have excellent adaptive performance.

Therefore, when the main use of the robot is extended to human life and workspace, a biped walking mechanism having a structure closer to human being is effective.

As such, since the working space of the robot is designed for humans, the biped walking robot of the prior art is a human using a robot, as disclosed in Korean Patent Laid-Open Publication No. 2001-0051881. In order to understand how to use robots more quickly and easily, we have developed walking and motions to be similar to humans to have mechanisms similar to humans. This is called humanoid robots.

Despite the advantages of biped humanoid robots, the payload is very small, the speed of movement is slow, the amount of energy consumed is large, the center of gravity of the robot is high and the support area is small. there was.

In addition, it is not only complicated to construct and control the motion and control system of biped humanoid robots, but also the weak technique for the parts necessary for accurate control and operation, which is a theoretical approach to bipedal walking. In the past, the cost increases and the production of parts that cannot be realistically realized is limited to academic research. However, humanoid robots are currently undergoing a lot of research and development to be accepted as a measure of national technology.

In addition, even if the instability, configuration, and control difficulties of biped humanoid robot systems are resolved, problems that cannot be realized due to inherent limitations, such as high payloads and rapid movement speeds, which are inherent limitations, will continue to be addressed. will be.

In order to solve the problem of the walking robot, various attempts have been made. In recent years, a number of legs and wheels attached to the ends of each leg have been applied to highlight the advantages of the walking robot and the traveling robot. In general, while using the wheels formed on each leg, the puddles and the high and low car were used to walk with a large number of legs on the ground, and then to move with a plurality of wheels on the plain.

However, the robot that formed a plurality of legs than the biped stressed only the convenience of movement, and there was a problem that the human beings living in the bipedal upright life were restricted from movement in the work space.

The most similar case that solves this problem is a toy that can travel together while biped walking with a humanoid. It is a toy that allows a user to change the external shape such as replacing related parts or twisting and bending the body. There may be a transition between, but by changing the appearance in the imagination for toys that do not apply to real life there was a risk of injury and difficult operation of the external operation.

The main object of the present invention devised to solve such a problem is to bilateral walking by forming a transition mode in the form of a driving mode that is operated by wheels such as cars, tanks and armored vehicles while folding the joints of each joint of the biped robot. User's needs and operation have advantages of bipedal walking and driving mode such as doubling of continuous use time, high payload, high moving speed, etc. Depending on the form, it automatically transitions and utilizes the advantages of bipedal walking and driving mode, thereby maximizing the utilization of the robot.

In addition, another object of the present invention is to carry out the transition process and each operation with a remote controller that has a means for determining the need of the transition between the driving mode and bipedal walking in the robot and remotely controlled according to the user's needs. When a signal that executes the signal is generated, the operation and transition process is performed after each motion is terminated by the data stored in the internal device to improve the stability of the control and to perform the operation on the higher-level command conceptualized for the user's desired motion. As a final and simple command, each operation is completed to increase convenience.

In addition, another object of the present invention is to provide each robot with a physical direct attack or indirect attack means such as laser, infrared and sound waves, and to form a reaction means for emitting continuous sound, reaction motion and light to the attack, respectively; Each robot is used to add playful entertainment to a game of war.

The biped walking robot driving method and the device of the present invention devised to achieve the above object is to form a visual sensor and a distance sensor in the center of the upper part to measure the distance and secure the field of vision to the biped walking and driving mode The head is formed to execute the transition process by judging the transition, and the yaw axis that rotates parallel to the ground in the lower portion of the head and the pitch axis rotates up and down to form a center of gravity during the transition process and bipedal walking Body formed to perform the work while maintaining the balance, and rotated up and down by connecting the pitch axis to rotate up and down on the left and right of the body formed to perform the operation while maintaining the center of gravity during the transition process and bipedal walking Transition process and biped beam by forming the arm and the pitch axis to rotate up and down at the bottom of the body to support the body to rotate up and down Balance the center of gravity at the time and form a wheel to the left and right to form a wheel to rotate and move when the transition to the run mode, and formed at the bottom of the waist at two distances that do not interfere when walking, the ground to the upper side The yaw axis rotates to be parallel to the axis, the pitch axis rotates up and down, and the roll axis rotates to the left and right to freely move in each direction during bipedal walking, and the legs formed to maintain the balance of the center of gravity during the transition process. Formed on the lower portion of the leg, each of which formed a pitch axis that rotates up and down to the upper side by driving the legs up and down during walking and transition process, while maintaining the balance of the center of gravity and bipedal walking and transition formed Forming a foot in the lower portion of the knee, the upper and lower pitch axis to rotate up and down and the roll axis to rotate left and right Sex and is characterized in that arranged to balance the center of gravity during walking in the transition process, comprising the ankle formed by forming the left and right wheels so as to move in rotation in the running mode.

In addition, the driving mode of the robot is characterized in that configured to be converted to various forms of the vehicle driven by the wheel, such as cars, tanks and armored vehicles.

In addition, the robot's bipedal walking and driving mode are rotated upward by rotating the pitch axis of the waist to raise the body and the head, and the legs, the knees and the ankles are positioned parallel to the ground, and the wheels of the waist and the ankles are driven. While configuring the intermediate mode using the arm and head of the body.

In addition, in the bipedal walking robot that forms two joints to walk in a human form and walks by driving by forming each joint part similarly to a human joint, while balancing the center of gravity of the robot's legs from front to back, left and right A biped walking step of moving and walking, and a driving transition indicating step of instructing to perform a pre-stored traveling transition process according to a signal of a remote controller in the biped walking step or an instruction of a means for determining the necessity of a traveling transition; A driving mode transition step of transitioning to a driving mode by executing a traveling transition process previously stored in the transition step; and a driving step of driving by driving the lower wheels in the driving mode transitioned from the driving mode transition step; In response to instructions from the remote controller or by means of determining the necessity of bipedal transition A biped walking instruction step of instructing to perform a pre-stored biped walking transition process, and a biped walking transition step of transitioning to biped walking by executing a pre-stored biped walking transition process in the biped walking instruction step.

In the bipedal walking step, the two feet are placed side by side in the initial state with the center of gravity on the other foot, while lifting one foot forward and landing, the center of gravity is moved on one foot, and then the other foot is moved forward and the other side again after landing. While moving the center of gravity on the foot, move forward with holding one foot and repeat the operation to return to the initial state where the center of gravity is located between one foot and the other foot. Rotating as it is characterized in that the robot is configured to walk while rotating from side to side.

In addition, the driving mode transition step is to rotate the pitch axis of the knee and ankle to lower the body and head to the ground by rotating the pitch axis of the waist while lowering the robot to the ground side, the arm of the left and right sides of the body support the ground knee Rotate the pitch axis of the robot to be parallel to the ground so that the wheels formed on the left and right sides of the waist are seated on the ground. When the robot is parallel to the ground, the robot rotates the pitch axis of the waist to the upper side, while the body and the head are raised to the upper side. The body and head are raised and the waist is close to the leg, and the pitch axis of the lower part of the body is at the knee side. It rotates characterized in that the body is as close to the upper leg and knee changes to the running mode is traveling in the driving of the back wheels and wheel ankle.

The driving step is to rotate the wheels formed on the waist and the wheels formed on the ankle while the body, the head and the waist are in close contact with the legs, the knees and the ankles, and when the direction is changed, the roll shaft of the ankle is rotated to the left and right sides. Driving in the direction, the ground is inclined state by rotating the pitch axis of the knee to move up and down to form a height displacement of the wheel of the waist and the wheel of the ankle is characterized in that configured to run smoothly.

In addition, the bipedal transition step is to rotate the pitch axis of the waist to rotate the yaw axis to the lower side of the body and head to the side in the state of raising the body and head to the upper side and the pitch axis of the body so that the arm is placed on the ground While supporting the ground with the arm in the lowered state, rotate the pitch axis of the knee to the body side and approach the ankle to the waist side.When the ankle is close to the waist side, the pitch axis of the ankle is rotated to the ground side and the foot is placed on the ground and the waist is Rotate the pitch axis of the body in the raised state to form a balance of the center of gravity by raising the body toward the upper side and the pitch of the waist with the body rotated to the front side with the yaw axis with the body raised. The pitch axis of the shaft and the body is formed to be inclined to balance the center of gravity, and the pitch axis of the knee to the top Jeonhamyeonseo by making the pitch of the pitch axis and the axis of the body waist fit the balance of the center of gravity at the same time increase is characterized in that the formation of the transition to a bipedal mode.

In addition, the remote controller is configured not to specify the movement of each part of the robot, and transmits only the conceptualized high-order command to perform all motions in a completed state based on the data in which a series of motions in accordance with the command are embedded.

In addition, by using a weapon that can be externally mounted to one side of the robot is characterized in that it comprises a reaction means for reacting in response to an indirect attack such as a direct attack or laser or sound waves applied from the outside.

In addition, the reaction means is characterized in that it is formed to emit a continuous sound, reaction motion and light in response to the attack.

As described above, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram showing a biped walking robot device transition to the running mode of the present invention.

The bipedal walking robot device transitioned to the driving mode of the present invention as shown in FIG. 1 forms a visual sensor 11 and a distance sensor 12 in the center of the upper part to measure the distance and secure a field of view of the bipedal walking and The head 10 is formed to execute the transition process by determining the transition to the driving mode, and the yaw axis 21 that rotates to be parallel to the ground in the lower portion of the head 10 in the body shape is rotated up and down Formed with a pitch axis 22 connected to the body formed to perform the operation while maintaining the balance of the center of gravity during the transition process and bipedal walking, and the pitch axis 31 to rotate up and down on the left and right of the body 20 Rotating up and down to form an arm 30 formed to perform the operation while maintaining the center of gravity during the transition process and bipedal walking, and forming a pitch axis 41 to rotate up and down in the lower portion of the body 20 Rotate up and down while supporting 20 Maintaining the balance of the center of gravity during the transition process and bipedal walking and forming a wheel (42) to the left and right when the transition to the run mode is formed to rotate and move, when walking on the lower portion of the waist (40) It is formed in two at a distance that does not interfere, yaw axis 51 to rotate parallel to the ground to the upper side, pitch axis 52 to rotate up and down and roll axis 53 to rotate left and right when bipedal walking It is possible to move freely in each direction, and formed in the lower portion of the leg 50 and the leg 50, respectively formed to maintain the balance of the center of gravity in the transition process, the pitch axis 61 to rotate up and down to the upper side Forming the knee (60) and biped walking and transition while maintaining the balance of the center of gravity by driving the leg 50 up and down during walking and transition process, and the foot (below the knee 60) 73) form the top The pitch shaft 71 rotates up and down and the roll shaft 72 rotates left and right to form a balance of the center of gravity during walking and during the transition process, and the wheels 74 are formed on the left and right sides in the driving mode. It comprises a ankle 70 formed to rotate and move.

Figure 2 is a process diagram showing a biped walking robot driving method transitions to the running mode of the present invention.

As shown in FIG. 2, the method for driving a biped walking robot transitioned to a driving mode includes two legs to walk in a human form, and each joint part is formed similarly to a human joint to walk on a biped walking robot. In the bipedal walking step (S1) and moving while walking while balancing the center of gravity of the leg 50 in front and rear left and right;

In the biped walking step (S1), the driving transition indicating step (S2) for instructing to perform a pre-stored driving transition process in accordance with a signal from the command of the remote control unit 80 or a means for determining the necessity of the traveling transition, and the driving The driving mode transition step (S3) for transitioning to the driving mode by executing the traveling transition process stored in advance in the transition step (S2), and the lower wheels 42, 74 in the driving mode transitioned in the driving mode transition step (S3). Driving step (S4) for driving the vehicle, and the pre-stored bipedal transition process is performed in accordance with a signal by means of the instruction of the remote controller 80 or the necessity of the bipedal transition in the driving step (S4). A biped walking instruction step (S5) instructing to perform, and a biped walking transition step (S6) to transition to biped walking by executing a biped walking transition process stored in advance in the biped walking instruction step (S5). Configure.

3 to 9 are diagrams showing a state of bipedal walking by the bipedal walking robot driving method transition to the running mode of the present invention.

The bipedal walking step (S1) is a center of gravity on one foot (73) when the two feet (50) side by side in the initial state with the center of gravity on the other foot (73) in the initial state by lifting the one foot (73) After moving the other foot (73) to move forward and after landing, while moving the center of gravity to the other foot (73) again with one foot (73) to move forward between one foot (73) and the other foot (73) The robot 1 rotates to the left and to the right when the roll shaft 53 of the leg 50 is rotated to the left and right while moving forward and reverse driving while repeating the operation of returning to the initial state where the center of gravity is located. .

The walking of the robot 1 as described above is first performed with the support of the two feet 73 so that the walking of the robot is completed by repetitive movements of both legs 50, and the second operation is one. The foot 73 is supported.

The two feet 73 support operation is performed from the initial posture of the dressing position until just before the one foot 73 is released and from the moment when the other foot 73 touches the ground in the support state of the one foot 73, the other foot again. It appears between the movement from the ground 73 to the release, and the support of one foot 73 consists of the movement of the foot 73 from reaching the ground by releasing one foot from the support of the two feet 73. .

When walking, the moment of inertia and moment acts on each material point. Especially, at the point where the ground meets the sole of the foot, the moment is balanced, so it does not fall in any direction.

Conversely, the moments generated by the movement of each point are not broken when the bridge is balanced, which is called the zero-moment point.

Thus, the first goal of walking the robot 1 is to maintain the so-called zero-moment-point within the polygon of the points where the robot 1 meets the ground.

Thus, in order to generate a walking trajectory for the robot 1 to walk, it is important to analyze the walking pattern of biped walking to extract each important characteristic posture, and to move the joints of the robot 1 to these postures. Biped walking defined each feature posture as a frame, and defined a continuous motion consisting of a concatenation of feature postures as a motion. In addition, various walking may be implemented by combining these motions.

This walking is largely composed of forward / backward / turn left / turn right, and in the case of left / right rotation, the robot 1 is symmetrical with the same pattern.

However, in the case of forward / backward, the robot is not forward / backward symmetrical, especially since the movement of the joint is forward / backward asymmetric, the trajectory of forward and backward has no symmetry with respect to time.

In this walking, the two-foot 73 support movement of the forward walk, which consists of two-foot 73 support motion and one-foot 73 support motion, lifts the first step in the initial state of the robot 1. It can be divided into three types that occur between the last foot support movement during walking, and during the process of returning to the initial state during walking.

The first state is a state in which the center of gravity is moved to the opposite leg 50 to remove one foot 73 from the ground in the initial state, and the second state is likewise the leg 50 floating in the air while moving forward. The center of gravity is moved to lift the opposite leg 50, the third state is the center of gravity is moved between the two legs (50) while the legs floating in the air landing on the ground to return to the initial state It is a state.

As a result, the support state of the two feet 73 is mainly to move the center of gravity.

In addition, the support operation of one foot 73 is divided into a state in which one foot 73 supports the ground and a state in which the other foot 73 supports the ground, and each state is left / right symmetrical.

Thus, in the state in which the center of gravity of the two feet (73) formed symmetrically is loaded with the legs 50 in contact with the ground, the legs 50 floating in the air can be freely moved because they do not carry weight.

However, the zero-moment-point should always be present in the support polygon created by the point where the foot 50 meets the ground and the foot at a certain distance by the movement of the leg 50.

The most important thing for the bipedal walking operation as described above is the change in the position of the center of gravity, and thus can generate each motion on the basis of the two legs 50 in contact with the ground.

Assuming that the basic motion of each of the above motions starts from a state in which the center of gravity has already been shifted to one leg 50, it is easy to lift the other leg 50 which is not supported and swing in the traveling direction.

In this way, the ground motion of the leg 50 swinging in the advancing direction is defined as the basic motion until the next movement of the center of gravity for the basic motion to be reproduced. Since walking can be implemented, the basic motion of the state supported by one leg 50 and the basic motion of the state supported by the other leg 50 are prepared and successively repeated to complete the forward walking of the robot 1. can do.

In consideration of the basic work process such as post-movement of the robot, and work again, it is preferable to set the initial state of the bipedal walking motion at the beginning and the end of the two feet 73 side by side.

At this time, since it should be possible to go to the initial state and start from the initial state by putting the deformation motion in addition to the basic motion for the forward walking, a total of 5 (= 3 + 2) basic motions can realize the perfect forward motion. Do.

The first motion is to lift one foot 73 in the initial state to put the center of gravity on one foot 73, and the second motion to move forward with the other foot 73 with the center of gravity one foot 73 After moving back to the center of gravity to the other foot (73), the third motion is to move forward with one foot (73) while the center of gravity is the other foot (73) and the center of gravity again on one foot (73) The fourth motion is to lift the center of gravity between one foot (73) and the other foot (73) again after moving slightly forward with the other foot (73) while the center of gravity is one foot (73) Go to the initial state, the fifth motion is to lift the center of gravity between one foot (73) and the other foot (73) again after moving slightly forward with one foot (73) in the state of the center of gravity of the other foot (73) Place it in the initial state.

Using the method provided by the present invention, the minimum motions that can generate the operations necessary for the operation of the robot 1 are summarized in Table 1 below.

Each of the motions is divided into an appropriate number of frames. When each frame is controlled in a regulation form, moments due to overshoot or abrupt movements are likely to be unstable.

Therefore, a large number of frames are required to control the smooth connection between each frame. However, since a large amount of memory and a fast processing speed are not preferable, the interpolation between the frames is smooth using linear interpolation. Create

In this way, when the linear interpolation method is used, the position of the frame is in a desired state, but when each joint is moved linearly with respect to time, the position of the robot 1 is moved to an undesired state because the position of the link is expressed as a nonlinear function with respect to the joint. Stability may be broken.

In particular, in the case of a movement in which the angle of the joint increases and decreases in association with the movement of the remaining joints, the stability is very likely to be broken.

In this case, the number of frames is added to divide the frame until the angle of the joint increases and the frame decreases again.

10 to 16 are diagrams illustrating a process of transitioning a bipedal walking state to a driving mode by a biped walking robot driving method that transitions to the driving mode of the present invention.

In the driving mode transition step S3, the pitch axes 41 of the waist 40 are rotated by rotating the pitch axes 61 and 71 of the knee 60 and the ankle 70 to the ground side. Rotating the body 20 and the head 10 to the ground side, and the arm 30 on the left and right sides of the body 20 supports the ground while the robot axis 1 of the pitch axis 61 of the knee 60 When the wheels 42 formed on the left and right sides of the waist 40 are rotated to be parallel to the ground and are seated on the ground, the wheels 74 formed on the left and right sides of the ankle 70 by rotating the pitch shaft 31 of the arm 30 upward. Is seated on the ground so that the wheel 42 of the waist 40 and the wheel 74 of the ankle 70 are seated on the ground to support the robot 1, and when the robot 1 is parallel to the ground, the waist While rotating the pitch shaft 41 of the upper portion 40 to the upper portion by rotating the pitch shaft 41 of the waist 40 toward the leg 50 in the state in which the body 20 and the head 10 are raised upward. 20) When raising the lower pitch axis 22 In turn, the body 20 and the head 10 are in close contact with the waist 40 toward the leg 50 in an elevated state, and the lower pitch shaft 22 of the body 20 is rotated toward the knee 60 by the body ( 20 is in close contact with the upper portion of the leg 50 and the knee 60 is configured to transition to the driving mode that is driven by the driving of the wheels 42 of the wheel 42 and the ankle 70 of the waist 40.

17 to 26 are views illustrating a process of transitioning from a traveling mode to a biped walking state by a biped walking robot driving method that transitions to a traveling mode of the present invention.

The bipedal transition step (S6) is the yaw axis 21 in the lower portion of the body 20 in a state in which the body 20 and the head 10 are raised to the upper by rotating the pitch axis 41 of the waist 40 Rotate the body 20 and the head 10 to the side and rotate the pitch axis 22 of the body 20 to lower the arm 30 is placed on the ground to the ground to the arm 30 in the state While supporting, the pitch axis 61 of the knee 60 is rotated toward the body 20 to approach the ankle 70 to the waist 40 side, and when the ankle 70 is close to the waist 40 side of the ankle 70 Rotating the pitch shaft 71 to the ground side, while the foot 73 is placed on the ground, the body 20 toward the side by rotating the pitch shaft 22 of the body 20 while the waist 40 is raised upward. While forming the balance of the center of gravity while rising to the upper, the pitch of the waist 40 in a state in which the body 20 and the waist 40 is rotated to the front side with the yaw axis 21 while the body 20 is raised. With the shaft (41) The pitch axis 22 of the body 20 is formed to be inclined to balance the center of gravity, and the pitch axis 41 and the body 20 of the waist 40 while rotating the pitch axis 61 of the knee 60 to the top. The pitch axis 22 of the) is configured to simultaneously rise in accordance with the balance of the center of gravity to transition to bipedal walking mode.

As described above, one of the most important functions provided by the present invention is the transition of the robot 1 and the modification of the driving method according to the transition.

The shape that can be obtained by the above transition is divided into two types, the biped walking robot 1 that walks using the leg 50 is one, and the vehicle shape that moves using the wheels 42 and 74. The robot 1 that runs on the other side is another one.

As such, a separate controller is not used for the transition, and walking and driving are also moved using the same remote controller 80.

Here, the most important factors in determining the appearance and movement method before and after the transition are adaptation to the work space, and design factors, energy consumption, and user demand.

Therefore, it is necessary to maintain the function of the mechanism for walking and the mechanism for driving, and the appearance before and after the transition needs to be clearly distinguished.

Since the robot 1 of the present invention allocates at least 10 to 12 legs to the legs, three to the body, and two degrees of freedom in the driving mode for biped walking, there is a lot of hardware and software resources for the control. Since it is undesirable to employ more joints for transition, it provides an efficient way to transition using only the joints allocated for walking and body driving, excluding the extra joints used in the transition process.

In addition, in order to remove the separate drive unit for transition, it is necessary to generate and control the movement of the transition process in a form similar to the control of the biped walking robot.

Therefore, when transitioning to bipedal walking in the driving mode, assuming that the base that can support the whole body moves at the bottom of the vehicle to lift the robot and the foot attached to the body, the transition process has nothing to do with the bipedal robot One completely different form of control would be possible.

However, without using a separate drive unit, the leg of the biped walking robot or transition to the form of bending the waist, the control to ensure the stability in the transition process control for moving the biped walking robot (1) As such, there must always be a zero-moment-point inside the support polygon of the robot 1.

In addition, in the control of the walking mode, the change in the position of the center of gravity is not large because the change of each joint is relatively small, but in the case of transition, the change in the position of the joint is relatively very large and therefore, the change in the position of the center of gravity is large, sometimes zero Occasionally, a moment-point can only move out of the support polygon.

Therefore, when the linearized negative feedback closed loop controller is used at the feature point, it is very likely that the control input is infinitely diverged, and may also vibrate at a very large range of change.

Thus, rather than using the negative feedback closed loop controller in the transition process, the controller uses the open loop controller and gives a sufficient settling time to allow the joints to move at a desired angle.

This, after the adjustment time can be measured by measuring the sensor value of the joints, and if it is deformed to the desired shape due to external factors in the singular state, it can determine the appropriate new command to generate.

As described above, the control of the transition generates several postures corresponding to the feature points during the transition process, and performs the transition while moving these postures linearly or nonlinearly.

As such, when the transition is performed, the robot 1, which has completed the transition in the travel mode, continuously requires torque in each joint because it does not generate and maintain the appearance of the travel mode using a separate device.

However, in order to increase energy efficiency, which is one of the advantages of the driving mode, it is necessary to minimize the amount of energy required to keep the biped walking mechanically. Therefore, the mechanical structure of the driving mode requires the knee joint to minimize energy efficiency. In order to prevent warping, a hard limit is provided, and since the body 20 of the robot 1 is placed on the legs 50 and the knees 60, additional energy for maintaining posture even when the weight increases. Does not require.

In addition, since the wheels 42 of the waist 40 and the wheels 74 of the ankle 70 are located at both ends, the wheels 42 of the waist 40 and the wheels 74 of the ankle 70 can be completely engaged mechanically without any problem in load.

Such a transition is divided into two types, a bipedal walk and a bipedal walk.

Basically, the transition method requires the process of sitting or standing, so it can have the same frame, but the transition to the driving mode is mostly the movement in the direction of gravity, whereas the transition to the bipedal walk is the reverse motion of the gravity. Therefore, since the output characteristics such as the response speed and the required torque of the motor are different, the method of controlling the transition is different.

In addition, since the robot is always subjected to gravity, the torque of each joint is required to be higher as the torque is increased from the ground and the horizontal distance from the joint is greater. Therefore, each transition will go through a frame that does not converge to this condition if possible.

First, the transition to the driving mode is composed of 12 frames, and since the change of the joint angle is large, the center of gravity of the robot 1 is as far forward as possible so as to lower the center of gravity to ensure stability and to prevent the center of gravity from escaping out of the support polygon. To sit down and lower the center of gravity to the bottom.

Then, the hips of the robot are brought into close contact with the ground, the upper body of the robot is laid back, the legs are stretched out, and the upper body is turned forward again to take the form of a complete driving mode.

In addition, the transition to bipedal walking in the driving mode is composed of a total of 13 frames, the transition process is a continuation of the movement in the reverse direction of gravity, so that each frame is mechanically bound so that high power is not required. Allow the dogs to work together to distribute the load.

Each frame is made in the same way as the trajectory control of the heterogeneous walking, and motion between each frame is generated by using linear interpolation.

Since the control of the trajectory is a multi-axis control, it may be affected by the inertial mass coupled with other links.If the conventional controller that ignores this and controls only one joint is used, the control performance may be deteriorated. In order to solve this problem, dynamic analysis, high specification processor, high memory capacity, etc. are required. In singularity, the movement of the other joint is fixed and only one joint is moved to prevent the inertia mass coupling. It uses a point regulation method of control to get a fast posture without tracking control.

In addition, the transition process from biped walking to the driving mode is relatively stable because most control inputs act in the same direction as gravity and the area of the support polygon is very large in the driving mode.

Therefore, if only the change direction of the control input is determined, the transition can be relatively stable even if the control input disappears.

In addition, since the transition process from biped walking to driving mode generates a trajectory using linear interpolation between each frame like the walking controller, it can converge relatively quickly due to the influence of gravity even if the joint change between each frame is large. Stable control is possible.

However, in the process of transition from biped to bipedal walking, the linear interpolation method is not preferable because a high power driver is required and the energy consumption is high, and the number of joints that need to move in each frame is very small and the reverse direction of gravity is the point regulation method. Even if you use, you can show smooth movement.

The time difference between the frames in the transition process to the bipedal walk is relatively large compared to the time difference between the frames in the bipedal walking because it requires a lot of time until convergence because the motion in the reverse direction of gravity is required.

27 to 31 are diagrams showing a travel mode by the biped walking robot driving method that transitions to the travel mode of the present invention.

The driving step (S4) is a wheel 42 formed on the waist 40 in a state in which the body 20, the head 10 and the waist 40 in close contact with the legs 50, knees 60 and ankle 70 side ) And the wheels 74 formed on the ankle 70 while traveling, and then change the direction, rotate the roll shaft 72 of the ankle 70 to the left and right to travel in the desired direction, and the knee ( The pitch shaft 61 of the 60 is rotated to move up and down to form a height displacement of the wheels 42 of the waist 40 and the wheels 74 of the ankle 70 so as to smoothly travel.

The driving mode has a distinct advantage in the application to the entertainment robot (1), as the shape before and after the transition must be clearly distinguished for a stronger impression and efficient driving to the user.

First, in the driving mode, a driving wheel driven by a motor is mounted on each of the ankles 70 in each of the ankles 70 and positioned at the rear of the ankle 70 in order to avoid collision with the floor surface during the walking operation.

In this way, the two wheels 74 attached to the ankle 70 can be forward / backward by forward / reverse rotation at the same speed, it is possible to change the direction of the turn by changing the rotation speed / direction of each wheel.

In addition, by operating the pitch axis 61 of the knee 60 and the pitch axis 51 of the leg 50 to adapt to the inclined terrain, the wheel 42 of the waist 40 and the wheel 74 of the ankle 70 By forming a slope in the) can be given a smooth running performance.

And, by forming the wheels 42 on both sides of the waist 40, in order to efficiently operate the motion generated by the wheels 74 of the ankle 70, the caster wheels may be used.

In this way, the structural characteristics of the driving mode may be selected, and a steering mechanism may be implemented to steer the wheels 42 and 74 from side to side using the roll shaft 72 of the ankle 70.

The driving method of the robot 1 using the wheels 42 and 74 can be divided into several types according to the kinematic structure. The most representative method is a method using differential driving.

That is, when the robot 1 advances, the two wheels 42 and 74 rotate forward at the same time, and when the robot 1 rotates the wheels 42 and 74 in opposite directions, the robot 1 rotates. As a method, the present invention adopts such a differential driving mode, and by performing a speed command for each motor, it is possible to perform forward / backward / rotation according to the speed difference.

As described above, the entire system of the centralized multi-axis control algorithm for walking, driving and transition is largely composed of a robot and a wireless remote controller 80, and a general computer and a wired serial cable are used for more aggressive robot management and use. It is possible to connect via a computer, the computer can be used to generate the motion of the robot or to adjust the various control parameters of the robot.

These system-driven robots include a DC motor that delivers physical power to each joint, a driver that drives each motor, a potentiometer that senses the current angle of each joint, and an acceleration / angular velocity sensor that senses the attitude and movement of the robot. As an auxiliary sensor for posture and stability of the robot, it is desirable to implement walking, driving, and transition using a pressure sensor attached to the sole.

The robot 1 is a multi-axis joint robot having a total of 17 axes, and various types of control algorithms have been proposed to date for efficient control, but the present invention is characterized by a centralized multi-axis control algorithm as a simpler and cheaper implementation method. do. If the conventional distributed multi-axis control technology has one processor for each joint to interface control motors, drivers, communication devices, and sensors assigned to each joint, in the present invention, only one processor is assigned to all joints such as sensors, motors, The interface and control of the motor driver can be expected to reduce costs, ease of configuration, and increase productivity.

In addition, the robot manager or the user can set various parameters of the robot, create a motion or command, or monitor the robot's status by connecting the PC and the robot through a wired serial cable. It can be commissioned and precisely controlled through the computer's three-dimensional screen, and it can monitor information about various sensors and motors of the robot in soft real time and download control parameters. It is desirable to.

32 is a plan view illustrating a remote controller in a biped walking robot driving method that transitions to a driving mode of the present invention.

The remote controller 80 is configured not to specify the movement of each part of the robot to transmit only the conceptualized high-order command to perform in a state in which all motions are completed on the basis of data incorporating a series of movements according to the command. .

As described above, the upper controller, ie, the remote controller 80, which instructs the user of the work, issues walking, sitting, and standing motion commands, and controls each joint.

As such, the remote controller 80 controls the sitting, standing, arm motion using the combination button.

As such, the remote controller 80 of the robot 1 allows the user to directly control the movement of the robot 1, such as a commercial RC car, but unlike the RC car, when a proper control input is not transmitted, Since the stability is collapsed, unlike the RC controlled by using relatively low commands such as rolling and steering of the wheel, the robot 1 that transmits only the control commands of higher concepts such as forward, backward, and left are transmitted. The proper motion is read and controlled accordingly.

This control method is similar to the principle of auto pilot, which is similar to the principle that the elevator, the auxiliary wing, and the flap are automatically adjusted to rotate as much as desired by tilting the sideways. In case of the remote controller, the major difference from the auto pilot is that the performance of other motions is restricted during the motion due to the stability.

That is, when attempting to perform the rotation command during the forward walking, the robot does not immediately execute the rotation command after completing the forward walking, the remote controller 80 is implemented in the following form.

The remote controller 80 transmits a user's command. However, this command does not specify the movement of each joint (or the movement of multiple joints), but transmits only one conceptualized higher order.

That is, only the commands of forward, backward, rotation, etc. are transmitted, and the robot reads data of joints that store the movements of the joints therein and processes the commands based on the data.

Also, in order not to break the stability, the state that executes a given instruction should be performed after all motions are finished.

That is, when the reverse command is commanded in the forward process, the reverse process starts after a series of forward walking processes are completed. Through the above process, the user can perform the desired motion without breaking the stability.

The command for remote control of the remote controller 80 is transmitted using RF, but since the commercial RC module transmits an analog signal, it can be simply implemented using an AM method, but the controller for the robot 1 Since the number of commands is large and malfunctions due to differences in commands are clearly distinguished, they must be transmitted in digital form.

However, for stable data transmission and speed optimization, the amount of data to be transmitted must be reduced. For reliable RF communication, bytes transmitted with a pre-amble signal and an error detection code attached to the front and rear of the packet are transmitted. To minimize the number, minimize the preamble signal and use characters that cannot fit inside the signal at all.

In this way, it acquires an analog signal and sends a command to the robot 1, which requires 4 bytes to express the analog value, and 2 bytes for the shooting or transformation process or the user to remember a special movement. Do. Packet is composed of 8 bytes by allocating one byte for header and error detection.

When implementing the remote controller 80 of this type, it is sufficient to perform a series of operations stored in advance by checking a given command for remote control, and does not make a feedback loop with an external remote controller. It can prevent divergence or malfunction due to time delay.

33 to 40 are diagrams showing a state in which the biped walking robot driving method and the apparatus have been changed in various forms in the transition mode of the present invention.

The driving mode of the robot 1 is configured to be converted into various types of vehicles driven by wheels such as automobiles, tanks, and armored vehicles.

FIG. 41 is a perspective view illustrating a biped walking robot driving method that transitions to a driving mode of the present invention and a state in which the apparatus is used in an intermediate form during the transition process.

Rotating the pitch shaft 41 of the waist 40 to the upper portion of the biped walking and driving mode of the robot 1 to raise the body 20 and the head 10 to raise the leg 50, knee ( 60 and the ankle 70 are positioned parallel to the ground to drive the wheels 42 of the waist 40 and the wheels 72 of the ankle 70 while the arm 30 and the head 10 of the body 20. Configure the intermediate mode using.

The intermediate mode may take the form of moving to the wheels 42 and 74 and using the arm 30 attached to the upper body in a form that can be obtained during the transition between bipedal walking and driving mode.

This, the intermediate mode is a form that raises the upper body in the form of the driving mode to move the object or help the user using the arm 30 of the robot 1, the body 20 and the waist 40 and Since it is connected to the pitch axis 22 and the yaw axis 21, the total degree of freedom is 4, so that the three-dimensional image desired by the user can handle almost everything.

Fig. 42 is a block diagram showing a game format for a biped walking robot driving method and a device for shifting to the driving mode of the present invention.

One side of the robot 1 is provided with a reaction means 90 for attacking the opponent robot using an externally mountable weapon, and reacts in response to a direct attack applied from the outside or an indirect attack such as a laser or sound wave.

In addition, the reaction means 90 is configured to emit a continuous sound, reaction motion and light in response to the attack.

The game as described above is an example using the robot (1), it is suitable for the application to the entertainment robot (1) because it provides walking, traveling, two-way automatic transition, in particular in the bipedal walking and driving mode The look is completely different, which makes it more impressive to users.

First, a plurality of the robots 1 capable of transition are divided one by one or by a team having a predetermined number. Each robot 1 has a means for attacking the opponent and a reaction means 90 for detecting when attacked by the opponent.

Here, the means for attacking may be any part constituting the robot 1 capable of physically attacking, may use a separate weapon, and may be equipped with a sound wave and an infrared launch device in addition to the direct.

The reaction means 90 for detecting an attack of the robot 1 may detect an attack of an opponent by using a simple switch, may use a pressure sensor, a vibration sensor, and the weapon may have unique physical characteristics such as sound waves or infrared rays. In the case of having a corresponding sensor can be used.

In this way, when the reaction means for detecting the attack (90) detects the opponent's attack, assume that the robot itself is harmed, and continuously responds to the opponent's attack in order to add a sense of realism by showing a corresponding response or In order to show the corresponding movement, and to emit a corresponding light in order to enhance the visual effect, if a certain amount of harm is caused, the game loses. It is desirable to configure to emit sound or to take motion and emit light.

In addition, the user uses a remote controller 80 to control the robot 1, the remote controller 80 has a corresponding button for walking, driving, transformation, attack and defense of the robot (1) It has a combination function for user's adjustment convenience and difficulty of control.

For example, a joypad or joystick has only four typical directions, but can be combined with a button with a combination function to give commands for similar functions.

In particular, since the walking of the robot 1 is represented by the movement of the leg 50, when a single joypad is assigned, commands cannot be given except four combinations of front / rear and left / right, but the robot sits using the combination buttons. In order to express the movement of the upper body, the front / rear pitch movement of the upper body, the left / right yaw movement, one joy pad, and the limit of the command that the joystick can issue are prevented. This can be used to issue a rolling motion command to the upper body when lifting or lowering the arm using the modifier keys.

In addition, a small camera may be mounted on the head 10 of the robot 1 to induce higher interest of the user, which transmits an image to a user's joystick or a computer by using a wireless image transmission apparatus mounted on the robot. The user can also make adjustments while watching this.

In addition, it is preferable that the robot 1 freely combines walking, running, and transforming operations during a game so that the robot 1 can take actions such as hiding, running away, and attacking in the area set by the gamer or the game organizer.

As described above, the biped walking robot driving method and the device which transition to the driving mode of the present invention configured to be operated by the wheels of cars, tanks and armored vehicles while the wheels are located at the bottom by folding each joint of the biped walking robot. The bipedal walking and running modes such as high payload, high moving speed, etc., are doubled in continuous use time due to the reduction of the amount of energy of the human-assisted effect of the biped humanoid robot and the driving mode. The advantage is to maximize the utilization of the robot because it can be used to both the bipedal walking and driving mode by using the automatic transition to the user's needs and the type of operation.

In addition, a signal for executing a transition process and a signal for performing each operation in a state in which a remote controller is built in the robot and a means for judging the necessity for the transition between the driving mode and the bipedal walking is remotely controlled according to the user's needs. When the operation occurs, the operation and transition process is performed after each motion is terminated by the internally stored data to improve the stability of the control and to perform the operation even in the conceptualized higher level command for the user's desired action. Completion of each operation provides the effect of increasing convenience.

In addition, each robot is equipped with a physical direct attack or indirect attack means such as laser, infrared, and sound waves, and forms a reaction means for emitting continuous sound, reaction motion, and light for the attack, and use each robot for a competitive game. It provides the effect of adding playful entertainment.

1 is a block diagram showing a biped walking robot device transition to the running mode of the present invention.

Figure 2 is a process diagram showing a biped walking robot driving method transitions to the running mode of the present invention.

Figure 3 is a side view showing a biped walking initial state in the biped walking robot driving method transitioned to the running mode of the present invention.

Figure 4 is a side view showing the bipedal walking one side advance in the biped walking robot driving method transitions to the running mode of the present invention.

Figure 5 is a side view showing a biped walking one side landing in the biped walking robot driving method transitions to the running mode of the present invention.

Figure 6 is a side view showing the other foot bipedal walking forward in the biped walking robot driving method transitioned to the running mode of the present invention.

Figure 7 is a side view showing the other side of the bipedal walking in the biped walking robot driving method transitions to the running mode of the present invention.

8 is a side view showing the biped walking initial state regression in the biped walking robot driving method transitioned to the running mode of the present invention.

Figure 9 is a perspective view showing the bipedal walking initial state in the biped walking robot driving method transitioned to the running mode of the present invention.

Fig. 10 is a side view showing an initial form of a biped walking mode in a traveling mode transition step in a biped walking robot driving method that transitions to a traveling mode according to the present invention.

Figure 11 is a side view showing a state of bending the knee of the driving mode transition step in the bipedal walking robot driving method transitioned to the driving mode of the present invention.

12 is a side view showing a state in which the waist of the travel mode transition step is lowered to the ground side in the biped walking robot driving method transitioned to the travel mode of the present invention.

Figure 13 is a side view showing a state in which the body is lowered so that the arm of the driving mode transition step is in contact with the ground in the biped walking robot driving method transitions to the running mode of the present invention.

14 is a side view showing a state in which the knee pin is pinned so that the wheel of the travel mode transition step to the ground in the biped walking robot driving method transitions to the travel mode of the present invention.

15 is a side view illustrating a state in which a body is raised by rotating a waist of a traveling mode transition step in a biped walking robot driving method that transitions to a traveling mode of the present invention;

16 is a side view showing a state in which the transition to the running mode while the head, body and waist of the driving mode transition step in close contact with the knee in the driving method of the biped robot transition to the driving mode of the present invention.

Figure 17 is a perspective view of the initial driving mode of the biped walking transition step in the biped walking robot driving method transitions to the running mode of the present invention.

18 is a perspective view showing a state in which the waist of the biped walking transition step is raised upward in the biped walking robot driving method that transitions to the running mode of the present invention.

19 is a perspective view showing a state in which the body of the bipedal walking transition step is lowered to the ground side in the bipedal walking robot driving method transitioned to the running mode of the present invention.

20 is a perspective view showing a state in which one knee is bent toward the body while supporting the body of the biped walking transition step to the biped walking robot driving method transitioned to the running mode of the present invention.

21 is a perspective view illustrating a state in which the body and the waist are raised with the knees bent to rest the feet of the biped walking transition step on the ground in the biped walking robot driving method transitioned to the driving mode of the present invention.

22 is a perspective view showing a state of balancing the center of gravity while seating both feet of the biped walking transition step to the ground in the biped walking robot driving method transitions to the running mode of the present invention.

Figure 23 is a perspective view of a state of rotating the body of the biped walking transition step in the biped walking robot driving method transitioned to the running mode of the present invention.

24 is a perspective view illustrating a state in which the body formed by the side of the biped walking transition step is rotated to the front side in the biped walking robot driving method transitioned to the running mode of the present invention.

25 is a side view showing a state of positioning the waist while balancing the center of gravity of the biped walking transition step in the biped walking robot driving method transition to the running mode of the present invention.

Figure 26 is a side view showing a state in which the transition to bipedal walking by raising the knee of the bipedal walking transition step in the bipedal robot driving method transitioned to the running mode of the present invention.

Fig. 27 is a side view showing a state of traveling on an inclined ground in a traveling step in a biped walking robot driving method that transitions to a traveling mode of the present invention.

Fig. 28 is a perspective view showing a state in which the direction is steered by the rotation of the ankle when traveling in the biped walking robot driving method that transitions to the running mode of the present invention.

Fig. 29 is a plan view showing a state in which a direction is steered by rotation of an ankle when traveling in a biped walking robot driving method that transitions to a traveling mode of the present invention.

30 is a front view illustrating a state in which a direction is steered by rotation of an ankle when traveling in a biped walking robot driving method that transitions to a running mode of the present invention;

Figure 31 is a side view showing a state in which the steering direction by the rotation of the ankle when running in the biped walking robot driving method transitions to the running mode of the present invention.

32 is a front view illustrating a remote controller in a biped walking robot driving method that transitions to the running mode of the present invention.

Fig. 33 is a perspective view of a biped walking robot driving method that transitions to the running mode of the present invention, and a tank shape according to another embodiment thereof.

Fig. 34 is a side view showing a tank shape of another form in a biped walking robot driving method and apparatus for transitioning to the running mode of the present invention;

Fig. 35 is a perspective view showing a biped walking robot driving method that transitions to the running mode of the present invention and a running mode having a different shape to the apparatus.

Fig. 36 is a perspective view showing the first shape of a vehicle different from the method for driving a biped robot moving to the traveling mode of the present invention and the apparatus.

Fig. 37 is a perspective view of a biped walking robot driving method that transitions to the running mode of the present invention and a second shape of a vehicle according to the apparatus;

Fig. 38 is a perspective view of a biped walking robot driving method that transitions to the running mode of the present invention, and a shape of an automobile robot according to another embodiment thereof.

Fig. 39 is a side view showing a biped walking robot driving method that transitions to the running mode of the present invention and an automobile robot shape of another form in the apparatus;

40 is a side view illustrating a biped walking robot driving method that transitions to the running mode of the present invention, and a driving mode shape that is different from the apparatus thereof;

FIG. 41 is a perspective view showing a biped walking robot driving method that transitions to the running mode of the present invention and a state in which the apparatus is used in an intermediate form during the transition process; FIG.

Fig. 42 is a block diagram showing a competitive game type in a biped walking robot driving method and a device transitioning to the running mode of the present invention.

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

1: robot 10: head

11: time sensor 12: distance sensor

20: body 21: yaw axis

22: pitch axis 30: arm

31: pitch axis 40: waist

41: pitch axis 42: wheels

50: leg 51: yaw axis

52: pitch axis 53: roll axis

60: knee 61: pitch axis

70: ankle 71: pitch axis

72: roll axis 73: foot

74: wheel 80: remote controller

90: reaction means

Claims (11)

The robot (1) formed to execute the transition process by forming the visual sensor 11 and the distance sensor 12 in the center of the upper part to measure the distance and determine the transition to bipedal walking and driving mode while securing the field of view. With the head 10, Maintain a balance of the center of gravity during the transition process and bipedal walking by forming the yaw axis 21 to rotate in parallel to the ground in the lower portion of the head 10 and the pitch axis 22 to rotate up and down in the lower portion of the head 10 Body 20 and formed to perform the work while, An arm 30 formed to perform the operation while maintaining the center of gravity during the transition process and bipedal walking by connecting to the pitch axis 31 which rotates up and down on the left and right sides of the body 20; The pitch shaft 41 is rotated up and down on the lower portion of the body 20 to rotate up and down while supporting the body 20 to maintain the balance of the center of gravity during the transition process and bipedal walking and the wheels 42 to the left and right. Waist 40 and formed to rotate when the transition to the driving mode to form a), It is formed on the lower portion of the waist 40 at a distance that does not interfere when walking, the yaw axis 51 to rotate parallel to the ground to the upper side, the pitch axis 52 to rotate up and down and the roll axis to rotate left and right Formed to form a 53 so as to move freely in each direction during bipedal walking, and to maintain the balance of the center of gravity even during the transition process, Formed on the lower portion of the leg 50, respectively, the pitch axis 61 is rotated up and down to the upper side to drive the leg 50 up and down during walking and transition process while maintaining the balance of the center of gravity bipedal walking And knee 60 formed to make a transition, The foot 73 is formed on the lower portion of the knee 60, and the pitch axis 71 rotates up and down to the upper side and the roll shaft 72 rotates from side to side to maintain the balance of the center of gravity during walking and during the transition process. And an ankle (70) formed to rotate and move in the travel mode by forming wheels (74) on the left and right sides. The method of claim 1, The traveling mode of the robot (1) is a biped walking robot device that transitions to the driving mode, characterized in that configured to be converted to various types of vehicles driven by wheels, such as cars, tanks and armored vehicles. The method of claim 1, Rotating the pitch shaft 41 of the waist 40 to the upper portion of the biped walking and driving mode of the robot 1 to raise the body 20 and the head 10 to raise the leg 50, knee ( 60 and the ankle 70 are positioned parallel to the ground and travel with the wheel 42 of the waist 40 and the wheel 74 of the ankle 70 while the arm 30 and the head 10 of the body 20. A biped walking robot device that transitions to a traveling mode, characterized in that configured in the intermediate mode using. In the bipedal walking robot which forms two joints to walk in a human form and forms each joint part similarly to a human joint and walks by driving, Biped walking step (S1) and walking while moving while balancing the center of gravity of the leg 50 of the robot (1) back and forth and left and right; A driving transition indicating step (S2) of instructing to carry out a pre-stored traveling transition process in accordance with a signal from the command of the remote controller 80 or a means for determining the necessity of the traveling transition in the biped walking step (S1); A driving mode transition step (S3) of executing the previously stored driving transition process in the driving transition indicating step (S2) and transitioning to the driving mode; A driving step (S4) for driving by driving the lower wheels 42 and 74 in the driving mode transitioned in the driving mode transition step (S3); A biped walking instruction step (S5) of instructing to perform a pre-stored biped walking transition process in accordance with a signal from a means for determining the necessity of a bipedal transition or an instruction of the remote controller 80 in the driving step (S4); A biped walking robot driving method that transitions to a driving mode, comprising a biped walking transition step (S6) to transition to biped walking by executing a pre-stored biped walking transition process in the biped walking instruction step (S5). The method of claim 4, wherein The bipedal walking step (S1) is a center of gravity on one foot (73) when the two feet (50) side by side in the initial state with the center of gravity on the other foot (73) in the initial state by lifting the one foot (73) After moving the other foot (73) to move forward and after landing, while moving the center of gravity to the other foot (73) again with one foot (73) to move forward between one foot (73) and the other foot (73) The robot is rotated left and right when the roll shaft 53 formed on the leg 50 is rotated to the left and right while moving forward and reverse driving while repeating the operation of returning to the initial state where the center of gravity is located. A biped walking robot driving method transitions to a driving mode, characterized in that. The method of claim 4, wherein In the driving mode transition step S3, the pitch axes 41 of the waist 40 are rotated by rotating the pitch axes 61 and 71 of the knee 60 and the ankle 70 to the ground side. Rotating the body 20 and the head 10 to the ground side, and the arm 30 on the left and right sides of the body 20 supports the ground while the robot axis 1 of the pitch axis 61 of the knee 60 When the wheels 42 formed on the left and right sides of the waist 40 are rotated to be parallel to the ground and are seated on the ground, the wheels 74 formed on the left and right sides of the ankle 70 by rotating the pitch shaft 31 of the arm 30 upward. Is seated on the ground so that the wheel 42 of the waist 40 and the wheel 74 of the ankle 70 are seated on the ground to support the robot 1, and when the robot 1 is parallel to the ground, the waist While rotating the pitch shaft 41 of the upper portion 40 to the upper portion by rotating the pitch shaft 41 of the waist 40 toward the leg 50 in the state in which the body 20 and the head 10 are raised upward. 20) When raising the lower pitch axis 22 In turn, the body 20 and the head 10 are in close contact with the waist 40 toward the leg 50 in an elevated state, and the lower pitch shaft 22 of the body 20 is rotated toward the knee 60 by the body ( 20 is in close contact with the upper portion of the leg 50 and the knee 60, characterized in that configured to transition to the running mode driven by the wheel 42 of the waist 40 and the wheel 74 of the ankle 70 A biped walking robot driving method that transitions to a driving mode. The method of claim 4, wherein The driving step (S4) is a wheel 42 formed on the waist 40 in a state in which the body 20, the head 10 and the waist 40 in close contact with the legs 50, knees 60 and ankle 70 side ) And the wheels 74 formed on the ankle 70 while traveling, and then change the direction, rotate the roll shaft 72 of the ankle 70 to the left and right to travel in the desired direction, and the knee ( Rotation of the pitch shaft 61 of the 60 to move up and down to form a height displacement of the wheel 42 of the waist 40 and the wheel 74 of the ankle 70 to run smoothly A biped walking robot drive method that transitions to mode. The method of claim 4, wherein The bipedal transition step (S6) is the yaw axis 21 in the lower portion of the body 20 in a state in which the body 20 and the head 10 are raised to the upper by rotating the pitch axis 41 of the waist 40 Rotate the body 20 and the head 10 to the side and rotate the pitch axis 22 of the body 20 to lower the arm 30 is placed on the ground to the ground to the arm 30 in the state While supporting, the pitch axis 61 of the knee 60 is rotated toward the body 20 to approach the ankle 70 to the waist 40 side, and when the ankle 70 is close to the waist 40 side of the ankle 70 Rotating the pitch shaft 71 to the ground side, while the foot 73 is placed on the ground, the body 20 toward the side by rotating the pitch shaft 22 of the body 20 while the waist 40 is raised upward. While forming the balance of the center of gravity while rising to the upper, the pitch of the waist 40 in a state in which the body 20 and the waist 40 is rotated to the front side with the yaw axis 21 while the body 20 is raised. With the shaft (41) The pitch axis 22 of the body 20 is formed to be inclined to balance the center of gravity, and the pitch axis 41 and the body 20 of the waist 40 while rotating the pitch axis 61 of the knee 60 to the top. The biped walking robot driving method transitions to the driving mode, characterized in that the pitch axis 22 is configured to simultaneously rise to meet the balance of the center of gravity to transition to the biped walking mode. The method of claim 4, wherein The remote controller 80 is configured not to specify the movement of each part of the robot 1 to transmit only the conceptualized high-order command to perform in a state where all motions are completed on the basis of data in which a series of motions according to the command are embedded. A biped walking robot driving method transitions to a driving mode, characterized in that. The method of claim 4, wherein One side of the robot (1) using a weapon that can be externally mounted to attack the opponent robot (1) and having a reaction means 90 for reacting in response to a direct attack applied from the outside or indirect attack such as laser or sound waves A biped walking robot driving method transitions to a driving mode, characterized in that. The method of claim 10, The reaction means (90) is a biped walking robot driving method that transitions to the driving mode, characterized in that to form a continuous sound, reaction motion and light in response to the attack.