TW200300383A - Two-leg type walking robot - Google Patents

Abstract

This invention provides a two-leg type walking robot with a simplified circuitry of the behavior control device to ensure a smooth behavior. The robot has a trunk (11), legs (12L, 12R) including knees (21L, 21R) and feet (17L, 17R), arms (13L, 13R) including elbows (31L, 31R) and hands (27L, 27R), and head (14), a plurality of driving means for causing pivottable knuckles (11d, 11e; 18L, 18R-24L, 24R; 28L, 28R-33L, 33R; 35, 36) of feet, lower legs, upper legs, hands, lower arms and upper arms to pivot respectively, and a behavior control device (40) for driving and controlling each driving means respectively according to the walking pace data, corresponding to the requested behavior. The behavior control device consists of a master control device (41) disposed in the trunk and a plurality of slave control devices (42) distributingly disposed adjacent to respective driving means. Each slave control device (42) is respectively LAN connected to the master control device (41), and contains a processor (45) for computing a control signal corresponding to at least one driving means based on the drive control signals from the master control device, and a driver (46) for driving a corresponding driving means based on the control signals from the processor.

Description

200300383 V. Description of the invention [Invented by the invention about a two-legged walk [Prior art] "The number of steps and gaits set in the past can be used to set the point value at which the human foot is zero, that is, to stabilize. With high-speed transportation, the system will also become more and more shaped when the system is stretched._ Therefore, the drive mechanism device, and therefore, the dedicated circuits of each vice ------ (1) ^ — belongs to the technical field] It is about a two-footed walk Type humanoid robot, especially a type of humanoid robot that simplifies the wiring of the motion control device and enables smooth movement. [Old technique] 'The so-called two-foot walking humanoid robot generates pattern data (hereinafter referred to as gait) in advance, and performs walking control based on it, and moves the foot in a predetermined gait. Bayan walked on both feet. At this time, in order to stabilize the walking posture, the combined moment of ground reaction force of the ground and gravity * (hereinafter referred to as ZMP (Zero Moment Point)) is converged to the purpose of the so-called ZMP compensation method by the ZMP standard. To achieve the purpose of the robot. ° " Ik has increased the number of joints of a two-foot walking humanoid robot, and the motion control device for f-line control must have multiple 丨 / 〇 and computing capabilities. However, if you want to realize this machine with a single component, it will be even more huge, and in addition to changing or expanding the structure of the robot, it will also be difficult to maintain. . In the past, in the operation control using the main control section provided in the carcass part and a plurality of sub-control sections provided adjacent to each other, each sub-control section was connected to the main control section in a star shape. The control unit is configured as a one-axis motor driver (m0t0: r drWe), and is provided for each drive mechanism in each joint part.

200300383 V. Description of the invention (2) The operation control device based on this structure outputs driving control signals from the main control section to each sub-control section, and drives the two by driving mechanisms corresponding to the sub-control sections. Each joint of the foot-walking humanoid robot enables the two-foot walking humanoid robot to perform actions such as walking. Furthermore, the nasal treatment is distributed among the deputy control units, and the nasal treatment can be performed by South Speed. However, in such a two-foot walking humanoid robot having a motion control device, each driving mechanism of each joint part must have a sub-control part, which increases the necessary number of sub-control parts. Therefore, the wiring between the star-shaped sub control unit and the main control unit becomes redundant, and sometimes even the smooth driving of the joints is prevented. [Summary of the Invention] In view of the foregoing points, the object of the present invention is to provide a two-legged walking humanoid robot, and more particularly to a two-legged walking humanoid robot that simplifies the wiring of the motion control device and enables smooth movements. By. According to the present invention, the two-legged walking humanoid robot is provided with a sacral body; a leg having a knee in the middle of the swingable body on both sides of the lower part of the swaying body and a foot having a foot at the lower end; and an upper part of the sacral body An arm with an elbow in the middle and a hand with a lower end in the middle of both sides of the swing; and a head mounted on the upper end of the carcass, and having a foot, a lower leg, and a thigh respectively A plurality of rocking driving mechanisms, such as the aforementioned hand, lower arm, and swingable joints of the upper arm; and motion control devices for driving and controlling each driving mechanism based on gait data corresponding to the required motion , Wherein the aforementioned motion control device is provided on the carcass

314191.ptd Page 9 200300383 V. Description of the invention (3) The main control part of the 以及 and a plurality of sub control parts which are arranged adjacently to each driving mechanism and dispersedly arranged are characterized in that each of the aforementioned sub control parts is separately In addition to the LAN connection to the main control unit, each sub-control unit also includes a processor unit (pr 〇cess 〇r) that calculates at least one control signal for the corresponding drive mechanism based on the drive control signal from the main control unit. ) And a driver unit that drives a corresponding drive mechanism according to a control signal from the processor unit, and was able to achieve this. According to the two-foot walking humanoid robot of the present invention, the drive unit is provided with a position control mode, a torque control mode, a free mode, and a brake mode as the control mode of the drive mechanism. Preferably, the main control unit outputs a control mode selectivity number and a control signal to the driver unit according to the gait data. According to the two-foot walking humanoid robot of the present invention, it is preferable that each of the aforementioned sub-control sections has a driver section for the corresponding drive mechanism, and that the aforementioned sub-control sections are more network-connected to the main control section. good. In addition, it is preferable that the processor section of each of the aforementioned sub-control sections outputs the current angular position and the current value of the control mode input to the corresponding drive mechanism to the main control section. Moreover, the processor section of each sub-control section is preferably connected to the main control section or other sub-control sections via an output-in bus (bu s). ® The two-legged walking humanoid robot according to the present invention is based on the aforementioned main control unit, an angle measurement unit that detects the angular position of each joint part; and each angular position and the position detected by the angle measurement unit. The ground reaction force detected by the soles of the feet corrects the gait data and outputs it to the compensation section of the auxiliary control section.

314] 91.ptd Page 10 200300383 V. Description of the invention (4) The processor section of each of the aforementioned sub-control sections is configured as a digital circuit, and the driver section generates analog signals according to the digital signals from the processor section. The motor drive signal is better. According to the foregoing configuration, when the two-foot walking humanoid robot performs a full-body movement, the main control section of the motion control device generates driving control signals for driving the driving mechanisms based on gait data corresponding to the required motion to transmit The LAN is output to the sub-control section related to the corresponding drive mechanism. Thereby, the sub-control section uses the processor section to calculate the control signals corresponding to the drive mechanisms corresponding to the drive control signals from the main control section to output to the drive sections corresponding to the respective drive mechanisms. Then, the driver unit drives the corresponding driving mechanism according to the control signal from the processor unit. In this way, each drive mechanism drives each joint to achieve gait data and operate by driving the corresponding drive unit, so that the two-foot walking humanoid robot can perform the desired whole body movement as a whole. At this time, since each of the sub-control sections of the motion control device is provided correspondingly to a plurality of joint sections, it is possible to reduce the number of sub-control sections compared with the conventional case where the sub-joint sections are arranged one by one in each joint section. . Therefore, the wiring between the main control section and the sub control sections is reduced, the wiring is simplified, and the driving of each joint section can be performed smoothly. -: The aforementioned driver unit is provided with a position control, torque control mode, free-running mode, and braking mode as a control mode of the drive mechanism. Among them, the aforementioned main control unit will control based on gait data. When the mode selection signal and the control signal are output to the driver section, the driving mechanism can be driven by appropriately switching the aforementioned control mode. In the position control mode and

314191.ptd Page 11 200300383 'Fifth, description of the invention (5) The torque control mode enables the joints driven by the drive mechanism to act as drive joints, especially when external conditions suddenly occur during normal operation, for example. In response to this situation, in the torque control mode, by increasing the torque for a moment, the vehicle is driven rapidly to obtain agile action. In view of this, in the free mode, the joint will act as a passive joint to freely move the joint, and in the braking mode, the joint will be fixed to maintain the current angular position. In this way, the same joint part can be driven normally or by a sudden drive by appropriately controlling the control mode in each control mode, or to find a fixed or free movement, and can make both feet walk The humanoid robot performs various actions, such as capturing a falling body when the object is flying down. At this time, the position control mode can be used to drive the driving mechanism slowly to reduce power consumption, and at the same time, the load on the mechanism can be reduced, and the torque control mode can be used to drive the driving mechanism quickly and quickly. Actions. When each of the aforementioned sub-control sections has a corresponding drive mechanism, each sub-control section can be equipped with a plurality of drive sections to drive a plurality of drive mechanisms. Compared with the case where a sub-control section is provided for each driving mechanism, the amount of sub-control sections can be reduced. As a result, the number of parts can be reduced, and the cost of parts and assembly can be reduced. When the aforementioned sub-control units are connected to the main control unit via a network, for example, the main control unit and each sub-control unit are continuously connected by a bus-type connection, so that the main control unit and each sub-control unit can be connected. Reduced wiring required,

314191.ptd Page 12 200300383 V. Description of the invention (6) Implementing wiring-saving, and at the same time, by star connection, compared with the case where the auxiliary control unit is installed in each driving mechanism, the auxiliary control can be made. The number of parts is reduced, so that the wiring for connecting the main control part and each sub control part can be reduced, and the wiring can be saved. When the processor section of each of the aforementioned sub-control sections outputs the angular position and the current value of the control mode input to the corresponding drive mechanism to the main control section, the main control section can pass through the sub-control section according to each drive mechanism The processor unit inputs the angular position of the drive mechanism and the current value of the control mode, and detects the angle and control mode of each joint. When the aforementioned main control unit is an angle measurement unit that detects the angular position of each joint part; and the gait data is corrected by each angle position detected by the angle measurement unit and the ground reaction force detected on the sole of the foot When the compensation section of the auxiliary control section is composed, the main control section can correct the gait data according to the ground reaction force of the soles of the feet and various angular positions through the compensation section, and output to the auxiliary control section for the so-called ZMP Standardized walking control. When the processor section of each of the aforementioned sub-control sections is connected to the main control section or other sub-control sections through the input-output bus, each sub-control section will be made to interact with the main control section or other sub-controls through the input-output bus The external network connection is specifically a LAN connection, and communication functions can be used to perform input and output of signals. When the processor section of each of the aforementioned sub-control sections is configured as a digital circuit, and the driver section generates a motor drive signal belonging to the analog signal based on the digital signal from the processor section, the analog signal will be limited to the driver section only.

314191.ptd Page 13 200300383 ‘fifth, the description of the invention (7), and the analog signal will not pass through the processor section, and only digital signals flow in the processor section. Therefore, the occurrence of noise and malfunction caused by the analog signal passing through the processor section can be prevented. ° [Embodiment] The following is a detailed explanation of the present invention based on the examples of the TF according to the drawings. The present invention will be better understood based on the following detailed description and the second figure showing several embodiments of the present invention. In addition, the second embodiment is shown in the drawings: two two to limit the present invention, and is disclosed only for easy explanation and understanding of the present invention. Figures 1 to 2 show the structure of an embodiment of a two-legged walking person according to the present invention. In the figure 丨, the two-legged machine man 10 series includes: 胴 body part i 丨; installed on the 胴 body part 1 $ 夂 T parts 12L, 12R; installed on both sides of the upper part of the body part; The side coffee ^ and the head 14 mounted on the upper end of the body. "13L. The vaginal body is shaken in the forward and backward directions. Vt is continuous-it can be rotated to the waist Hb. Furthermore, it can be bent forward, and then the left and right sides can be controlled by walking. The chest 11a contains the key 50 for back-and-forth rocking movement. In addition, the Lisu forward flexion 11c is equipped with Lu, each joint Ud, and the left and right joint He. Fig. 2) is composed of 乂 and 1 1 e, which are driven by motors for joint driving (see January 1J, foot j, 16 L, 1 6 R, and 1 2 R 'are respectively composed of thighs 1 5 L, 1 5 R and lower legs 1 2 L and 1 2 R are composed of f 1 7 L and 1 7 R. Here, as shown in the aforementioned foot part and FIG. 2, there are 6 joint parts, that is,

200300383 V. Description of the invention (8) From the top, the joints of the carcass 1 1 and the waist 1 1 b for the rotation of the feet 1 8 L, 1 8 R; the roll of the feet (r 0 1 1) Joints 1 9 L, 1 9 R in the direction (around the X axis); Joints 20L, 20R in the pitch (P ch) direction of the feet (around the y axis); belong to the thighs 15L, 15R and the lower leg The joints 22L and 22R in the pitch direction of the knees 21L and 21R at the joints of 16L and 16R; the joints 23L and 23R in the pitch direction of the foot to the feet 17L and 17R; and the roll direction The joints 24L and 24R. The joints 18L and 18R and 24L and 24R are each constituted by a motor for driving joints. As described above, the lumbar joint system is composed of the aforementioned joint portions 1 1 d and 1 1 e, the femoral joint system is composed of the aforementioned joint portions 181, 181 ?, 19, 191 ?, 201, 201 ^, and the foot joint system is composed of The joint portions 23L, 23R, 24L, and 24R are configured. As a result, the feet 12L and 12R on the left and right sides of the two-foot walking humanoid robot 10 will be given 6 degrees of freedom, and these 12 joints will be driven by the drive motor in various actions. By controlling to an appropriate angle, desired movements of the feet 1 2 L and 1 2 R as a whole can be given, and a structure that can be arbitrarily walked in a three-dimensional space is formed, for example. The aforementioned arm portions 13L and 13R are respectively composed of upper arm portions 25L and 25R; lower arm portions 26L and 26R; and hand portions 27L and 27R. Here, the arm portions 13L and 13R include the upper arm portions 25L and 25R, the lower arm portions 26L and 26R and the hand portions 27L and 27R, similarly to the leg portions 12L and 12R, as shown in FIG. 2. The five joints, that is, the joints 28L, 28R in the pitch (pi tch) direction of the corpus callosum 1 1 on the shoulders 25L, 25R in order from the upper part; in the roll (rol 1) direction Joints 29L, 29R; then

314191.ptd Page 15 200300383 'V. Description of the invention (9) The left and right joints 3 〇1, qn D p 0UJ ^ 3〇R, which belong to the upper arm 25L, 25R and the lower arm 2 6 L, 2 6 R's tie shirt eight n 丄 "卜, the joints in the pitch (pit ch) direction on the elbows 31L, 31R of the bank joint part q 9τ 0 οη 4 32L, 32R; and the hand 27L on the wrist And 27R are the joints 3 3 L and 3 3 R in the pitch direction of the lower arm portions 26L and 26R. In addition, each joint portion 2 8 L, 2 8 R, or 3 3 L, 3 3 R is determined by The joint drive motor is used. 'So' two-foot walking humanoid robot 10, the arms on the left and right sides 1 3 L, 1 3 R will be given 5 degrees of freedom, and will be used in various actions. The drive motor drives and controls these two joints to an appropriate angle # to form the desired motion that can impart the entire arm 1 3 L, 3 R. Here, the pitch in the shoulder is different. ) Joints 2 8 L, 2 8 R, the joints 2 9 L, 2 9 R with the axis of rotation relative to the rolling (r 0 丨 1) direction and the joints 3 0 L in the left and right directions. 3 0 R is shifted forward, and the arms 13L and 13R swing forward. The head 14 is attached to the upper end of the carcass 1 1 and the upper part 1 1 a. For example, there are a camera for vision and a microphone for hearing. Here, as shown in FIG. 2, the head 14 is provided with a joint 35 in the pitch direction of the head and a joint 3 in the left-right direction. 6. In addition, each of the joints 3, 5 and 3 is constituted by a motor for driving joints. In this way, the head 14 of the two-foot walking humanoid robot 10 is given 2 degrees of freedom in various actions. The two joints 35, 36 are driven and controlled to an appropriate angle by a driving motor, respectively, so that the head 14 can be rotated in the left-right direction or the front-rear direction. Here, the aforementioned pitch (P 丨 tch) The joints 3 and 5 in the direction are such that the rotation axis is forward relative to the joints 3 and 6 in the left and right directions.

314191.ptd Page 16 200300383 V. Description of the Invention (ίο) The square offset is provided, and the angle at which the head 14 swings forward is set to be large. Figure 3 shows the electrical configuration of the two-legged walking humanoid robot 10 shown in Figures 1 and 2. In FIG. 3, the two-foot walking humanoid robot 10 is provided with a gait generating unit 37 that generates gait data corresponding to the required motion and a driving mechanism for the gait data, that is, driving and controlling the aforementioned Each joint part lid, lie, 18L, 18R and even 33L, 33R, 35, 36, that is, the motion control device 40 of the joint driving motor M. The aforementioned gait generating unit 37 corresponds to the required motion input from the outside, and can generate joint parts 1 1 d, 1 1 e, 1 including motions such as walking of the two-foot walking humanoid robot 10. Gait data including 8 L, 1 8 R, 3 3 L, 3 3 R, 3 5, 3, and 6 of the joint drive motors for target angle execution, target angular velocity, and target angular acceleration. The operation control device 40 is composed of a main control unit 41 and a plurality of sub-control units 42. The main control unit 41 is provided on the body portion 11 of the two-foot walking humanoid robot 10, and is preferably provided on the upper body 1a. The main control unit 41 is composed of an angle measurement unit 43 and a compensation unit 44. The angle measurement unit 4 3 is an example of a motor for driving a joint that is equipped at each joint 1 1 d, 1 1 e, 1 8 L, 1 8 R, or 3 3 L, 3 3 R, 3 5, 3, 6 Rotary encoder (r 〇taryenc 〇) etc. input the angle information and control motor of each joint drive motor via the sub-control unit 42, and measure the angular position of each joint drive motor to output to the compensation unit 4 4. The compensation unit 4 4 calculates a ground reaction force based on a detection output from a sensor provided on a sole of a foot (not shown), and based on the ground reaction

314191.ptd Page 17 200300383 V. Description of the invention (11) • Correct the gait data from the gait generation unit 37 by applying force and the angular position from the angle measuring unit 43, and output it to the sub-control unit 42 as a drive control signal. The aforesaid sub-control section 42 is an example shown in the figure, which is provided on each part of the two-foot walking humanoid robot 10, for example, on both sides of the chest 1 1 a and the waist 1 1 b shown in the figure, and The left and right thighs 1 '5L, 15R, the lower leg 16L, 16R, the upper arm 25L, 25R, and the lower arm 2 6 L, 2 6 R are respectively provided. Then, the auxiliary control unit 4 2 provided on the chest 1 1 a can be used as the joint part 3 5 and 36 of the neck, the joint part 1 1 d of the waist, and the joint part 2 of the shoulder 2 8 L, 2 8 R, 2 9 L, 2 9 R, 3 0 L, 3 0 R; The auxiliary control unit 4 2 provided on both sides of the waist 1 1 b can serve as the joint part 18L of the femoral joint, 18R, 19L, 19R, 20L, 20R. In addition, the secondary control units 4 2 provided on the thighs 1 5 L and 1 5 R can be used as the joint parts 2 2 L and 2 2 R of the knees; The auxiliary control unit 42 of the R can serve as the joints 23B, 231 ^, 241, and 241 of the ankle; the auxiliary control unit 4 2 provided on the upper arm 2 5 L, 2 5 R can serve as the joint of the elbow 3 2 L, 3 2 R; The secondary control unit 4 2 of the 2 6 L, 2 6 R provided in the lower arm can serve as the joint part 3 3L, 3 3R of the wrist. As shown in FIG. 4, each sub-control unit 42 is composed of a processor unit 4 5-and at least one driver unit 4 (two in the drawing). • The aforementioned processor section 4 5 is driven by the driving control signal belonging to the gait data modified by the compensation section 4 4 of the main control section 41 to generate a control signal for each joint driving motor and output to the driver section 4 6 . At this time, the processor section 45 can switch the four control modes arbitrarily, that is, the position control mode, the torque control mode, the brake mode, and the free mode.

314191.ptd Page 18 200300383 V. Description of the invention (12) is used as the control method of the joint drive motor. Here, the position control mode uses P control, PD control, PID control, etc. to control the motor for joint drive to track the given target angle. Torque control mode is to control the motor for joint drive to achieve the target current value given. In addition, the brake mode is a command for the joint drive motor to maintain the current angular position. In addition, the free mode is a motor that enables the joint drive motor to rotate freely by external force. The processor unit 45 is provided with an input / output bus 4 5 a for communicating with the main control unit 41. Two input / output bus bars 4 5 a are provided in the drawing, and can be connected to the output / input bus bars 4 5 a of the processor section 45 of the main control section 41 or the other sub control section 42. As a result, each of the sub-control sections 42 and the main control section 41 or another sub-control section forms a network connection with the input / output bus 4 5 a, specifically, a LAN connection. In addition, the communication protocol in the input / output bus 4 5 a may be in any form. Furthermore, through the input / output bus 45a, communication can be limited to not only one-to-one, but also a one-to-many communication mechanism. With this, the processor section 45 is a control signal output by the main control section 41 directly or through another sub-control section 4 2 through the input / output bus 4 5 a to set the control mode and motor. Target angle, target current value, tracking speed, etc. In addition, the processor section 45 is the output of the current control mode, the current target position, and the current motor angle for the main control section 41 directly or through another sub-control section 4 2 through the input / output bus 4 5a. , The current value and so on. The processor unit 45 is provided with a sensor input unit 45. This sensor

314191.ptd Page 19 200300383 V. Description of the invention (13), the input section 4 5 is connected with various sensors, such as inclinometer, speedometer, angular accelerometer, pressure meter, potentiometer, encoder, etc. These sensors input analog or digital detection signals through the sensor input section 45. Thereby, the processor section 45, that is, outputs these detection signals to the main control section 41 through the input / output bus 4 5a. For example, the processor unit 45 can input the joint driving motor M provided in the corresponding joint unit through this sensor input unit 4 5 a, for example, from a rotary encoder (r 〇taryenc 〇der). The angle information and the current value of the motor, and output this angle information and current value from the input / output bus 4 5 a to the main control section 4 • The aforementioned driver section 46 is for each of the joints Each of the joint driving motors is provided, and the corresponding joint driving motor is driven according to a control signal from the processor unit 45. The processor unit 45 is configured as a digital circuit, and the control signal output from the processor unit 45 is a digital signal. The driver section 46 generates a motor drive signal belonging to an analog signal by increasing a current by a control signal which is a digital signal from the processor section 45. Therefore, the analog signal is limited to the driver section 46 and separated from the digital signal. The two-foot walking humanoid robot 10 of this embodiment is constructed as described above. Success, and its action is as follows. In other words, the gait generating unit 37 generates gait data according to the required action and outputs it to the compensation unit 44 of the main control unit 41 of the motion control device 40. In addition, a power sensor (not shown) with feet 14L and 14R on both sides detects power and outputs it to the compensation unit 44, respectively. The angle measuring unit 43 also measures joint drive for each joint at the same time. The angular position of the motor M is output to the compensation.

314191.ptd Page 20 200300383 V. Description of Invention (14) Compensation Department 44. As a result, the compensation unit 44 calculates the ground reaction force based on the detection output from the power sensor, and based on the ground reaction force and the angular position of the joint driving motor M of each joint of the angle measurement unit 44. The gait data is corrected and output to the sub-control unit 42. The sub-control unit 42 and the processor unit 45 generate control signals of the motors M for driving each joint based on the gait data thus corrected, and output the control signals to the driver unit 46. In addition, the driver unit 46 drives the joint driving motor M of each joint unit based on the control signal. In this way, the two-foot walking humanoid robot 10 performs actions such as walking in response to a request for action. Here, the processor unit 45 performs the command processing shown in the flowchart in FIG. 5 and the motor drive processing shown in the flowchart in FIG. 6 as follows. First, in the command processing shown in FIG. 5, the step A1 is that the processor unit 45 receives the control signal as an external command by the main control unit 44 through the input / output bus 4a. Thereby, in step A2, the processor unit 45 analyzes the command of the control signal and determines what kind of command it is. In addition, the processor unit 45, in step A3, if the command is a command to report the internal state to the outside, the data of the internal state designated by the command is obtained in step A4, and transmitted in step A5 To the main control section 4 4. In the foregoing step A 3, if the command is not a command to report the internal status to the outside, and even in step A 6, if the command is an external setting command, in step A 7, the processor After the department 45 sets the internal state specified by the command to the value specified by the command, the content of the motor drive processing notification setting update is performed in step A 8 and the content of the motor drive processing notification setting is updated in step A 9

314191.ptd Page 21 200300383 V. Description of the invention (15) • The content of the setting update is returned to the main control section 4 4. In addition, in the foregoing step A 6, if the command is not an external setting command, the processor section 45 will process it into a command that cannot be recognized by the processor section 45, and its content will be processed in step A 10 Reply to the main control unit 4b. Next, in step B1 of the motor driving process as shown in FIG. 6, the processor unit 45 determines the current control mode. Then, if the current control mode is the position control mode, the processor unit 45, in step B2, uses the known P control, PD control, or PID control to track the given target angle, and Based on the angular position (measurement_difference) from the angle measurement unit 41, the control signal of the joint driving motor M is output to the driver unit 46, and the driver unit 46 generates a PWM signal from the control signal, for example. In step B3, the motor M is driven by being output to the corresponding joint driving motor M. In step B4, the processor unit 45 obtains the current angular position of the joint driving motor M by the angle measurement unit 41 to calculate the angular velocity of the motor. In addition, when the current control mode is the torque control mode, the processor unit 45 will similarly use the well-known P control, PD control, or P ID control in step B5 to track the given target current value. Based on the current value of the motor-, the control signal of the joint driving motor M is output to the actuator unit 46, and the driver unit 46 generates a PWM signal from the control signal, for example, and outputs it to step B6 to The corresponding joint driving motor M drives the motor M. Then, in step B7, the processor unit 45 obtains the current value of the joint drive motor M. Furthermore, when the current control mode is the braking mode, the processor unit

314191.ptd Page 22 200300383 V. Description of the invention (16) 4 5 In step B 8, the brake mode is set, and a command to maintain the current angular position is issued for the joint drive motor M. In addition, if the current control mode is the free mode, the processor unit 45 will set the free mode in step B9 and interrupt the signal to the driver unit 46 for supplying the joint drive motor M. The joint driving motor M can be rotated freely by an external force. The command processing and motor drive processing shown above are not only after the power is turned on, but by repeatedly performing the method at any time interval to quickly switch the control mode according to the state of the robot in time, and by The joint driving motor M is driven and controlled, so that the robot can perform various operations. For example, as shown in FIG. 7 (A), a two-foot walking humanoid robot 10, in the position control mode, performs the normal operation of the object holding operation on the table body 50 and the cup body 51, As shown in FIG. 7 (B), when the sphere 52, which is also placed on the table body 50, falls due to a sudden external event, the two-foot walking humanoid robot 10 responds to this situation. Switch to the torque control mode and quickly hold the falling sphere 52 as shown in Fig. 7 (C). After that, the two-foot walking humanoid robot 10 performs normal operations by returning to the normal position control mode. In this way, in the position control mode, in addition to the low response speed and the gain of motor control, it can save power, reduce the load on the robot's various mechanisms, and switch to the torque control mode when necessary. In order to increase the response speed and the gain of the motor control by temporarily switching to the torque control mode, a fast action is realized. As shown above, the two-legged walking humanoid machine in the embodiment of the present invention

314191.ptd Page 23 200300383 V. Description of the invention (17) • Among the main control part and the plurality of sub control parts constituting the motion control device of the person 10, each sub control part is separately driven by the joints of the plurality of joint parts. It is set by motor correspondence. Therefore, for the same number of joints, only a few auxiliary control units are required compared with the conventional ones, and the cost of parts and assembly can be reduced, especially when the auxiliary control units are connected to the main control unit in a busbar type. It can save the wiring connecting the main control part and the sub control part, and ensure the smooth driving of the joint part. In addition, the processor unit 45 of the sub-control unit 42 can reduce the influence of noise and ensure the operation by separating from the analog signal. _ In the embodiment shown above, although the feet 1 2 L, 1 2 R have 6 degrees of freedom; the arms 13L, 13R have 5 degrees of freedom; the waist has 2 degrees of freedom; and the neck has 2 degrees of freedom, but also It can have smaller degrees of freedom or greater degrees of freedom, and is not limited to this. [Industrial application possibilities] In summary, according to the present invention, when a two-foot walking humanoid robot performs a full-body movement, the main control unit of the motion control device is based on gait data corresponding to the required motion. Generates control signals that drive each drive mechanism and outputs them to the sub-control-control unit associated with the corresponding drive mechanism through the LAN. The sub-control unit uses the # control from the main control unit via the processor unit. Signals, and the control signals of the driving mechanisms corresponding to the calculations are output to the driver section corresponding to each driving mechanism, and the driver section drives the corresponding driving mechanism according to the control signal from the processor section. In this way, each driving mechanism, that is, each joint part realizes gait data to operate by driving the corresponding corresponding driver part, and the whole

314191.ptd Page 24 200300383 Moving ^ gc il Full-looking man-machine model humanoid walking 8) feet (1 two Ming said f said that Ming Ming makes T on the five bodies and one for the number one The department of the department is controlled by the department. The control of the lower system of the deputy department can be learned by each other. The reason is that the relative control is based on the condition of the device.关 关 下 / ΓΛΓ is the deputy situation, and the situation is to set the number of βτ β in the circle between two rounded lines to match! IL reports the control room s «each 5 > and Dabu The time system is under the same control and the master, so that it can be added to the line. This simple implementation is practical. The amount is less slippery 314191.ptd Page 25 200300383 Simple illustration of the diagram • [Simplified illustration of the diagram] Figure 1 (A) is a schematic front view, and (B) is a schematic side view. (2) shows the two-foot walking of the first figure The schematic diagram of the mechanical structure of the humanoid robot. Figure 3 shows the electricity of the two-legged walking humanoid robot in Figure 1. The block diagram of the structure. Fig. 4 is a block diagram showing the auxiliary control structure of the two-foot walking humanoid robot of Fig. 1. Fig. 5 is a diagram showing the motion control device of the two-foot walking humanoid robot of Fig. 1. The flowchart of the command processing of the sub-control section. Fig. 6 is a flowchart showing the motor drive processing of the sub-control section of the motion control device in the two-foot walking humanoid robot of Fig. 1. Fig. 7 shows the first chart based on the display. A schematic diagram of the two-foot walking humanoid robot's gripping action on the falling body. 10 Two-foot walking humanoid robot 1 1 a chest fct forward flexion 1 1 e left and right joints 13L, 13R arms 14L, 14R , 17L, 17R Foot 1 6 L, 1 6 R Lower leg 11 Carcass 1 1 b Waist 1 1 d Joints for forward and backward rocking 1 2 L, 1 2 R Foot 14 Head 15L, 15R Thigh

314191.ptd Page 26 200300383

The drawing briefly explains the joints 19L, 19R, 20L, 20R, 22L, 22R, 23L, 23R, 24L, 24R, 28L, 28R, 29L, 29R, 30L, 30R, 32L, 32R , 33L, 33R, 35 > 36 joint 21L, 21R knee 25L% 25R upper arm 26L, 26R lower arm 27L X 27R hand 31L, 31R elbow 37 gait generation unit 40 motion control device 41 main control unit 42 Sub-control section 43 Angle measurement unit 44 Compensation section 45 Processor section 45a I / O bus 46 Horse driver section 50 Walking control device 314191.ptd Page 27

Claims (1)

200300383 VI. Scope of patent application. 1. A two-foot walking humanoid robot with a sacral body; a knee with a middle and a foot at the lower end that can swing in both sides of the lower part of the sacral body; There is an elbow in the middle of both sides of the upper part, and an arm part in the lower end; and a head mounted on the upper end of the carcass part. * It also has a foot, a lower leg, and a thigh that can be used for the feet ^ Then the plurality of driving mechanisms such as the hand of the arm, the lower arm, and the swingable joints of the upper arm are shaken; and each drive mechanism is driven and controlled according to the gait data corresponding to the required movement. The motion control device, wherein the motion control device is composed of a main control portion provided in the carcass portion and a plurality of sub control portions that are arranged adjacently to each driving mechanism and dispersedly arranged, and is characterized in that each of the aforementioned sub control In addition to the LAN connection to the main control section, each sub-control section also includes calculations based on the drive control signals from the main control section for the corresponding drive. A processor section of at least one control signal of the mechanism and a driver section of the corresponding drive mechanism that drives the corresponding drive mechanism according to the control signal from the processor section. -2. If the two-legged walking humanoid robot according to item 1 of the patent application scope, wherein the driver section is provided with a position control mode, a torque control mode, a free mode, and a braking mode as a control mode for driving the driving mechanism The main control unit outputs the control mode selectivity number and the control signal to the driver unit according to the gait data. 314191.ptd Page 28, 200,300,383 6. Scope of patent application 3. For example, the two-foot walking humanoid robot with the scope of patent application No. 1 or No. 2, in which each of the aforementioned sub-control sections has a corresponding drive mechanism. Drive section. 4. For a two-legged walking humanoid robot according to any one of claims 1 to 3, wherein the aforementioned sub-control units are connected to the main control network. 5. For a two-foot walking humanoid robot according to any one of claims 1 to 4, in which the processor section of each of the aforementioned sub-control sections is the angular position input by the corresponding drive mechanism and The current value of the control mode is output to the main control unit. 6. The two-legged walking humanoid robot according to any one of claims 1 to 5, wherein the main control unit is an angle measuring unit that detects an angular position of each joint part; and The gait data is corrected by each angular position detected by the angle measurement unit and the ground reaction force detected on the soles of the feet, and is output to the compensation section of the sub-control section. 7. For a two-foot walking humanoid robot according to any one of claims 1 to 6, in which the processor section of each of the aforementioned sub-control sections is connected to the main control section through an input-output bus. Or other secondary control unit. 8. For a two-foot walking humanoid robot according to any one of claims 1 to 7, in which the processor section of each of the above-mentioned sub-control sections is configured as a digital circuit, and the driver section is Digital signal 314191.ptd Page 29 200300383 3] 419] .ptd Page 30