TW583057B - 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 pivotable 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

583057 V. Description of the invention (l) [Technical field to which the invention belongs] The present invention relates to a two-foot walking humanoid robot with a motion control device. [Prior art] Two-foot walking humanoid robot, the wiring is simplified , But can make the movement especially smooth μ towards you so-called two-foot walking humanoid robot, the walking ability can be determined & Ding # 半 能 化 # γ "I can predict the number of steps in this step ^ ί n data), and walk control is performed according to the number f, and the feet are moved in a predetermined gait. ^ t to achieve two-foot walking. At this time, in order to stabilize the walking posture, 2 = the bottom of the human foot The point where the ground reaction force and the combined moment of gravity become 1 order (hereinafter referred to as ZMP (Zero Moment Point)) converges to the target value, that is, the so-called ZMp compensation method is used to stabilize the robot by the ZMp specification. However, as the joints of a two-foot walking humanoid robot increase, the motion control device that performs such walking control must have a plurality of I / 〇 and direction speed computing capabilities. However, if you want to use Single element To achieve this kind of function, the system will become even more massive, and it will lack flexibility when the configuration of the robot is changed or expanded. At the same time, the wiring of the drive mechanism of each joint will become more complicated, and maintenance will be more difficult. Therefore, conventionally, it is an operation control device composed of a plurality of sub-control sections provided adjacent to the main control section provided in the carcass part and each driving mechanism. Among them, each sub-control section is connected to the main control section as a star Here, each of the auxiliary control units is constituted as a dedicated circuit for driving a shaft motor Is (m 〇 〇 rdriver), and is provided in each drive mechanism of each joint part.

3] 4191.ptd Page 8 583057 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 and controls by each sub-control section Corresponding drive mechanisms drive respective joints of the two-foot walking humanoid robot, so that the two-foot walking humanoid robot can perform actions such as walking. In addition, by dispersing the arithmetic processing in the respective sub-control units, the arithmetic processing can be performed at high 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. As a result, the wiring between the star-shaped sub-controller and the main controller becomes redundant, and sometimes even prevents smooth driving of the joints. SUMMARY OF THE INVENTION In view of the foregoing, an object of the present invention is to provide a two-foot walking humanoid robot, and more particularly, to a two-foot walking humanoid robot that simplifies the wiring of a motion control device and enables smooth movements. By. According to the two-foot walking humanoid robot of the present invention, the foregoing object is to include a sacral body portion; a leg having a knee in the middle of both sides of the lower portion of the sacral body that can be swung and a foot portion at the lower end; The side that can be swung has an elbow in the middle and an arm in the lower end; and a head mounted on the upper end of the carcass, and has a foot, a lower leg, and a thigh, respectively A plurality of rocking driving mechanisms such as a hand of the arm, a lower arm, and a swingable joint 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 Five masters' invention description (3) The main control unit and the plural control units composed of the driving sub-control units, which are adjacent to each other and dispersedly arranged, are connected to the LAN. · Each of the sub-control sections refers to the drive control signal of the control section. The sub-control section also includes a control signal from at least one control signal ^ f for the corresponding drive mechanism processor section. (Processor) and the driver that can be achieved according to the coming part. ^ The driver corresponding to the driving mechanism of the drive. According to the present invention, the two-step stepper part is provided with a 詈 π-type humanoid robot, which is driven by the aforementioned (free) The mode, the braking torque (t or que) control mode, and the free control mode are better. Among them, the Ia ke) mode is selected as the control mode of the drive mechanism. The main control unit is based on the gait data. The control signal is output to the driver section. For the corresponding type of humanoid robot, the control unit is based on the above-mentioned vices. In addition, it is better to have a driver unit for the front: ~ mechanism. In addition, the angle processor units input by the main control unit's network connection and movement mechanism are better to drive the corresponding drive control unit ...: vice; the current value of the control mode is output to the main ^ ^ # ( bus) ^ „„ # ^ ^,., Control 4 or other sub-controlling units are preferred. According to the present invention, the two-foot walking control unit is based on the detection of each joint; the main control unit is described; and the angle measurement unit is measured by the angle position of the angle measurement; ΙΑ, mesh 1 mountain The angular positions detected by,, 70 and the ground reaction forces I & ^,,, ^ measured at the foot-of-4 are corrected by force, and output to the vice

The compensation section of the diameter section is preferably configured. Don't host J, ---

3l4] 9l.ptd

V. Description of the invention (4) —_ Among them are the aforementioned sub-controls ^, and 朵, and the driver unit is constituted by a digital electric analog signal motor driving dreaming unit based on the processor unit from the sound °. The digital signal is generated and stored according to the aforementioned structure, and 'two' is better. During the movement, the motion control f and foot-walking humanoid robot perform the whole body = the drive control signals output to the respective drive mechanisms through the LAN, thereby the secondary control unit is used. Deputy control department related to the drive mechanism. Corresponding to the motion control signal: The control unit calculates the control signal according to the drive from the main control unit to the drive mechanism relative to each drive mechanism, and the driver unit according to the control from the processor unit. Then, the driver unit does the same, and each driver selects a signal to drive the corresponding driving mechanism. In order to make each joint part to be: The walking humanoid robot driven by the corresponding driver part can rectify the step data and act on it, and make the two footsteps set by the motion control. Full body exercise. At this time, it should be installed accordingly. Therefore, the control unit is familiar with the multiple joint parts, which can reduce the number of wirings between the sub-control part and the joint part. . Therefore, the drive of the main control unit and the joints can be smoothly performed and the wiring can be simplified. At the same time, each of the drive units can be described in position control mode, torque control mode, and free-running mode and braking mode. Among them, The aforementioned main control unit, as the control mode of the driving drive mechanism, signals and control operations. When the control mode is selected and the driver unit is selected based on the gait data, the driver unit can be appropriately switched by the power seeking mechanism. Way, in position control mode as well

314191.ptd Page 11 583057 V. Description of the invention (5) 丨 Torque control mode ~ ^ Driven joint, especially Zheng B 2 " mechanism and driven by the r-shirt U ^ π, 疋 suddenly, for example, during normal operation Fried | Μ is used in large form :: "Condition and torque control;;:; :: The situation is driven by self-driving, and you can get agile action 9 = Increase torque by dynamic mode This joint will act as a passive f to this point. In the braking mode, the section I drive control mode is: Zone ::: The ground controls each robot to perform two actions, for example, and can make a two-foot walking humanoid. At this time, the diversified movements such as capturing the falling body when f is flying down, and reducing the power consumption: set the t mode to make the drive mechanism drive slowly, and the torque can be applied to the mechanism by batching f on the same day. The load on the machine is reduced, and the action is made. The plate type makes the drive mechanism can be driven quickly and can be fast. I have one: ϊ ΐ :: 2 system ΐ There are moving crying σ〇 temple for the corresponding drive mechanism. 'It is a problem that a sub-control unit is equipped with a plurality of drive mechanisms and can drive a plurality of drive mechanisms. If this is compared with the situation of the acquaintance with the deputy control unit in the second-generation organization, it can reduce the cost of the deputy control unit, reduce the number of parts, and reduce the cost of parts and assembly. For example, the main control unit and each sub-control unit are continuously connected by a sink-and-strip connection. Therefore, the wiring required to connect the main control unit and each sub-control unit can be reduced, 314191.ptd

Page 12 583057 V. Description of the invention (6) The wiring can be saved, and the star-shaped connection can be used at the same time, compared with the case where the sub-control sections are installed in each driving mechanism, which can reduce the number of sub-control sections. Therefore, the wiring for connecting the main control section and the sub-control sections 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 current angular value 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 measuring unit that detects the angular position of each joint part; and the gait data is corrected by each angular position detected by the angle measuring unit and the ground reaction force detected at 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 caused 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 is limited to the driver section only.

IL m 314191.ptd Page 13 583057 V. Description of the invention (7) The analog signal will not pass through the processor, and only the signal will flow in the processor. Therefore, the occurrence of noise and malfunction caused by the analog signal passing through the processor t will be prevented. ° ^ [Embodiment] Hereinafter, the present invention will be described in detail based on the examples shown in the drawings. The present invention will be better understood based on the following detailed description and the drawings showing several examples of the present invention. In addition, the examples shown by the 'w' formula are used to limit the present invention, and are 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 human robot according to the present invention. In Figure 丨, the two-legged walking man 10 includes: carcass 11; feet 12L, 12R mounted on the carcass; arms 1, 1 1 3R mounted on both sides of the upper part of the carcass; And a head i 4 mounted on the upper end of the carcass. The mouth part 11 is divided into the upper chest 11a and the lower 3 ′ square, Λ, and the chest U ′ is supported in the forward flexion ^ to support the waist 11b, which can be shaken in the backward direction, especially, it can be bent forward, and then Rotate left and right. The chest 11a of the aforementioned carcass body part n is a built-in walking control device 50 having a rear body j. In addition, the aforementioned forward flexion Uc is provided with a joint portion lld for forward-backward swing and a joint section ne for left-right rotation, wherein each joint portion lld and lie are respectively driven by a joint drive motor (see FIG. 2). Made up.乂 The aforementioned feet 12L and 12R are composed of the thighs 15L and 15R, the lower legs 1 6 L and 16 R, and the feet, respectively! 7 τ 1 7 μ,, 19 τ 1 〇 D A,.卩 1 7L, 1 7R. Here, as shown in the figure of the aforementioned foot JLZL · and 4 糸 Shikou 〇 $ Z, each has six joints, that is,

314191.ptd Page 14 583057 V. Description of the invention (8) One ----- = The upper part is the joint for the rotation of the foot of the body ii for the foot of the waist ijb 4 1 8 L · 1 8 R 'Foot The joints 19L and 19R in the roll (r 〇 丨 i) direction (around the X axis), and the joints 20L and 20R in the pitch direction (around the y axis) of the feet belong to the thighs 15L and 15R. The joints 22L and 22R in the pitch direction of the knees 21L and 21R connected to the lower leg 16 and i6R; the joints 23L and 23R in the pitch direction of the ankles to the feet 17L and 17R; and the ankles Joints 24L, 24R in the rolling direction. In addition, each joint portion 1 8 L, 1 8 R, or even 2 4 L, 2 4 R is constituted by a motor for driving a joint. As described above, the lumbar joint system is composed of the aforementioned joints ud and π, and the femoral joint system is composed of the aforementioned joints 1 8 L, 18 R, 19 L, 19 R, 20 L, and 20 R. In addition, the foot joint system is composed of joint portions 23L, 23R, 24L, and 24R. In this way, the legs 1 2 L, 1 2 R on the left and right sides of the two-foot walking humanoid robot 10 will be given 6 degrees of freedom, respectively, and these 12 joints are respectively provided in various actions. By controlling the drive motor to an appropriate angle, it is possible to give the feet 12 L and 1 2 R the desired movement as a whole, and to form a structure that can be arbitrarily walked in a three-dimensional space, for example. The aforementioned arms 1 3 L and 1 3 R are respectively composed of an upper arm 2 5 L and 2 5 R; a lower arm 26L and 26R; and a hand 27L and 27R. Here, the upper arm portions 13L and 13R, the upper arm portions 25L and 25R, the lower arm portions 26L and 26R, and the hand portions 27L and 27R are the same as the aforementioned leg portions 12L and 12R, as shown in FIG. The five joints, that is, the joints 28L and 28R in the pitch (Pi tch) direction of the corpus callosum 11 on the shoulders 25L and 25R in order from the upper part; in the roll (rol 1) direction Joints 29L, 29R; then

314191.ptd Page 15 583057 V. Description of the invention (9) Left and right joints 30L, 30R; Pitch on the elbows 31l, 31R which are the connecting parts of the upper arm parts 25L, 25R and the lower arm parts 26L, 26R ( pi tch) joints 32L, 32R; and wrists 2 7 L, 2 7 R to the lower arm 2 6 L, 2 6 R in pitch direction (pitch) joints 3 3L, 3 3R. In addition, each joint portion 28L, 28R, and even 3 children and 33R are each constituted by a joint driving motor. In this way, the 13L and 13R on the left and right sides of the two-footed walking humanoid robot 10 will be assigned 5 degrees of freedom, and they will drive these motors to 2 joints in various movements. The knife degree is driven and controlled to form the entire arm 丨 3L, 丨 3 {{desired ^, Here, the joint M 28R in the pitch direction in the aforementioned shoulder portion, the rotation axis is relative to The joint 29 in the rolling (ron) direction is similar to the joint portion 30b in the left and right directions (3 forward): and the angles at which the arm portions 13L and 1 3R swing forward are set to be more suitable. The head part 14 is mounted on the upper part of the carcass part n, and is equipped with, for example, a camera for vision and a wheat ear for hearing, and the head part 14 is provided with the first wind as shown in FIG. 2. The joint 35 in the Pi tch direction and the joint I in the left and right directions, each of the joints 35 and 36 outside the pitch, are driven by joints / 36. In addition, the head of the two-foot walking humanoid robot 10 = In the various operations, these motors are assigned to J from 2 to 35 and 36 to drive and control in various operations. When the angle, and the configuration of the joint portion or the longitudinal direction of the rotational direction of the left and right. Here, the pitch of the joint portion to the official master unit 1435, based around the rotating shaft with respect to the direction P ^ Ch) direction, i.e., off the forward portion 36

314191.ptd Page 16 583057 V. Description of the invention (ίο) It is equipped with a square offset and swings the head 14 forward. a is compared to FIG. 3, which shows the electrical structure of the two-footed pedestrian 10 shown in FIG. 1 and FIG. In Fig. 3, the two-foot walking humanoid machine cries ^ °°, that is, the joint-driven motor motion control device 4 0. The aforementioned gait generation unit 37 is connected to the external wheel 1 0, and is operated according to requirements. Corresponding OR device 3 which generates gait data and this gait data is provided with a driving mechanism 'also g'drive' 4 generation units Lid, lie, 18L, 18 R and even 3 3 L, 3 3 R ° control the fans before, ..., 35, M ,; the corresponding response can be generated to include a two-foot walking humanoid machine 乂 < each joint required for clothing action 1 1 d, 1 1 e, 1 8L The gait data including the target angle orbits of the joint driving motors 3, 5 and 3, 1 8R, and 3 1 0 walking, 3 L, 3 3 R, and target f acceleration. The eye angle and the motion control device 40 are composed of a main control unit 42. The aforementioned main control section 4 is provided on the body part u of the robots 10, and is constituted by a walking-type foot meter ^ unit 43 and a compensation section 44 provided on the upper body. It is better that the angle measurement unit 43 described by the angle split moon is equipped with the gates of each of Ue, 18L, 18R and even 33L, 33R, 35, 36 > Langbe 11 (1, ί = Ϊ: The encoder (r0tary enc〇der), etc. makes the V zone 2 use a motor to measure each level control motor via the sub-control unit 42 to use the aforementioned: ί ί uses the motor's angular position to output to the compensation 2:扒, 贝贝 44, 44 are based on the ground reaction force, which is set on the sole of the foot (not shown), and the ground reaction force is calculated, and based on this ground reaction

314191.ptd

Page 17 583057 V. Description of the invention (11) The gait data from the gait generating unit 37 is corrected by applying force and the angular position from the angle measuring unit 43, and outputting it to the sub-controlling unit 42 as the driving control ^. In the example shown in the figure, the aforesaid sub-controlling section 42 is provided on the two-foot walking humanoid robot 10, for example, on both sides of the chest 11a and waist 11b shown in the figure, and separately The left and right thighs 15L, 15R, the lower legs i6L, 16R, the upper arms 25L, 25R, and the lower arms 2 6 L, 2 6 R. Then, the auxiliary control unit 4 2 provided on the chest 11 a can be used as the joint part of the neck 3 5 and 36, the joint part of the waist 1 1 d, 1 1 e, and the joint part of the shoulder 2 8 L , 2 8 R, 2 9 L, 2 9 R, 3 0 L, 3 0 R; and the secondary control units 4 2 provided on both sides of the waist 1 1 b, and can serve as joint parts of the femoral joint 1 8 L, 1 8 R, 1 9 L, 1 9 R, 2 0 L, 2 0 R. In addition, the secondary control units 4 2 provided on the thighs 1 5 L and 1 5 R can serve as the joints 2 2 and 2 2 of the knees, respectively; The auxiliary control unit 42 of R can serve as the joints 231, 231 ?, 241, 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 2 6 L, 2 6 R sub-control unit 4 2 provided in the lower arm can serve as the joint parts 33L, 33R of the wrist. As shown in FIG. 4, each sub-control unit 42 is composed of one processor unit 4 5 and at least one driver unit 46 (two in the drawing). The processor unit 45 is a drive control signal belonging to the gait data modified by the compensation unit 4 4 of the main control unit 41 to generate a control signal for each joint driving motor and outputs it to the driver unit 46. 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 583057 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 reach 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 allows the joint drive motor to rotate freely by external force. In addition, the processor section 45 is provided with an input / output bus 4 5 a for communicating with the main control section 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 4 2. 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 for the main control section 41 directly or through another sub-control section 4 2 through the input / output bus 4 5 a. Angle, current value, etc. The processor unit 45 is provided with a sensor input unit 45. This sensor

314191.ptd Page 19 583057 V. Description of the invention (13) Input section 4 5 is connected with various sensors, such as inclinometer, speedometer, angular accelerometer, pressure gauge, potentiometer, encoder, etc., and thus The isochronous sensor inputs an analog or digital detection signal through the sensor input section 45. Thereby, the processor section 45, that is, the detection signals are output to the main control section 4 through the input / output bus 4 5a. For example, the processor section 4 5 is transmitted through the sensor input section 4 5 a , To be able to input the joint drive motor M equipped with the corresponding joint, such as angle information from the rotary encoder (r 〇taryenc 〇der) and the motor current value, and output this angle information and current value from the output The input bus 4 5 a is output to the main control unit 4 and the aforementioned driver unit 46 is provided for each of the joint driving motors of the respective joint unit, which is based on the data from the processor unit 4 5 The control signal drives the corresponding joint drive motor. 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 unit 46 generates a motor drive signal belonging to an analog signal by amplifying a control signal as a digital signal from the processor unit 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, and its actions are as follows. That is, the gait generation unit 37 generates gait data in accordance with a required action, and outputs the gait data 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 the 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 583057 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 them 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 through the input / output bus 4 5a as an external command. Thereby, in step A2, the processor unit 45 analyzes the command of the control signal and determines what kind of command it is. Furthermore, the processor unit 45, in step A3, if the command is a command to report the internal state to the outside, then in step A4, the internal state data designated by the command is obtained, and in step A3 A 5 is transmitted 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 A7, the processor section 45 After setting 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

314191.ptd Page 21 583057 V. Description of the invention (15) The content of the setting update is returned to the main control section 44. In addition, in the aforementioned 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 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 a known P control, PD control, PID control, etc. to track the given target angle, and The angular position (measurement error) of the angle measurement unit 41 outputs the control signal of the joint drive motor M to the driver unit 46, and the driver unit 46 generates a PWM signal from the control signal, and in step B3, Is output to the corresponding joint driving motor M to drive the 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. According to the current value of the motor, a 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, and outputs it to the corresponding joint drive in step B6. The motor M is driven by the motor M. Then, in step B7, the processor unit 45 acquires the current value of the joint drive motor M. Furthermore, when the current control mode is the braking mode, the processor section

314191.ptd Page 22 583057 V. Description of the invention (16) _ 45, the brake mode is set in step 用; the motor M issues a command to maintain the current angular position. / 关 即 ^ 动: 控: " = is free, 'then the processor unit 45, in the next step, will set up the & formula, and interrupt the supply of the drive for the joint drive gas up to Μ The signal of the section 46] is to drive the horse from outside: it can rotate freely. "Off is that the drive motor M can be processed by the command shown above and the moment the motor is turned on, & is by leaving the door open at any time: Luo is not only crying on the power to respond to the timing of the machine ;: The method of repeating the interval between guards is by driving the joints; the motor M: switch the f program two times quickly and perform various motions, such as mountain 1 motion control, so that the robot can enter the position shown in Figure 7 (A), in the position "Control%": The humanoid machine, as shown in Figure 7 when the abrupt normal action is performed, when the sphere 5 2 falls, two, so that the same placed on the table body 50 is switched to the rotation Moment control mode = line ^ The humanoid robot 10 holds the sphere 5 2 in response to this situation. 工 y ': quickly fall as shown in Figure 7 (C), and make the two-footed lever: ^ Then, by returning to the normal position control mode, the robot 10 performs normal operations. In addition to the degree and motor control, the control mode can be replaced by the lower response speed of each machine ^ tg ^ profit. In addition to saving power, it can reduce the time required for the machine to switch to the torque control mode when necessary. Zo benefits, apricot torque control mode and to improve response speed and a motor current control ^ quick motion and shellfish from the are not, in the present embodiment of the invention, feet walking humanoid machines embodiment of formula

Page 23 583057 V. Description of the invention (17) Among the main control section and the plurality of sub control sections constituting the motion control device of the person 10, each of the sub control sections respectively corresponds to a motor for driving joints of the plurality of joint sections. Settings. 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 bus 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 it is also possible There are less degrees of freedom or greater degrees of freedom. [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 the gait data corresponding to the required motion. Generates control signals that drive each drive mechanism and outputs them to the sub-control section associated with the corresponding drive mechanism through the LAN. The sub-control section calculates the drive control signal from the main control section through the processor section The corresponding control signal of each driving mechanism is 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 583057 V. Description of the invention (18) The two-foot walking humanoid robot is physically required to perform the desired whole body movement. In this case, each of the auxiliary control sections of the motion control device is provided corresponding to a plurality of joint sections, so compared with the case where the auxiliary joint sections are provided one by one in the conventional joint sections, the auxiliary section can be reduced. Number of controls. Therefore, in addition to reducing the wiring between the main control section and the sub-control sections and simplifying the wiring, the drive of the indirect sections can be implemented smoothly at the same time.

314191.ptd Page 25 583057 Brief description of drawings [Simplified description of drawings] Figure 1 shows the appearance of an embodiment of a two-foot walking humanoid robot according to the present invention. (A) is a schematic front view, ( B) is a schematic side view. Fig. 2 is a schematic diagram showing the mechanical structure of the two-foot walking humanoid robot of Fig. 1. Fig. 3 is a block diagram showing the electrical configuration of the two-foot walking humanoid robot of Fig. 1. Fig. 4 is a block diagram showing the configuration of the sub-control section in the two-foot walking humanoid robot of Fig. 1. Fig. 5 is a flowchart showing the command processing of the sub-control unit of the motion control device in the two-foot walking humanoid robot of Fig. 1. Fig. 6 is a flowchart showing the motor drive processing of the sub-control part of the motion control device in the two-foot walking humanoid robot of Fig. 1. Fig. 7 is a schematic diagram showing the holding action of the two-foot walking humanoid robot on the falling body according to Fig. 1. 10 Two-foot walking humanoid robot 1 1 a chest 1 1 c forward flexion 1 1 e joints 13L, 13R for left and right rotation arms 14L, 14R, 17L, 17R foot 1 6 L, 1 6 R lower leg Part 11 Carcass part 1 1 b Waist part 1 1 d Joint part for forward and backward rocking 1 2 L, 1 2 R Foot part 14 Head 15L, 15R Thigh part

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Schematic description of 18L, 18R

19L 24L 32L

19R 24R 32R 7 joints for rotation 20L, 20R, 22L, 22R 28L, 28R, 29L 33L, 33R, 35, 23L, 23R 29R, 30L, 30R 3 6 joints 21L, 21R knees 25L 25R Upper arm part 26L, 26R Lower arm part 27L 27R Hand part 31L, 31R Elbow part 37 Gait generation part 40 Motion control device 41 Main control part 42 Sub control part 43 Angle measuring unit 44 Compensation part 45 Processor part 45a Input / output bus 46 Driver section 5 0 Walk control |

314191.ptd Page 27

Claims (1)

583P57: ^ Msk 91133673 Amendment 6. Scope of patent application 1. A two-foot walking humanoid robot with a sacral body; a knee with a middle in the middle of both sides of the lower part of the swayable body and a foot with a foot at the lower end; The upper part of the carcass part is provided with an elbow in the middle of both sides that can be swung, and an arm part with a hand part at the lower end; , Thighs, then the plurality of driving mechanisms, such as the hands of the arms, the lower arms, and the swingable joints of the upper arms, etc .; and each of the drives is driven and controlled according to the gait data corresponding to the required action The motion control device of the mechanism, wherein the aforementioned motion control device is composed of a main control portion provided on the carcass portion and a plurality of sub control portions which are arranged adjacently to each driving mechanism and dispersedly arranged, and is characterized by: The control unit is separately connected to the main control unit by LAN. Each sub-control unit also includes calculations based on the drive control signals from the main control unit for the purpose of control. At least one drive unit control signal processor unit of the drive mechanism and a drive mechanism according to a control signal from the processor to drive the corresponding portion of the. 2. The two-legged walking humanoid robot according to item 1 of the scope of patent application, 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. Among them, The main control unit outputs a control mode selectivity number and a control signal to the driver unit based on the gait data. Revised 314191.ptc Page 28 2003.12. 25. 028 583057 Sundial: ί • Mmj 7 ',: 丨 Case No. 91133673 』月 月 月 修正 修正 Revised _ Sixth, the scope of patent application 3. If the scope of the patent application item 2 In the two-foot walking humanoid robot, each of the aforementioned sub-control units includes a driver unit for a corresponding drive mechanism. 4. For the two-legged walking humanoid robot under the scope of patent application item 3, in which each of the aforementioned sub-control units is network-connected to the main control unit. 5. For example, the two-legged walking humanoid robot in item 4 of the scope of patent application, wherein 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 department. 6. For example, the two-legged walking humanoid robot in the scope of the patent application, wherein the main control unit is an angle measuring unit that detects an angular position of each joint; and the angle measuring unit detects the angle measuring unit. Each angular position and the ground reaction force detected on the sole of the foot correct the gait data and output it to the compensation section of the sub-control section. 7 · If the two-legged walking humanoid robot of item 6 of the patent application scope, wherein 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. 8 · If the two-legged walking humanoid robot according to any one of the claims 1 to 7, the processor section of each of the above-mentioned sub-control sections is configured as a digital circuit, and the driver section is This digital signal generates a motor drive signal that belongs to an analog signal. 3] 419] Amendments Page 29 2003.12.25.029