TW583058B - Two-leg walking type man-style robot - Google Patents

Abstract

A two-leg walking type man-style robot 10 has a trunk (11), legs (12L, 12R), arms (13L, 13R), head (14), driving devices (11d, 11e; 18L, 18R-24L, 24R; 28L, 28R-33L, 33R; 35, 36) for causing knuckles of the trunk, legs, arms, and head to pivot, and a behavior control device (50) for respectively driving and controlling these driving devices. The behavior control device (50) includes force sensors (40) respectively installed on the part which protrudes when the part moves or which comes in contact with the environment, and a compensation device (54) which detects the attitude of the robot according the output signals of each one of the force sensors (40) to correct the behavior data from the movement generating device (52). With this arrangement the two-leg walking type man style robot is capable of accurately performing a stable movement of the entire body such as protecting action in a fall-down movement, getting up movement or forward rolling movement etc.

Description

583058 V. Description of the invention (1) [Technical field to which the invention belongs] The present invention relates to a two-legged walking humanoid robot, and more particularly to a two-legged walking humanoid that performs full-body motion and can perform control in a dynamic and stable state. robot. [Previous technology] It is known that the so-called "two-foot walking humanoid robot" generates pre-set walking mode (hereinafter referred to as "step size") data, and performs walking control according to this step size data. The feet are moved to realize walking on both feet. At this time, in order to stabilize the walking posture, it is convenient to use the so-called ZMP compensation, which is the point at which the combined reaction force of the robot's sole and the moment of gravity becomes zero (hereinafter referred to as ZMP: Zero Moment Point). The ZMP standard is used to stabilize the robot. However, the conventional two-foot walking humanoid robot is premised on the setting of walking in a standing posture. Although it has been set to prevent falling as much as possible, the body part supports walking control so that the body part is not connected to the arm part. Or footsteps that produce interactive actions. Therefore, the conventional two-foot walking humanoid robot is not designed to produce a full-body movement that uses the body, feet, and arms as a whole, such as: body movements when falling, standing up from falling, or forward movement Sports like tumbling. This is the above-mentioned ZMP standard walking control, because it will be based on the dynamic characteristics of the robot near the soles of the feet, so it cannot be applied to ground movement and control caused by contact with the environment when performing full body movements. Therefore, it is customary to perform random environment on a two-foot walking humanoid robot.

314190.ptd Page 7 583058 V. Description of the invention (2) Full dynamic execution machine with contact between them There are questions for dynamic control. [Summary of the Invention] The present invention is a kind of walking mannequin that can be easily used in accordance with the above purpose. The invention is provided with a pendulum including a palm that is mounted on the upper and lower ends of the body part, and includes: a can part, and the arm section. The motion control device of the swing mechanism controls the position of the motion control device, or according to each force and according to this posture portion. The device of the present invention is provided with what is known; mounted on the lower part and swingable, and installed the foot part and the forearm structure; and two-foot walking is: a moving human who respectively touches the environment of the detection signal part The following end of the body part detected by the model machine includes the part number where the foot part mounted on the body and the top-driving humanoid are respectively set, and the inspection data is based on the dynamic stabilization robot. With the hair: the arms of the knees on the two sides of the body section can be used to drive the palms of the hands; the device is equipped with an aisle detector during movement to produce two-foot walking: according to each component The lower half of the two feet can be controlled by the movements of the upper body of the middle section and the lower leg arms, etc .; This side can shake the foot; An elbow and the head; The head and thigh can swing off each driver. Among them, the detector is protruding when the work is done; the compensation of the posture of the person is detected, and the movement of the iti body is detected. When the situation occurs, there will be questions such as the absence of stabilization pointers for human body movements, and no control methods for whole-body movements involving contact between brothers. Detection of Gumei by Action Control

314190.ptd 苐 8page 583058 V. Description of the invention (3) The part that is in the ground at the time, and the action generating part of the overall robot data; and calculates the expansion ZMP based on the action material from the action = surface rigid body (at this time, The point at which the combined moment of the gravity of the action assets in the grounding part becomes zero). The reaction force of the position and the compensation unit will measure the y-zoom zmp conversion unit based on the accumulated force of each force; the measured expansion ZMP measured value will be compared with the detected ticket value derived from the measured signal, and calculated. Come to the expansion of the automatic department ZMP buy. Compensation for 动作 's motion data Xiang ίΓ's two-foot walking humanoid robot, most # ί 料 座! Stores the action control tabulations that constitute the robot's action: the library, and the above-mentioned action generates potential data. The π of the action data to the final state of the existing action is the machine given by μ. I The second read from the action database. take. ： Intermediate movements The action data of the :::: of the present invention. Corresponding posture: Zhen often monitors the robot two :: humanoid robot, it is better to look at the view; this action monitoring section "::::: state and overall posture;: have: the error of the ZMP target value The action supervisor from the expansion of the ZMp potential "... When expanding the above-mentioned situation of compensation, the expansion of the ZMp is considered as a true student. The above-mentioned action generating unit indicates the error data of the moving t value, Relevant Robots Eight Relevant Robots Niu Zha's Reproduction i Forward Rolling Movements $ Motion Movements Only c Movements Follow the above-mentioned construction of two related robots-^ -type humanoid robots to perform all 3l4190.ptd V. Description of the Invention (4) When the body moves, move ~: at the protruding parts, the robot moves according to each part of the robot: the detector sends out S: the 2 to the environment is set in the part that widely contacts the environment (for example: Ground t-test signal 'to grasp which part of the robot is right ... ㈡; Γ adds the action data of the action generating part: repair;! According to the robot = 2 = corrected by the actual robustness of the robot when it moves throughout the body. Action data to help Stable said that motion and other full 'falling movements, body movements, or forward roll-over polyhedral rigid bodies generate action parts j ::, and the action that uses the overall robot as the generating part is: =: generating part; :; And the above compensation unit will; according to the expansion of the value I, convert the detected silver silver 7MP * ,, and ## the detection signals of the various force detectors to 2MPE only ^ again only, ', 丨, With the expansion of the ZMP conversion unit from the expansion of the ZMP conversion unit, it is like the ZMP standard of walking control, which uses the expansion and goal values, and insists on the expansion of the ZMP compensation, thereby using τ. The stability of Zhang Fanda's robot's whole body motion. The 2nd part of the control device is equipped with the wrong position that constitutes the robot's movements: :: material movement f? Library; and the above movement generation unit is related to the middle :: The initial stage of the robot f: from the action to the final state of the predetermined action. When generating action data, from the action database ^

Page 10 583058 Five of the pre-production, description of the invention (5) The corresponding postures 杳,, ~, because the action sequence 2 in the action data 2 generates the sequence of actions that constitute the essential elements of the poser's knife solution robot full body operation description When +, then,;, '' Therefore, in the action generation department, ^ is found in the k action database to generate action information for combination, but shame two! t 5 Take out the posture of the secondary resource department, which constitutes the requirements of Ji Zeng: to produce the required movement data. This will help you ::: and, again. Prompt, the production of action data: the privacy of the movement and the overall posture, monitoring the driving of the joints of the robot t Zhang ZMP! ^ Value, action monitoring unit, this action monitoring unit monitors #state only 丨 unworthy expansion ZMp target , And deviate from the resulting movement ;: the highest level of energy balance in the body movement to the highest level of energy, the initial state of the door 作 work-shell material 'to the above-mentioned movement * 2 2 large deviation. Expansion ZMP eye monitoring / ♦ S cannot compensate for the re-generation of the data from the measured values of expansion ZMP: In the case of the second action of the heart to the action production ... ^ solution and other phenomena, when the balance of the robot's whole body motion collapses to the previous operation: Generate f !; From the initial state of the generated action data] Use the regenerated action data to make it more reproducible; ^ When the action is greatly deviated, it will stop: Intermittent action, 俾 can perform action. The final state is motion or ϊΐ: Generation unit: When the relevant robot is produced; when the action is performed, the whole body is used to move the material, it will walk according to this action. The two-foot step lamp > humanoid robot performs as it is known as ZMP but Use Ϊ for the same walking motion, < not only walking with feet, various movements of the king's body, or forward rolling motions of the whole body.

583058 V. Description of the invention (6) [Embodiment] The first embodiment and the next two "Kang diagram" are the preferred embodiments to explain the invention in detail. Figure 1 and Figure 2 show the two-legged walking figure of the present invention. — Form structure. One of the humans is shown in the first figure, a two-foot walking humanoid robot. 0 body: " 1. Installed on the two sides of the lower part of the body part: the second part of the bag ^ Female The arms on both sides of the upper half of the body are 3L, 3R, and the head 14 at the upper end of the body is divided into upper chests 1a and 11b. The chest Ua is in front At the elbow, the waist can be swung forward (especially it can be bent forward), and it can be turned to the left and right. It is supported on the chest of the body part 丨 丨 丨The walking control device 50. The aforementioned forward bend Uc is provided with a joint 11d for rearward sway and a joint lie for left-right rotation. Each joint 11d and joint lle are driven by the joint. (Refer to Figure 2). 'The above-mentioned leg portions 12L and 12R are composed of thigh portions 15L and i5, respectively. R, calf portions 16L, 16R, and soles 17L, 17R. Among them, the feet ^ L, 1 2R are shown in Figure 2, each has six joint parts, that is, in order from the top : Joints for foot turning on waist 1 lb of body part 11

Joints 19L, 19R in the direction of rotation of the upper foot (around the X axis); joints 20L, 20R in the pitch direction of the foot f (around the y axis); 15L, 15R for thighs; f = 6L, 6R connection Part of the knee part 2 1 L, 2 1 _ in the upward direction. 2L, 22R; Close to the ankle pitch direction of the soles 17L, 17R

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583058 V. Description of the invention (7) Joints 23L, 2 3R; and joints 24L, 24R in the direction of rotation of the ankle. The joints 18L, 18R to 24L, and 24R are each constituted by a joint drive motor. In this way, the lumbar joint is composed of the above-mentioned joints 1 1 d, 1 1 e, and the sacroiliac joint system is composed of the above-mentioned joints 18 [, 181 ?, 191 ^, 191 ?, 201, 201 ^, and the foot joint It consists of joints 23L, 23R, 24L, 24R. As a result, two-foot walking humanoid robots, about 10 feet on the left and right sides, 12 L, 1 2 R, are given six degrees of freedom, respectively. In various actions, these 1 2 The joints are driven and controlled at an appropriate angle to give the feet 12 L and 1 2 R the necessary movements as a whole, and a structure that can be arbitrarily walked in a three-degree space can be formed. The arms 1 3 L and 1 3 R are respectively composed of an upper arm 2 5 L, 2 5 R, a forearm 2 26L, 2 6R, and a palm 27L, 27R. The upper arms 25L, 25R, the lower arms 26L, 26R, and the palms 2 7 L, 2 7 R of the arms 13L, 13R are the same as the feet 1 2 L, 1 2 R, as shown in FIG. 2 There are generally five joints. That is, the upper arm parts 2 5 L, 2 5 R in the pitch direction with respect to the body part 11 at the shoulders in order from the upper part 2 8 L, 2 8 R; the joint parts in the rotation direction 29L, 2 9R The left and right joints 3 0 L, 3 0 R; at the elbow 31L, 31R of the joint between the upper arm 2 5 L, 2 5 R and the forearm 2 6 L, 2 6 R, the pitch direction Joints 32L, 32R; and at the wrists, the joints 33L, 33R in the pitch direction of the palm portions 27L, 27R of the forearm portions 26L, 26R. The joints 28L, 28R to 33L, and 33R are each constituted by a motor for driving joints. In this way, a two-foot walking humanoid robot is formed with arms on the left and right sides of 10 and 3L, 1 "

314190.ptd Page 13 583058 V. Description of the invention (8) ----- In the various motions, the i 2 joints can be driven and controlled at an appropriate angle by using a drive motor respectively, and the arm can be controlled. The entire i3L, 13R structure provides the required motion. The +, 28L, 28R in the pitching direction at the shoulders are arranged at the joint portions 29L, 29 relative to the rotation direction, and the joint portions 30L, 30R in the left and right directions are more inclined to the front of the rotation axis, and the arm The swing angles of the portions 13L, 13R toward the front are set to be large. The head 14 is attached to the upper part of the chest of the body, and is mounted on the upper end of the chest, and is used as a camera for vision or a microphone for hearing. Among the above heads. The 卩 14 system is provided with a joint portion 35 in the neck pitch direction and a joint portion 36 in the left-right direction as shown in Fig. 2. Each of the joint portions 35, 36, and 6 is composed of a joint drive motor. & In this case, the head 14 of the two-legged walking humanoid robot 10 is given two degrees of freedom, and the driving motor that facilitates various actions ^ ί ^ drives the two joints 3 5, 3 6 In order to fit the dihedral angle, the head 14 can be formed to move in the left-right direction or the front-rear direction =: Here, the above-mentioned pitch direction joint 35 is relative to the left-right direction.卩 36 is arranged at a position deviating forward from the rotation axis, and is set so that the swing angle of the head 14 toward the front is large. Furthermore, in the two-foot walking humanoid robot 10, the joint part 11d of the bending part lie before the body part η, the joint part of the foot m in the rear direction (that is, the joint parts 20L, 20R of the sacroiliac joint), and the knee part The joints 2 2 and 2 2 R of the ankle joints 2 3 l, 2 3 R are supported in such a manner that they can swing within the range of the angles ^ shown in Figs. 3 and 4. In other words, the joints j 23L, 23R of the heel 4 can swing within the range of the swing angle 0 1 from -20 ° to + 20 °. Knee joint 2 2 L2 2 Teng Ke

I surface 314190.ptd Page 14 583058 V. Description of the invention (9) '^ ----- Pendulum at a swing angle 0 2 of ~ J 2 0 ° to 0 ° or more. Joint Qiu 2 of the lumbar joint (H-angle target range can move to +60 degrees or more for backup power-can swing at a swing angle of 0 3 to 45 degrees 1 lc, can swing within the target range of the swing angle. Body The bend before the part 11 = swing angle ... is within the angle range of degrees to more than Saki

On the other hand, the body part [Qiu]] A is shown in Figure 5; the 111 sacroiliac joint 1 1 e is the joint part 11 c of the joint part ^ swing. In other words, the forward curve is above -45 degrees, ==: 5 is as shown in Figure 5 (A), and the angle of rotation is within ^ (left). In the walking humanoid robot 10 of Zuo Zuoqing, as shown in FIG. 6, it is located at the position of the gland f or at the position i θ2π, which is in contact with the environment during operation. Force sensors 40 are provided on the hips or the back of the waist, respectively. Department :, (the best (w is after the head 邛 1 4W, the upper part of the body part 11 a front side ^ 4 shoulders and back, the upper and lower parts of the rear part of the lower part 11b, the thighs of the feet 12L, 12R 15L15R front and rear, knees 2il, 2ir, soles 1 7L, 17R foot heads and heels, arms} 3l, 1 3R elbows 3 1L '31 ^ and wrist), respectively, force detection Device 40. These forces 1 and 4 are measured when the force is caused by the whole body movement of the two-foot walking humanoid robot 10, and the detector 4 is detected when it contacts the ground, wall, etc. The contact pressure is output, and the detection signal is output to a later-described motion control device 50 °. In addition, each of the force path detectors 40 only needs to detect at least a vertical force component, and then γ.

314190.ptd Page 15 583058 V. Description of the invention (ίο) Figure 7 shows the electrical structure of the two-foot walking humanoid robot 10 shown in Figures 1 to 5. In FIG. 7, the two-foot walking humanoid robot 10 is provided with a drive control drive mechanism (that is, each of the aforementioned joints, and more specifically, a motor for driving the joints 110, 116, 181, and 181). ? To 36) of the motion control device 50. This motion control device 50 is provided with an action planning unit 5 and a motion generation unit 52, an expanded ZMP conversion unit 53, an expanded ZMP stabilization unit 54, a control unit 5, and an angle measuring unit 5 6 that detects the angle of each joint of the robot. , And operation monitoring section 5 7. In addition, the coordinate system of the two-foot walking humanoid robot 10 uses the forward and backward directions as the X direction (front +), the lateral direction as the y direction (inner +), and the vertical direction as the z direction (upward +). Xyz coordinate system. The above-mentioned action planning unit 51 is to plan the initial state and final state from the initial state of the robot (based on the angle of each joint and the posture of the detection signal of the force detector 40) and the final state of the required action. Intermediate actions between states. That is, the action planning unit 51 is a hypothetical polyhedral rigid body set to cover a convex portion composed of the entire robot, and calculates the sequence shape data and center of gravity of the polyhedral rigid body from the initial state to the final state. And calculate the amount of robot angular motion required to perform the whole body motion. Then, the motion planning unit 51 generates a robot motion guidance (ie, motion planning) based on the position of the center of gravity of the polygonal rigid body and the initial motion state (angular velocity and angular acceleration around the center of gravity). In addition, when the above-mentioned action planning unit 51 is inputted from the action monitoring unit 57 as described later, the current state of the robot and the deviation amount from the action plan, the same is performed to reproduce the action plan.

314190.ptd Page 16 V. Description of the invention (ll) Among them, the action planning unit 5 is provided with a work database 51a, which stores the movements that make up the robot's nursery stock in advance, and stores them by type. In this way, when the requirements are safe and the action plan is described, the following two units 51 are required to execute the above posture data, and a combined action 51a is generated to read each action plan unit 51 and divide it by action. And a clever plan. Then, the amount of angular motion of each joint at this time is output to the above-mentioned motion generating unit 52 to generate two feet " ^ ^ ^ ^ ^ ^ ^ ^ 15L, r; 5t; V / 疋 4 54 command, and Correct internal parameters and angle data. The liver female 2 expansion ZMP conversion unit 53 calculates the expansion ZMp target value based on the angle data 0 ref from the motion generation unit 52, and rotates each of the expansion ZMP stabilization unit 54 and the motion monitoring unit 57. The output of the extended ZMP stabilization unit 54 is based on the attitude of the angle measurement unit 56 and the detection output of the force detector 40, and calculates the expansion interval value, and then converts the actual value of the expansion ZMP to the expansion ZMP. The expansion ZMP target values of%, and 3 are compared, and the expansion 2 secret is calculated based on the difference, and then output to the motion generation unit 52. The method of expanding the ZMp compensation amount can be directly used in the conventional ZMp compensation amount calculation method. The motion generation unit 52 returns the expansion Zm of the expansion ZMp stabilization unit 54 by the amount of feedback, and performs a corrective action according to the expansion ZMp compensation amount, and then outputs it to the control unit 55. The above-mentioned control unit 55 is based on the corrected action of the action generating unit 52.

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JOJUJO V. Description of the invention (12) _____ Information ’Generate each joint drive Each joint drive motor. Ma Yun's & control signal, 俾 drive controls the above angle measurement unit-^ The joint drive motor = 6 series uses the drive motor of each joint part 1 5L, 1 5R to 36. Position information of each joint degree (that is, the related angle, the angle of each joint drive motor of the column 1 measures the posture speed of the robot i 0, and the angular moment) (that is, the stabilizer 54 and motion monitoring). Θ real), and then output it to the expansion ZMP. The above-mentioned motion monitoring unit 57 performs the expansion of the ZMP conversion unit 53, separates the motion plan of the motion planning unit 51, and the expansion of the track detector 40. The target value , The angle measurement unit 56 and the force) angle information, and according to the value of （= (including the angle and the angle moment in the machine's state 10) (that is, now, and often monitor the two-foot walking type paddle, deviation from the promise The state of Zhang ZMP's eyes and the movement of the actual value of the extended ZMP are as follows: when the deviation (error) of the actual machine \ movement. Then, the action monitoring value) has a large deviation (that is, it deviates from the action plan (expanded ZMP). Target plan Actions that deviate from the state of the expansion ZMρ target and the actual value of the expansion ZMP will change the current state from the deviation (if the deviation cannot be compensated), the planning department 51 executes the action meter = gives back to the action planning department 51 and makes the movement It is generated in the flow shown in Fig. 8. In ST1, from the given machine first, the action planning unit 51 starts to generate the action plan in the step state. The initial state and the final state of the required action are assumed to be covered. After the whole process, the action planning unit 51 calculates the polyhedral rigid body of the convex part of one person from the initial stage in steps ST2 and ST3, and then proceeds from the step / state to the final polyhedral rigid body.

314190.ptd Page 18 583058 V. Description of the invention (13) The time series shape data and center of gravity. Next, the motion planning unit 51 calculates the amount of angular motion of the robot required to perform the whole body motion in step ST4, and then in step ST5, the position of the center of gravity of the polygonal rigid body and the initial motion state (the angular velocity around the center of gravity and Angular acceleration), which results in the robot's action (ie, action plan). With this, the generation of the action plan is ended in step ST6. Next, the robot operation is started in step ST7. First, in step ST8, the motion generating unit 52 generates angle data of each joint portion from the amount of motion of each joint portion generated from the time series shape data and the center of gravity of the action planning portion 51 described above. Ref. With this expansion, the ZMP conversion unit 53 calculates an expansion ZMP target value based on the angle data 0 ref. Then in step ST9, the expanded ZMP stabilization unit 54 will detect the actual value of the expanded ZMP and the angular motion of each joint according to the posture information of the angle measurement unit 56 and the detection output of the force detector 40, and then in step ST1 In 0, compare the actual value of the expanded ZMP with the target value of the expanded ZMP. Here, by comparing the actual value of the extended ZMP with the target value of the extended ZMP, when there is an error above the predetermined value, it is determined in step ST 1 1 whether the robot status is the end point of the action plan. When it is not the case of the end point, it returns to step ST8, and when it is the case of the end point, the robot action is completed in step ST12. When there is no error greater than the predetermined value in step ST10, the operation monitoring unit 57 determines whether the error is compensated by the extended ZMP stabilization unit 54 in step ST13. If it is a compensable situation, then in step ST15, the extended ZMP stabilizer 54 of the motion control device 50 does not make the polygonal rigid body formed by the robot.

314190.ptd Page 19 583058 V. Description of the invention (14) The shape is changed, and the above errors are corrected by adjusting the angular velocity of each joint part, and then the process proceeds to step ST1. In this way, if the two-foot walking humanoid robot 10 according to the embodiment of the present invention is the walking control of the conventional ZMP standard, the reaction force of a part that protrudes when the robot performs a full-body motion or contacts the environment will be The point where the combined torque with gravity becomes zero is regarded as the expansion ZMP, and this expansion ZMP is like the ZMP in the conventional robot walking control, based on the expansion ZMP error of the difference between the expansion ZMP target value and the expansion ZMP actual measured value. Correct the motion data to control the inertial force generated by the robot 10 and compensate for the expansion of the ZMP target value. With this, for example, in a full-body motion such as a fall motion, a standing motion, or a forward roll motion, by performing a stable execution motion control, the full-body motion of a two-foot walking humanoid robot can be dynamically and stably performed. . Among them, when the two-foot walking humanoid robot 10 performs a forward roll motion, for example, the control unit 51 conveniently uses the motion control of the motion control device 50 according to the above-mentioned expanded ZMP standard, and from FIG. 9 (A) As shown in the upright state, turn to bend forward (Figure 9 (B)), with head 14 and hands on the ground (see Figure 9 (C)), then leave 12L, 12R with both feet The ground (refer to Fig. 9 (D)), then push the body part 11 forward (refer to Fig. 9 (E)), and then place the body part 11 (back) on the floor (see Fig. 9 (F)) ), Then leave your hands on the ground and turn to the front (see Figure 9 (G)), then follow the ground with your feet and bring your body up 11 (see Figure 9 (Η)), then touch the soles of your feet and touch your body. Pull up the part 11 from the ground (refer to Figure 9 (I)), and then make the body part 11 stand straight up (see Figure 9 (J)), and finally you can

314190.ptd Page 20 583058 5 As shown in Figure 9 (K) of the Invention Description, it stands up again. Among them, in the above pictures ((:), 9 (E), and 10 (A), 10 (B), and 10 (C), The whole robot can only regard the convex surface as a polygonal rigid body ρ. ^ The corner or face of this polygonal rigid body P is powerful ^^, because at this time, the overall posture of the robot will use the force that contacts the ground. The detection signal, the angle of each joint and the correct detection =, the tester person = the position of the two-legged dagger-type machine environment (such as double, large parts, or contact during movement) And the back of the waist) are respectively installed with the force ::: according to each force price :: the posture of the robot at this time is detected ': also, the reaction force 0: the detection signal, and When the robot sees the target on the chain, and executes the expansion ZMP when the robot's synthetic torque becomes zero, the motion and motion control when G is down can reliably perform motion control. I motion or forward roll motion As in the above embodiment 2, the arm portion 13L, i3R has five white feet m, and 4R has six free sighs. The degree, but 疋 is not limited to this, the industry can use 丄] or greater degrees of freedom. :: ¥ 动 = 本 ΠΓ, # two-foot walking humanoid robot, or when contacted ^: Based on the double / signal that protrudes during the action, 5 sets will detect the force installed on the position of the sibling ^ _ Which part of the robot is in contact with the environment?

3l4190.pld 583058 5. Description of the invention (16) (such as ground or wall surface), so as to detect the posture of the robot, and based on this posture, the motion data of the motion generation unit is corrected by the compensation unit. Therefore, when the robot controls the whole body of the robot, the movement data is often corrected according to the posture of the robot. Therefore, it is possible to stably and reliably perform whole body movements such as a fall motion, a standing motion, or a forward roll motion during a fall. In this way, according to the present invention, it is possible to provide an extremely superior two-leg walking humanoid robot that can easily perform whole body movements.

314190.ptd Page 22 583058 Brief description of the drawings [Simplified description of the drawings] The present invention should be fully understandable based on the following detailed description and the drawings shown in several embodiments of the present invention. It should be noted that the embodiments shown in the drawings are not intended to specify or limit the present invention, and are merely described to make the description and understanding of the present invention easier. In the figure, FIG. 1 is an appearance appearance of one embodiment of a two-legged walking humanoid robot of the present invention, (A) is a schematic front view, and (B) is a schematic side view. Figure 2 is a schematic diagram of the mechanical structure of the two-foot walking humanoid robot of Figure 1. Fig. 3 is a schematic view of the forward bending portion and the joint portions of the foot portions of the two-foot walking humanoid robot shown in Fig. 1 in the forward swing limit. Fig. 4 is a schematic view showing the swing limit of the forward bending portion and each joint portion of the foot portion of the two-foot walking humanoid robot of Fig. 1 toward the rear. Fig. 5 is a schematic view of the joints of the forward bend of the two-foot walking humanoid robot of Fig. 1. (A) is a rotation limit toward the left, and (B) is a rotation limit toward the right. Fig. 6 is a side view of the force detector configuration of the two-foot walking humanoid robot shown in Fig. 1. Fig. 7 is a block diagram of the electrical structure of the two-foot walking humanoid robot of Fig. 1. Fig. 8 is a flow chart of the motion control of a two-foot walking humanoid robot shown in Fig. 1. Figures 9 (A) to (K) are the two-foot walking humanoid robot in Figure 1, front

314190.ptd Page 23 583058 Schematic illustration of the left side of the sequence of rollover actions. Figures 10 (A) to (C) are enlarged views of the mid-rolling action before Figure 9. 0 1 Body part 10 Two-foot walking humanoid robot 11a Chest lib Waist 11c Forward bends lld, lle, 18L, 18R, 19L , 19R, 20L, 20R, 22L, 22R, 23L, 23R, 24L, 24R, 28L, 28R, 29L, 29R, 30L, 30R, 32L, 32R, 33L, 33R, 35, 36 Joints 1 2 L, 1 2 R Arm part 14 head Da Cong part 16L, 16R Xiao Qing palm part 21L, 21R Knee arm part 26L, 26R Little palm part 31L, 31R Elbow A channel detector 50 Motion planning part 51a Motion generation part 53 Expansion Zhang ZMP stabilization unit control unit 56 angular action monitoring unit P multi-device library special exchange unit 40 51 52 54 55 57

314190.ptd

Claims (1)

sm \ < 5 ^ 91133676_ 年 ffc 修正 改 _ 6. Application for patent scope 1. A two-foot walking humanoid robot, which includes: a body part; a foot part, which is installed on the two sides of the lower half of the body part and It can swing, and includes: the knee of the middle section and the sole of the lower end; the arm, which is installed on both sides of the upper half of the body and can swing, and includes the elbow of the middle section and the lower end The palm part; and the head part, which is installed on the upper end of the body part; and provided with: a driving mechanism, which enables the foot part, the calf part, the thigh part, and the palm part and the forearm part of the arm part, respectively Swing with swingable joints such as the upper arm; and motion control devices that drive and control each drive mechanism separately; a two-foot walking humanoid robot; wherein the motion control device is equipped with: a force detector, It is provided at a part that protrudes when each part moves, or a part that touches the environment when it moves; and the compensation section 'detects the robot posture based on the detection signals of each force's tester, and Accordingly Action Action posture will produce part of the capital expected to be amended. 2. The two-legged walking humanoid robot according to item 1 of the scope of patent application, wherein the motion control device is provided with: a motion generating unit, which detects the grounded at this time according to the detection signals of the force detectors. Position, and generate motion data using the overall robot as a polygonal rigid body; and 3] 4] 90 revised version.pic Page 25 2003. 12.]]. 025 ^ 〇58, ir j 松 d 锊 围 天 ^ 号 91133676 In the private year, the month and month amend L, HI ΓΓ from the day… — one._ _ I Μ ...- !.! »≫ * VI. The scope of the patent application for the expansion of the ZMP conversion unit is based on the action data from the action generation unit to calculate the expansion ZMP (the reaction force and The point at which the combined moment of gravity becomes zero); and the compensation unit is an actual measured value of the expansion ZMP that is detected by the detection signals of the force detectors, and an expansion ZMP target value derived from the expansion ZMP conversion unit. The comparison is performed to calculate the motion data compensation amount from the motion generation section. 3. For example, the two-legged walking humanoid robot of the scope of the patent application, wherein the motion control device is provided with: an action database storing posture data constituting the motion requirements of the robot; and the action generating unit is generating When the motion data of the intermediate motion from the initial state of the robot to the final state of the predetermined motion is related, the corresponding posture data is read from the motion database, and the motion data of the combined motion sequence is generated. 4. For example, the two-legged walking humanoid robot with the scope of patent application 1 is further equipped with: an action monitoring unit that constantly monitors the driving state and overall posture of each joint of the robot; the action monitoring unit monitors the origin The difference between the actual value of the expanded ZMP and the target value of the expanded ZMP is judged to be compensable. 5. If the two-foot walking humanoid robot of item 4 of the patent application scope, wherein the motion monitoring unit is unable to compensate for the error of the expansion ZMP target value derived from the actual value of the expansion ZMP, the motion monitoring unit The generating section instructs regenerating the action data. 6. If you apply for a two-legged walking figure in any one of the scope of patent applications 1 to 5 3] 4] 90 revision · ρ 丨 c page 26 2003.] 2.]]. 026 $ 83058 Month 292.12. 16 Year of repair 91133676 year; February; Amendment on the L day 6. Patent application robot, of which , The motion generating unit generates motion data related to the walking motion of the robot. 7. The two-legged walking humanoid robot according to any one of the claims 1 to 5, wherein the motion generating unit generates motion data of the whole body motion of the robot. 8. For a two-legged walking humanoid robot with the scope of patent application item 7, wherein the motion generation unit generates motion data of the relevant robot's forward roll motion. 3⑷90 Revised PTC Page 27 2003. 12. 1 1. 027