WO1998026905A1 - Controleur d'attitude de robot mobile sur jambes - Google Patents
Controleur d'attitude de robot mobile sur jambes Download PDFInfo
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- WO1998026905A1 WO1998026905A1 PCT/JP1997/004723 JP9704723W WO9826905A1 WO 1998026905 A1 WO1998026905 A1 WO 1998026905A1 JP 9704723 W JP9704723 W JP 9704723W WO 9826905 A1 WO9826905 A1 WO 9826905A1
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- reaction force
- target
- robot
- floor reaction
- moment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Definitions
- the present invention relates to a legged mobile robot posture control device, and more particularly, to a legged mobile robot, particularly a bipedal legged mobile robot, which can maintain dynamic balance even when an unexpected object reaction force is received.
- a legged mobile robot equipped with an arm as a cooperative control of the arm and the leg, which can maintain the stability of the posture.
- the "object reaction force” is an external force received from the environment including the work object, and is used to refer to the thing excluding the floor reaction force acting on the mouth bot from the ground contact surface.
- the present applicant has proposed a similar type of legged mobile robot in Japanese Patent Application Laid-Open No. Hei 7-25069, in which the arm is swung when the frictional force is reduced during walking so that a stable motion is obtained. I try to recover my posture.
- an object of the present invention is to solve the above-mentioned disadvantages, and to achieve a dynamic balance and maintain a stable posture even if a leg type moving port bot receives an unexpected object reaction force.
- An object of the present invention is to provide an attitude control device for a mobile robot.
- a second object of the present invention is to move the robot's center of gravity to a position where the reaction force is statically balanced even when the reaction force of the object changes suddenly, so that the inclination and overturn can be effectively suppressed. It is an object of the present invention to provide a posture control device for a legged mobile robot.
- a third object of the present invention is to maintain the dynamic balance by appropriately changing the position of the center of gravity and the floor reaction force even in the transitional period when the center of gravity of the robot moves when receiving the above-mentioned object reaction force.
- An object of the present invention is to provide a posture control device of a legged mobile robot that can be used.
- a fourth object of the present invention is to provide a leg-type moving robot having an arm, which includes not only the gravitational force and the inertia force generated in the arm when performing the operation by moving the arm in a motion pattern that has not been assumed in advance.
- Another object of the present invention is to provide a posture control device for a legged mobile robot capable of maintaining a stable posture while maintaining a dynamic balance even when an unexpected reaction is received from a work target. Disclosure of the invention
- a posture control device for a legged mobile robot comprising at least a base and a plurality of links connected to the base, at least one of the robots
- a robot including at least a motion pattern including a target trajectory of the base, a target trajectory of a floor reaction force acting on the robot, and a target trajectory of an external force other than the floor reaction force acting on the robot.
- a desired gait setting means for setting a desired gait; an external force detecting means for detecting an external force other than the floor reaction force; calculating a deviation between the detected external force and an external force other than the floor reaction force set on the target trajectory.
- a model expressing the relationship between the perturbation of the floor reaction force and the perturbation of the position of the center of gravity of the robot and / or the position of the base body, based on at least the deviation of the calculated external force.
- a model input amount calculating means for calculating a model input amount to be input to the model; inputting the calculated model input amount to the model;
- a base reaction locus correction amount calculating means for calculating a positive amount, a floor reaction force target locus for calculating a floor reaction force target locus correction amount, for correcting a floor reaction force target locus at least according to the calculated model input amount.
- a correction amount calculating means and a joint displacement means for displacing a joint of the robot based on at least the calculated base target trajectory correction amount and floor reaction force target trajectory correction amount are provided.
- position is used to mean “position and Z or posture” except for the center of gravity.
- posture means a direction in a three-dimensional space as described later.
- target trajectory of the floor reaction force is more specifically used to include at least the target trajectory of the floor reaction force center point.
- correcting the target locus of the floor reaction force is more specifically used to correct the moment around the center point of the floor reaction force.
- detecting an external force is used in a sense that includes not only detection but also estimation using a disturbance observer or the like.
- the model input amount calculating means includes a balanced center of gravity position perturbation amount calculating means for calculating a perturbation amount of a balanced center of gravity position statically balanced with the external force. The model input amount is calculated so that the model converges.
- the robot is configured so that the model approximates the robot with an inverted pendulum.
- the balance center-of-gravity position perturbation amount calculating means is configured to include a limiter that limits the perturbation amount of the calculated balance center-of-gravity position to a predetermined range.
- the floor reaction force target trajectory correction amount calculating means is configured to include a limiter for limiting the calculated floor reaction force target trajectory correction amount to a predetermined range.
- the target trajectory of the floor reaction force is configured to include at least a trajectory of a target center point of the floor reaction force acting on the robot.
- the floor reaction force target trajectory correction amount calculating means may calculate the floor reaction force target trajectory correction amount as a value obtained by subtracting the deviation of the external force from the model input amount, and around a target center point of the floor reaction force.
- the floor reaction force target trajectory correction amount is calculated so as to dynamically balance the acting moment.
- an external force other than the floor reaction force is configured to be a reaction force from the work object acting on the robot via the link.
- the robot is configured as a leg-type movable robot including two leg links and two arm links connected to the base.
- a motion pattern including at least a target position of the base is provided;
- Target gait setting means for setting a desired gait of the robot, including at least a trajectory of a target center point of a floor reaction force acting on the robot, a work object acting on the robot via the link
- Object reaction force detection means for detecting a reaction force from an object
- object reaction force moment conversion means for converting the detected object reaction force as a moment about the target floor reaction force center point; the converted pair Robot position and posture modification to correct the floor reaction force moment around the target center point and the position and posture of the mouth bot so as to dynamically balance the elephant reaction force moment
- a joint displacing means for displacing a joint of the robot based on the corrected floor reaction force moment about the target center point and the position and posture of the robot.
- a target for setting a movement pattern including at least a target position of the base is provided for the robot.
- Gait setting means object reaction force detecting means acting on the robot via the link, detecting a reaction force from a work object, the detected object reaction force is a moment about a predetermined point.
- Object reaction force moment converting means for converting the object reaction force moment about the predetermined point and the position and posture of the robot so as to dynamically balance with the converted object reaction force moment.
- the robot position and posture correcting means to be corrected, and the robot based on the corrected floor reaction force moment around the predetermined point and the position and posture of the robot.
- Joint displacement means for displacing the door of the joint was composed as comprising a.
- the “legged robot” includes a legged robot that receives an object reaction force in addition to the arm.
- the “arm link” even if it is a leg link, it is regarded as an arm link if it acts on the work target.
- insect type When a six-legged robot lifts an object using the front two legs, the leg link shall be regarded as an arm link.
- FIG. 1 is an explanatory view showing an overall posture control device for a legged mobile robot according to the present invention.
- FIG. 2 is a block diagram showing details of a control unit of the biped robot shown in FIG.
- FIG. 3 is a block diagram functionally showing the configuration and operation of a posture control device for a legged mobile robot according to the present invention.
- FIG. 4 is an explanatory view showing an operation performed by the legged mobile robot shown in FIG. 1 using an arm.
- FIG. 5 is an explanatory diagram showing a support leg coordinate system in a gait generated by a target work pattern generator of the FIG. 3 apparatus.
- FIG. 6 is an explanatory diagram showing a support leg coordinate system in a gait generated by the target work pattern generator of the FIG. 3 apparatus, similarly to FIG.
- FIG. 7 is a timing chart for explaining the operation of the object reaction force balance control device shown in FIG.
- FIG. 8 is a first half of a block diagram showing a detailed configuration of the object reaction force balance control device shown in FIG.
- FIG. 9 is a latter half of a block diagram showing a detailed configuration of the object reaction force balance control device shown in FIG.
- FIG. 10 is an explanatory diagram showing a perturbation dynamic model of the object reaction force balance control device shown in FIG.
- FIG. 11 is an explanatory diagram showing a state in which the model shown in FIG. 10 is approximated by an inverted pendulum.
- FIG. 12 is a second half of a block diagram similar to FIG. 9 and showing a detailed configuration of the object reaction force balance control device according to the second embodiment of the present invention.
- FIG. 13 is similar to FIG. 9 and shows an object counterpart showing a third embodiment of the present invention.
- FIG. 3 is a latter half of a block diagram showing a detailed configuration of the force balance control device.
- FIG. 14 is an explanatory diagram similar to FIG. 11, showing an inverted pendulum type perturbation dynamics model showing a fourth embodiment of the present invention.
- a posture control device for a legged mobile robot according to the present invention will be described with reference to the accompanying drawings.
- a biped robot is taken as an example of a legged mobile robot.
- FIG. 1 is a schematic diagram showing the entire posture control device of the legged mobile robot. As shown, the biped robot 1 has six joints on each of the left and right leg links 2 (for convenience of understanding, each joint is shown by an electric motor that drives it).
- the six joints are, in order from the top, joints 10 R and 10 L for the hip rotation of the lumbar region (the right side is R, the left side is the same, the same applies hereinafter), and the joint of the lumbar roll axis (around the Y axis) 1 2R, 12L, joints on the same pitch axis (around the X axis) 14R, 14L, joints on the knee roll axis 16R, 16L, joints on the foot in the roll direction 18R , 18 L, and joints 2 OR, 20 L on the same pitch axis.
- the hip joint (or hip joint) is from the joints 1 OR (L), 12 R (L), 14 R (L), and the ankle joint Is composed of joints 18 R (L) and 20 R (L).
- the hip and knee joints are connected by thigh links 24R and 24L, and the knee joints and ankle joints are connected by crus links 26R and 26L.
- an upper body (or a base, shown by a link) 28 is provided above the waist, and an arm link 3 comprising seven joints on each side is provided at the upper end thereof. In order to show each joint with an electric motor that drives it).
- the seven joints are, in order from the top, the shoulder roll joints 30 R and 30 L, the pitch axis joints 32 R and 32 L, the arm rotation joints 34 R and 34 L, and the elbows.
- a hand (end effect) 44 R and 44 L are attached.
- the shoulder joint is derived from the joints 30 R (L), 32 R (L), and 34 R (L).
- the wrist joint is composed of joints 38 R (L), 4 OR (L), and 42 R (L).
- the shoulder and elbow joints are connected by upper arm links 46 R and 46 L, and the elbow and wrist joints are connected by lower arm links 48 R and 48 L.
- a control unit 50 composed of a microcomputer and the like, which will be described later with reference to FIG. 2, is stored in the upper body (base) 28.
- the traveling direction (pitch axis) of the robot is the X axis
- the horizontal direction (the roll axis) is the Y axis
- the vertical direction (the gravity axis) is the Z axis.
- a well-known 6-axis force sensor 56 is attached to the foot 22R (L) below the ankle joint.
- the three-way components Fx, Fy, Fz of the acting floor reaction force and the three-way components Mx, My, Mz of the moment are detected.
- a similar 6-axis force sensor 58 is attached between the wrist joint and the hand 44 R (L), and other external forces acting on the robot, in particular, the above-described object reaction received from the work object. Detects the three-way components FX, Fy, Fz of the force and the three-way components Mx, My, Mz of the moment.
- An inclination sensor 60 is installed on the upper body 28 to detect the inclination with respect to the Z axis (vertical axis (gravity axis)) and its angular velocity. In addition, the electric motor of each joint decelerates the output. • The link 24, 26R (L) and the like described above are relatively displaced via a speed reducer (not shown) that increases the power, and the port that detects the amount of rotation is used. An overnight encoder is provided and configured as a leg actuator or arm actuator with a displacement detector. The outputs of these six-axis force sensors 56 and the like are sent to the control unit 50 (only the right side of the robot 1 is shown for convenience of illustration). FIG. 2 is a block diagram showing details of the control unit 50, which is composed of a micro-combination unit. There the output of the tilt sensor 60 etc. is the A / D converter
- An arithmetic unit 80 composed of CPU is provided in the control unit.
- the arithmetic unit 80 reads the finger position and the actually measured value from the RAM 74, calculates a control value (operating amount) required for driving each joint, and sends the control value to the DZA converter 86 and each joint.
- Provided actuator drive unit (amplifier) 8 8 Drives each joint via 8 Outputs to the electric motor of the leg actuator and the arm actuator.
- FIG. 3 is a block diagram functionally showing the configuration and operation of a posture control device (mainly corresponding to the arithmetic device 80 described above) of the legged mobile robot according to the present invention.
- This device is a device that integrally controls the movements of the legs and arms, and outputs a displacement command to each actuator unit 88.
- this device comprises a target work pattern generator, an object reaction force balance control device, a leg main control device, and an arm main control device.
- the target work pattern generator generates a target work pattern that satisfies the dynamic equilibrium condition under certain assumed conditions.
- the target work pattern is represented by a time-varying pattern of multiple variables. This variable is derived from the variables describing the movement and the environment. Composed of variables expressing the reaction force.
- the variables expressing the motion are a set of variables from which the posture at each moment can be uniquely determined. Specifically, it is composed of the target foot position, posture, target body position-posture, target hand position and posture.
- the variables expressing the reaction force received from the environment consist of the target total floor reaction force center point (position) (target ZMP (position)), the target total floor reaction force, and the target object reaction force. 'Each of these variables is expressed in the supporting leg coordinate system.
- the supporting leg coordinate system is a coordinate system whose origin is the vertical projection point from the supporting leg ankle (the intersection of joints 18 and 20R (L)) to the foot 22R (L).
- the coordinate system is fixed to the floor where the support legs are in contact, with the front of the support feet in the X-axis direction, the left direction in the Y-axis direction, and the vertical direction upward. Is a coordinate system with the Z axis direction.
- the external force excluding each foot floor reaction force is referred to as an object reaction force
- the target object reaction force is the target value.
- the reaction force received by the hand 44 R (L) from the object 100 is shown.
- the target object reaction force output by the target work pattern generator is expressed by a force and a moment acting around a target total floor reaction force center point described later.
- a force and a moment acting around a target total floor reaction force center point described later By the way, what is important for posture stabilization is the moment component.
- the target total floor reaction force in a broad sense is expressed by the target total floor reaction force center point and the force and moment at that point.
- the desired total floor reaction force center point is expressed by the moment and the force with the target total floor reaction force as the point of action, the moment component around the X axis and the moment component around the Y axis It is a point on the floor that becomes 0.
- the target total floor reaction force in a narrow sense means the force and moment when the target total floor reaction force in a broad sense is expressed in terms of force and moment with the target point of the total floor reaction force as the point of action.
- the target total floor reaction force output by the target work pattern generator is the target total floor reaction force in a narrow sense.
- the target total floor reaction refers to the target total floor reaction in a narrow sense.
- the point of action of the target total floor reaction force is usually on the floor. Is set to
- ZMP which is conventionally known in the field of gait control, extends the concept as follows.
- the resultant force of inertia force, gravity, and the object reaction force generated by the motion of the robot is expressed by the force and moment with the point of action as the moment, the moment component around the X axis and the Y axis A point on the floor where the moment of rotation component is 0 is called ZMP.
- the ZMP at which the robot performs the target exercise is called the target ZMP (position).
- the target work pattern satisfies the dynamic equilibrium condition means that the above-mentioned combined inertia force, gravity, and object reaction force generated by the target work pattern and the target total floor reaction force cancel each other. It becomes 0. Therefore, in order to satisfy the dynamic equilibrium condition, the desired center point of the total floor reaction force and the desired ZMP must be the same.
- the target work pattern generator generates a target work pattern that satisfies the dynamic equilibrium condition. Therefore, the target total floor reaction force center point (position) generated by the target work pattern generator coincides with the target ZMP (position).
- the desired foot position and posture, the desired body position and posture, and the desired hand position and posture represent the position and posture of each part expressed in the aforementioned support leg coordinate system.
- the position and speed of the body 28 mean a representative point such as the position of the center of gravity of the body 28 and its (displacement) speed.
- the posture of the upper body or foot means "direction" in the X, Y, and Z spaces.
- the object reaction force balance control device and its control are the center of the control of this embodiment.
- the object reaction force balance control device performs control while taking into account the dynamic balance condition in order to balance the posture. . Therefore, before describing the outline of the object reaction force balance control device, the dynamic balance conditions will be described below.
- the biggest factor that determines the actual behavior of the robot's attitude and inclination is the balance of the moment of the actual force around the target total floor reaction force center point (that is, the target ZMP) .o
- the moment of inertia is the moment generated by the change in the angular momentum of the robot around the desired total floor reaction force center point. This value is obtained by the Euler equation. Specifically, the sign of the first derivative of the angular momentum of the robot around the target total floor reaction force center point is inverted.
- the moment of inertia of the target work pattern is called the target moment of inertia.
- the moment of inertia when the actual robot is working is called the actual moment of inertia ⁇
- the gravity moment is a moment in which the gravity acting on the robot's center of gravity acts around the target total floor reaction force center point.
- the resultant of the floor reaction forces acting on each foot is called the total floor reaction force.
- the total floor reaction force moment is the moment at which the total floor reaction force acts around the target total floor reaction force center point.
- the reaction force received from the work object is called the object reaction force.
- the object reaction force moment is the moment at which the work object reaction force acts around the target total floor reaction force center point.
- the robot 1 faithfully follows the motion pattern of the target work pattern by the ideal leg main controller.
- the actual moment of inertia coincides with the target moment of inertia
- the actual moment of gravity coincides with the target moment of gravity.
- the sum of the target moment of inertia, the target gravity moment, the actual total floor reaction moment, and the actual object reaction moment is required. Must be 0. This is condition 1.
- the actual object reaction force moment does not match the target object reaction force moment, and a difference occurs.
- the absolute value of the actual rolling friction force of the bogie that is, the target object
- the moment when the actual object reaction force acts around the Y axis of the target total floor reaction force center point is as follows:
- the target object reaction force is the Y axis of the target total floor reaction force center point.
- Robot 1 tilts forward because it grows more positively than the moment acting around it and no longer satisfies condition 1.
- the direction of the moment is positive when the moment that rotates the robot 1 around the clock in the positive direction of the coordinate axis.
- Method 1 Change the actual total floor reaction force moment so as to cancel the above deviation.
- the leg main controller instructs the leg main controller to generate a negative floor reaction cam around the target total floor reaction force center point.
- 2 Lower R (L) toes and increase the actual total floor reaction force moment in the negative direction.
- Method 2 Correct the target moment of inertia and the target moment of gravity by correcting the motion pattern of the target work pattern so as to cancel the above deviation. Specifically, by correcting the target body position and / or posture, the target moment of inertia and the target gravity moment are corrected. That is, the upper body is moved forward.
- both methods are performed at the same time, and in the short term, mainly using method 1 responds to rapid changes, and in the long term, using actual method 2 mainly to use method 2.
- the dynamic balance is always maintained while converging the reaction moment to the original target total floor reaction moment.
- Method 1 is suitable for short-term response because the actual total floor reaction moment can be quickly changed by the main leg control device only by changing the target total floor reaction moment. However, if the actual total floor reaction moment is greatly changed, the contact pressure distribution of the foot 22 R (L) is biased and the feeling of contact decreases, and in the worst case, the foot 22 R (L) Some float. Therefore, in the long term, it should be restored to the original target of anti-camo.
- the object reaction force balance control device will be described on the premise of the above.
- the object reaction force balance control device is a device having the above control function.
- the input of the object reaction force balance controller is: target body position, posture, target total floor reaction force center point (position), target object reaction force, detection value of 6-axis force sensor 58, final correction target hand Position, Posture, Final Correction Target Body Position ⁇ Posture, Final Correction Target Foot Position ⁇ Posture (If approximate calculation is used, Final Correction Target Hand Position, Posture, Final Correction Target Body Position ⁇ Posture, final corrected target foot position ⁇ Posture is not required).
- the target object reaction force is replaced with the detected value of the actual object reaction force, and the target body position Correct posture and target total floor reaction force.
- the object reaction force assumed by the corrected work pattern (that is, the corrected target object reaction force) and the actual object reaction force match, and the dynamic equilibrium condition of the robot is satisfied. .
- the outputs of the object reaction force balance controller are the corrected target body position and attitude and the compensated total floor reaction force for object reaction force balance control.
- the corrected target body position / posture is the target body position / posture corrected by the object reaction force balance control device.
- the compensation total floor reaction force for the object reaction force balance control is the total floor reaction force that is added to the target total floor reaction force center point (position) by correction.
- the particularly important components for stabilizing the posture are the X-axis and Y-axis moment components.
- the deviation between the actual object reaction force and the target object reaction force changes suddenly.
- the moment component of the total floor reaction force compensated for the reaction force balance control of the object quickly responds according to this difference. I do.
- the corrected target body position 'posture is settled to a position and posture that statically balances this deviation, and the moment component of the compensation total floor reaction force for the object reaction force balance control converges to 0. .
- the configuration and algorithm of the object reaction force balance controller will be described later. You.
- the target values input to the leg main controller are the corrected target body position, posture, target foot position, posture, target total floor reaction force center point (position), and target total value acting on that point.
- the functions of the leg main controller are to operate the leg actuator (electric motor and encoder such as the joint 1 OR (L)) to follow the target posture, and to achieve the target posture.
- the leg actuator electric motor and encoder such as the joint 1 OR (L)
- It is a device that simultaneously performs floor reaction force control that follows force. Since it is impossible to completely satisfy the desired attitude and the desired floor reaction force at the same time, an appropriate adjustment is performed, and control is performed so as to satisfy both in the long term.
- the restored total floor reaction force to be generated at the target total floor reaction force center point in order to restore the actual body position detected by the tilt sensor 60 to the corrected target body position
- the moment component of the actual total floor reaction force acting on the target total floor reaction force center point is calculated as the restored total floor reaction force, the desired total floor reaction force, and the compensation total floor reaction force for the object reaction force balance control.
- Correct the target foot position and posture by rotating or moving the foot 22 R (L) up or down to match the moment component of the resultant force.
- the corrected target foot position ⁇ posture is called the final corrected target foot position ⁇ posture.
- the target center point of the total floor reaction force is obtained. Correct the desired foot position and posture so that the moment component of the actual total floor reaction force acting on the target matches the desired total floor reaction force and the moment component of the resultant force of the object reaction force balance control compensation total floor reaction force. .
- the leg main controller further controls the leg actuator so that the actual joint displacement follows the target leg joint displacement determined from the corrected target body position / posture and the corrected target foot position-posture.
- the main leg control system includes the main leg control device, the tilt sensor 60, the six-axis force sensor 56 provided on the foot 22R (L), the actuator drive unit 88 and the actuator unit ( It consists of electric motors and encoders for joints 10R (L) to 20R (L).
- the target foot position corrected by the leg main controller is the final corrected target foot position ,
- the attitude is sent to the object reaction force balance controller.
- the final corrected target foot position / posture is used as the target reaction force. There is no need to send it to the balance control device.
- the target value input to the arm main controller is the corrected target body position.
- the functions of the arm main control device are: posture control that follows the target posture by operating the arm actuator (electric motors such as joints 30R (L), encoders, etc.).
- the object reaction force control that follows the object reaction force is simultaneously performed. Since it is impossible to completely satisfy both the target posture and the target object reaction force at the same time, use an appropriate method, for example, manipulator compliance control, which is conventionally known as virtual compliance control (mechanical engineering). Handbook, Engineering, pp. C4—100).
- the arm main control system includes the arm main control device, the 6-axis force sensor 58 provided on the above-mentioned hand 44 (L), and the actuator drive device 8 8 and arm actuary (Electric motor and encoder for joints 3OR (L) or 42R (L)).
- the arm main controller corrects the target hand position / posture according to the difference between the actual target reaction force and the target reaction force detected by the six-axis force sensor 58.
- the corrected target hand position / posture is called the final corrected target hand position / posture.
- the arm main control device controls the arm actuation so that the actual joint displacement follows the target arm joint displacement determined from the corrected target body position / posture and the final corrected target hand position / posture.
- FIG. 8 is a functional block diagram showing a first half of a control configuration diagram of the object reaction force balance control device
- FIG. 9 is a functional block diagram showing a second half portion of a control configuration diagram of the object reaction force balance control device.
- the actual hand 44 R (L) is considered to be almost at the final corrected target hand position and posture by the arm main controller, the actual object reaction force detected by the 6-axis force sensor 58
- the corrected target hand position The force around the origin and the moment are converted (the actual hand position and posture may be obtained by kinematics calculation from the actual joint displacement, and the real object reaction force may be converted using this).
- the perturbation dynamics model is a model that expresses the relationship between the desired total floor reaction force moment perturbation and the body position / posture perturbation when a certain constraint condition is given to the motion (perturbation) of the target work pattern. is there.
- a model in which the horizontal position of the body is perturbed while the body posture of the robot matches the target body posture as shown in FIG. 10 will be described.
- a y b Y component of target body position perturbation
- ⁇ ⁇ X component of the desired total floor reaction moment perturbation around the desired total floor reaction force center point ⁇ M y: Y component of the desired total floor reaction force moment perturbation around the desired total floor reaction force center point ⁇ MG x: X component of the desired gravity moment perturbation around the desired total floor reaction force center point ⁇ MG y: Y component of the desired gravity moment perturbation around the desired total floor reaction force center point L x: Target X component of target angular momentum perturbation around the center point of total floor reaction force
- AMG X - ⁇ y G * m g
- Equation 1 If the equivalent inertial moment around the center of gravity for the motion perturbation of the robot is sufficiently small and can be ignored, the following equation is derived.
- Equation 4 By the way, the target center of gravity position perturbation and the target body position perturbation are almost proportional to each other. it is conceivable that. Therefore, assuming that the proportionality constant is k, the target body position perturbation can be obtained by the following equation.
- Equation 4 corresponds to the equation of motion of an inverted pendulum of height h and mass m shown in FIG.
- the object reaction force moment deviation about the target total floor reaction force center point is input to the final attained target center of gravity perturbation amount calculation unit.
- the final attained target centroid position perturbation amount calculation unit calculates the final attained target centroid position perturbation amount from the deviation.
- the target reaction force moment deviation is calculated by the weight generated by the final target center of gravity position perturbation. In order to cancel by force moment, the following equation must be satisfied.
- AMG 0 X - ⁇ 0 X
- AMG 0 y - ⁇ M 0 y
- Equation 6 The gravitational moment generated by the perturbation of the final target center of gravity position is given by
- Equation 7 The following equation is obtained from Equation 6 and Equation 7.
- Equation 8 the final target center of gravity position perturbation may be calculated by Equation 8.
- the model control law calculator of the object reaction force balance controller will be described.
- the difference between the final attained target centroid position perturbation and the target centroid position perturbation output by the perturbation dynamic model is called a centroid displacement deviation.
- the model control law calculator performs control to converge this center of gravity deviation to zero.
- the output is the total floor reaction force moment for the object reaction force balance control.
- K p is the proportional gain and K d is the derivative gain.
- the perturbation dynamics model uses the addition point immediately after the output of the model control law calculator to calculate the compensation total floor reaction force moment for the object reaction force balance control. And the sum of the object reaction force moment deviations around the desired total floor reaction force center point is input as the desired total floor reaction moment perturbation (model input amount) for the model.
- the target body position and posture perturbation amount corresponding to are calculated. This is added to the target body position / posture to create a corrected target body position / posture.
- a command is sent to the leg main controller to additionally generate a compensating total floor reaction force moment for the object reaction force balance control around the target total floor reaction force center point.
- control is performed so that a compensation total floor reaction force moment for object reaction force balance control is added to the actual total floor reaction force moment as an actual total floor reaction force moment perturbation amount.
- the resulting actual total floor reaction force moment is called the modified actual total floor reaction force moment.
- Equation 12 From Equations 11 and 12, the following equation is obtained. Desired moment of inertia perturbation + Desired moment of gravity perturbation
- Equation 14 Each corrected moment is the original moment plus the moment perturbation, and the actual object reaction force moment is the target object reaction force moment.
- the following equation is obtained as the identity of the object reaction force moment deviation, and the equations 13 and 14 force, and the identity.
- Equation 15 shows that no matter how much the real object reaction force moment deviates from the target object reaction force moment, the target inertia force moment and the target gravity moment are controlled by the object reaction force balance control. And that the actual floor anti-camo is modified and always satisfies condition 1.
- Equation 13 the same thing is expressed by using Equation 13, even if the target reaction force moment deviation occurs, the target inertial force moment perturbation and the target gravity moment are obtained by the target reaction force balance control. It can be said that the amount of perturbation and the actual total floor anti-momentum perturbation are generated, and the effect of the object reaction force moment deviation is canceled so that Condition 1 is satisfied.
- the final target centroid position perturbation amount calculation unit calculates the final target centroid position perturbation amount. Based on the difference between the final target target centroid position perturbation and the target centroid position perturbation, the model control law calculator calculates the compensation total floor reaction force moment for target reaction force balance control2.
- the compensation total floor reaction force moment for the object reaction force balance control approaches 0 as the target centroid position perturbation approaches the final attained target centroid position perturbation.
- the perturbation dynamics model receives the sum of the compensation floor reaction force moment for object reaction force balance control and the deviation of the object reaction force moment, and the target perturbation amount of the target center of gravity and the target body position / posture perturbation amount are calculated. Output from the perturbation dynamics model. In this example, since the constraint condition is that the posture is not changed, the target body position / posture perturbation amount is zero.
- the perturbation power is calculated as the sum of the target inertia force perturbation generated by the target body position and posture perturbation and the target gravity moment perturbation.
- the sum of the moments added to the scientific model is zero.
- the sum of the desired moment of inertia perturbation, the desired moment of gravity perturbation, the object reaction force balance control compensated total floor reaction force moment, and the object reaction force moment deviation is zero. This relationship always holds, as shown in FIG.
- the target centroid position perturbation is asymptotically approached to the final attained target centroid position perturbation by the model control law calculator.
- the target center of gravity perturbation changes in proportion or almost in proportion to the target gravity moment perturbation I do.
- the above is the behavior of the object reaction force balance control device.
- the above control calculations are all executed in each control cycle. Therefore, the dynamic balance is always maintained regardless of the actual object reaction force moment.
- robot 1 first operates the total floor reaction force moment and depresses the toe (the tip of foot 22R (L)).
- the posture is controlled as described above, and the body is moved forward with the passage of time, so that it is switched to rely on the moment of gravity.
- FIG. 12 shows a second embodiment of the present invention, in which a limiter 200 is provided, and a limit is set by setting upper and lower limit values for the final target center of gravity position perturbation amount. It is like that.
- the limit value (range) of the upper and lower limits is set on the amount of perturbation of the final target center of gravity position obtained by Equation 7, and a limit is applied.
- the limit value (limit value) may be a fixed value or a variable value.
- a second limiter 300 is provided, and the upper and lower limit values (range) of the compensation total floor reaction force moment for the object reaction force balance control calculated by the model control law calculator are also set. Set and apply a limit.
- the compensation floor reaction force moment for the object reaction force balance control is also generated at the foot 22 R (L) of the real robot, but the floor reaction force moment at which the foot of the real robot can be generated There is a limit. If the limit is exceeded, the foot will lose its ability to contact the ground, or part of the foot will float off the floor. To prevent this, the model control law calculator sets upper and lower limit values for the object reaction force balance control compensated total floor reaction force moment calculated using Equation 10 and sets the limit. I put it on.
- the limit value may be fixed or variable, as in the case of the limiter 200.
- FIG. 13 shows a third embodiment of the present invention, in which a limiter 400 is provided to set the upper and lower limit values for the input of the final target center of gravity position perturbation amount calculation unit.
- a second limiter 500 is provided, and an input value exceeding the first limiter 400 compensates for the reaction force balance control of the object. Moments have been modified.
- the final attained target centroid position perturbation amount obtained by Equation 7 has an upper limit.
- the limit is set by setting the lower limit value (range).
- a value exceeding the limit value (limit value) is added to the output of the model control law computing unit when the limit value (limit value) is exceeded. ( Figure 12) and added to the model. For this reason, the position of the center of gravity was perturbed against the object reaction force moment deviation, but when the object reaction force became excessive and limit operation was performed, the center of gravity position was swung in the opposite direction. Inconvenience that it would cause
- the third embodiment solves the above-mentioned inconvenience by inputting an input value exceeding a limit value (limit value) of the first limiter 400 into a second limit value 500. It is sent to the addition / subtraction point 7 0 0 through 0, and then subtracted from the output of the model control law arithmetic unit, in other words, the object reaction force balance is given so that the force that reverses the polarity and reverses the force is applied. Modified the control compensation total floor reaction force moment. As a result, the robot is controlled so that the foot 22R (L) supports the input value (moment deviation) exceeding the limit value (limit value).
- the value exceeding the limit value is added to the output of the model control law arithmetic unit at the addition point 7100 (Fig. 13) and input to the model. What? For this reason, it is possible to eliminate the inconvenience that the object reaction force moment deviation as described above becomes excessive and the limit is activated, causing the center of gravity to swing in the opposite direction.
- the remaining configuration is not different from the previous embodiment.
- the limit value (limit value) of the first limiter 400 may be fixed or variable, similarly to the previous embodiment. Furthermore, a limit similar to the limiter 400 may be added after the model control law arithmetic unit.
- FIG. 14 shows a fourth embodiment of the present invention, in which an inverted pendulum model provided with an inertia force moment I is used in the object reaction force balance control apparatus in order to improve the accuracy of the perturbation dynamic model. I did it.
- h may be fixed, but if the height of the center of gravity changes due to work, the final corrected target body position / posture, final Corrected target foot positionPosture and final corrected target hand position •
- the height of the center of gravity may be obtained from the robot posture obtained from the posture, and h may be changed accordingly.
- a multi-link geometric model of a robot with leg and arm links is provided, and the final corrected target body position and posture, the final corrected target foot position and Posture and final corrected target hand position ⁇ Center of gravity position calculated from posture and final corrected target body position ⁇ Body position obtained by subtracting the amount of perturbation of body position from posture ⁇ Posture, final corrected target foot position ⁇ Posture and final Corrected target hand position
- the perturbation amount of the body position may be obtained from the equation.
- this is a multi-link dynamic model of a robot with leg-arm links, in which a given constraint condition is given to the motion pattern, and the desired body reaction A model that outputs the amount and the position of the center of gravity ⁇ The amount of posture perturbation may be used.
- the following method may be used.
- the perturbation dynamics model ignores the effects of the inertial force and / or gravitational perturbation of the arm when the arm is perturbed from the target work pattern, and assumes that the arm only moves according to the target motion pattern. . With this assumption, the model approximates the same form as the inverted pendulum model given as an example in the detailed description of the perturbation dynamics model. Therefore, the calculation of the perturbation dynamics model becomes extremely simple.
- the inertia caused by perturbing the arm from the target posture to the final target posture based on the target hand position, posture, target body position, final correction target hand position, posture and final correction target body position Calculate force and / or gravitational perturbation I do. This can be obtained by performing a dynamic operation of a multi-link manipulator, which is a conventional method. This is expressed in the final corrected target hand position / posture coordinate system.
- the calculated ⁇ -force perturbation and / or gravitational perturbation are added to the real object reaction force detected by the sensor, and output to the object-reaction-force balance controller as the real object reaction force.
- the effect of the inertial force perturbation of the arm and / or the gravitational perturbation is not considered in the perturbation dynamics model, but is considered as the reaction force of the work object. Since the calculation of the amount of inertial force perturbation of the arm and / or the amount of gravitational perturbation and the calculation of the perturbation dynamic model are performed independently, complicated interference calculation is not required, and the amount of calculation is small.
- a posture control device for a legged mobile robot comprising: A desired gait setting means (target work pattern generator) for setting a desired gait of the robot, including at least a target trajectory of an external force other than a floor reaction force acting on the robot.
- An external force detecting means (6-axis force sensor 58) for detecting an external force other than the force, a deviation between the detected external force and an external force other than the floor reaction force set by the target locus (around the target total floor reaction force center point) Object reaction force moment deviation)
- External force deviation calculating means for calculating (object reaction force balance control device. More specifically, coordinate conversion and input / output of the actual object reaction force in FIG. 8), the perturbation of the floor reaction force and the robot A model (perturbation dynamics model) that expresses the relationship between the position of the center of gravity and the perturbation of Z or the position of the base, a model input amount (for the model) to be input to the pedal based on at least the deviation of the calculated external force.
- Model input amount calculating means (model control law calculator and subsequent input / output at the addition point) for calculating the desired total floor reaction force moment perturbation, and inputting the calculated model input amount to the model. Correcting the target trajectory of the base in accordance with the position of the center of gravity and / or the amount of perturbation of the base; calculating a target target trajectory correction amount (corrected target body position and posture); Object reaction force balance controller More specifically., Enter the perturbation dynamic model input amount, calculates the behavior of the model, the target body position perturbation amount from the model output (Fix A part for calculating the positive amount), correcting the target trajectory of the floor reaction force at least according to the calculated model input amount, a floor reaction force target trajectory correction amount (compensation for object reaction force balance control, total floor reaction) (A moment of force)), a floor reaction force target trajectory correction amount calculating means (model control law calculator, more specifically, a part of the model control law), and at least the calculated base target trajectory correction amount and floor reaction force correction amount. Joint displacing means (Le
- the model input amount calculating means includes: a balanced center of gravity position perturbation amount calculating means (final target target center of gravity position perturbation amount calculating unit) for calculating a perturbation amount of a balanced center of gravity position statically balanced with the external force.
- the model input amount is calculated so that the model converges on the calculated equilibrium center of gravity position.
- the robot is configured so as to be a model (perturbation dynamics model) that approximates the robot with an inverted pendulum.
- the equilibrium centroid position perturbation amount calculating means is configured to include a limiter 200, 400 that limits the perturbation amount of the calculated equilibrium centroid position to a predetermined range.
- the floor reaction force target trajectory correction amount calculating means is configured to include limiters 300 and 500 for limiting the calculated floor reaction force target trajectory correction amount to a predetermined range.
- the target trajectory of the floor reaction force is configured to include at least a trajectory of a target center point of the floor reaction force acting on the robot.
- the floor reaction force target trajectory correction amount calculation means calculates the floor reaction force target trajectory correction amount (total floor reaction force moment for object reaction force balance control compensation) force ⁇ the model input amount (target for model). A value obtained by subtracting the deviation of the external force (object reaction force moment deviation around the target total floor reaction force center point) from the total floor reaction force moment perturbation amount; and a moment acting around the target center point of the floor reaction force.
- the floor reaction force target trajectory correction amount is calculated so that the dynamic balance is obtained.
- an external force other than the floor reaction force is a reaction force from a work object (cart 100) acting on the robot via the link.
- the robot has two leg links 2 and two arm links connected to the base. It was configured as a legged mobile robot consisting of link 3.
- a desired gait setting means for setting a desired gait of the robot at least including a movement pattern including a target position of the base body and a trajectory of a desired center point of a floor reaction force acting on the mouth robot.
- a target work pattern generator (A target work pattern generator); an object reaction force detection means (a 6-axis force sensor 58) for detecting a reaction force from a work object, which acts on the robot via the link; An object reaction force moment conversion means (object reaction force balance control device) for converting the object reaction force as a moment about the center point of the desired floor reaction force, the power is applied to the converted object reaction force moment.
- object reaction force balance control device for converting the object reaction force as a moment about the center point of the desired floor reaction force, the power is applied to the converted object reaction force moment.
- the floor reaction force moment about the target center point and the robot position and posture correction means (object reaction force balance control device) for correcting the position and posture of the robot, and the corrected Joint displacement means for displacing the joints of the robot based on the floor reaction force moment around the target center point and the position of the robot (Leg main control unit, Actuator drive unit 88, Leg actuator) And so on).
- a desired gait setting means for setting a motion pattern including a target position of at least the base, detecting a reaction force from a work object acting on the robot via the link Object reaction force detecting means (6-axis sensor 58), which converts the detected object reaction force as a moment about a predetermined point, more specifically, a target floor reaction force center point.
- Moment conversion means object reaction force balance control device is configured to dynamically balance the object reaction force moment with the floor reaction force moment around the predetermined point and the robot.
- Robot position / posture correction means object reaction force balance control device for correcting the force, and the robot based on the corrected floor reaction force moment around the predetermined point and the position / posture of the robot.
- a joint displacing means leg main control device, actuator drive unit 88, leg actuator, etc. for displacing the joints did.
- the actuating mechanism for bending or twisting the upper body link is not provided, but when adding it, the upper actuating mechanism is controlled. Equipment is also required.
- the bending or twisting of the upper body link is equivalent to adding a joint to the base of the arm or leg, so it can be conceptually considered as an arm or leg actuation. That is, the upper body control unit can be considered to be included as part of the arm or leg control unit.
- the compliance control previously proposed in Japanese Patent Application Laid-Open No. 5-305586 is used, but other means may be used.
- the joint torque is controlled using other means other than the compliance control, for example, a means for controlling the electric actuator by a current command type pump.
- the floor reaction force is indirectly controlled. If the means for controlling the force is used, the 6-axis force sensor 56 provided on the foot 22 R (L) is unnecessary.
- the arm is controlled using another means other than the virtual compliance control, for example, a means for controlling the electric actuator by a current-coupled amplifier.
- the joint torque may be controlled, and as a result, the object reaction force may be controlled indirectly.
- the control does not require the hand's six-axis force sensor, but it is better to provide the hand's six-axis force sensor for the object reaction force balance control device.
- the arm control device may be provided with an estimator for estimating the actual object reaction force from the joint torque, instead of the six-axis force sensor of the hand.
- This estimator may use a disturbance observer which is a conventional technique.
- in addition to the compliance control proposed in Japanese Patent Application Laid-Open No. May be added. However, since the position of the upper body and the stride length are corrected by the control, if the relative positional relationship between the hand and the work object is important in the arm control, the position of the upper body or the position corrected by the control is important. It is necessary to consider the effect of stride length.
- the target total floor reaction force center point and the target ZMP may be obtained on the virtual plane by using the technology which assumes the virtual plane proposed by the present applicant in Japanese Patent Application Laid-Open No. 5-318840. Further, in the above-described first to fourth embodiments, if the posture of the entire robot is shifted from the target and tilts, the position / posture of the hand shifts in the absolute space. As a result, the object reaction force may deviate significantly from the target object reaction force.
- the corrected final target hand position and attitude described above are further corrected according to the actual body position detected by the tilt sensor, posture and target body position Therefore, even if the posture of the entire robot is inclined, it is more preferable that the position and posture of the hand do not shift in absolute space.
- a force using the PD control law for example, PID control, state feedback control, or the like may be used.
- the present invention has been described with respect to a bipedal legged mobile robot having an arm, the present invention is also useful for a legged mobile robot without an arm, and is not limited to a bipedal robot, but may be a multi-legged robot. It can also be applied to robots.
- Industrial applicability is not limited to a bipedal robot, but may be a multi-legged robot. It can also be applied to robots.
- ADVANTAGE OF THE INVENTION even if the legged mobile robot receives an unexpected external force, more specifically, a reaction force from the work object, it is possible to maintain a stable posture with dynamic balance. Furthermore, not only the link in the motion pattern that was not assumed beforehand, more specifically, not only the gravity and inertia force generated in the arm when working while moving the arm, but also an unexpected reaction from the work target It is possible to maintain a stable posture with dynamic balance.
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Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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EP97949180A EP0965416B1 (en) | 1996-12-19 | 1997-12-19 | Attitude controller of legged moving robot |
US09/319,266 US6505096B2 (en) | 1996-12-19 | 1997-12-19 | Posture control system of legged mobile robot |
DE69734835T DE69734835T2 (de) | 1996-12-19 | 1997-12-19 | Haltungskontrolleur einen sich auf beinen bewegenden robotern |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP8/354561 | 1996-12-19 | ||
JP35456196 | 1996-12-19 |
Publications (1)
Publication Number | Publication Date |
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WO1998026905A1 true WO1998026905A1 (fr) | 1998-06-25 |
Family
ID=18438390
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP1997/004723 WO1998026905A1 (fr) | 1996-12-19 | 1997-12-19 | Controleur d'attitude de robot mobile sur jambes |
Country Status (4)
Country | Link |
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US (1) | US6505096B2 (ja) |
EP (1) | EP0965416B1 (ja) |
DE (1) | DE69734835T2 (ja) |
WO (1) | WO1998026905A1 (ja) |
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US6917175B2 (en) | 1999-09-07 | 2005-07-12 | Sony Corporation | Robot and joint device for the same |
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EP2112057A1 (en) * | 1999-11-25 | 2009-10-28 | Sony Corporation | Legged mobile robot and method and apparatus for controlling the operation of a robot |
CN105235768A (zh) * | 2015-11-16 | 2016-01-13 | 重庆电子工程职业学院 | 一种三自由度行走机器人 |
CN105235768B (zh) * | 2015-11-16 | 2017-05-03 | 重庆电子工程职业学院 | 一种三自由度行走机器人 |
Also Published As
Publication number | Publication date |
---|---|
US6505096B2 (en) | 2003-01-07 |
DE69734835D1 (de) | 2006-01-12 |
DE69734835T2 (de) | 2006-07-20 |
EP0965416A1 (en) | 1999-12-22 |
EP0965416B1 (en) | 2005-12-07 |
US20020022907A1 (en) | 2002-02-21 |
EP0965416A4 (en) | 2001-01-17 |
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