WO2003043787A1 - Robot de forme humaine a deux jambes pouvant marcher - Google Patents

Robot de forme humaine a deux jambes pouvant marcher Download PDF

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Publication number
WO2003043787A1
WO2003043787A1 PCT/JP2002/012054 JP0212054W WO03043787A1 WO 2003043787 A1 WO2003043787 A1 WO 2003043787A1 JP 0212054 W JP0212054 W JP 0212054W WO 03043787 A1 WO03043787 A1 WO 03043787A1
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WIPO (PCT)
Prior art keywords
motion
robot
extended
zmp
data
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PCT/JP2002/012054
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English (en)
Japanese (ja)
Inventor
Takayuki Furuta
Yu Okumura
Tetsuo Tawara
Hiroaki Kitano
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Japan Science And Technology Corporation
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Application filed by Japan Science And Technology Corporation filed Critical Japan Science And Technology Corporation
Publication of WO2003043787A1 publication Critical patent/WO2003043787A1/fr

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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
    • B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Definitions

  • the present invention relates to a biped walking humanoid robot, and more particularly to a biped walking humanoid robot capable of performing and controlling a whole-body movement in a dynamically stable state.
  • a contracted biped walking humanoid lopot generates data of a predetermined walking pattern (hereinafter referred to as a gait), and performs gait control in accordance with the gait data to provide a predetermined walking distance, .
  • a gait a predetermined walking pattern
  • gait control a point where the combined moment of the reaction force and gravity at the sole of the robot becomes zero
  • ZMP Zero Moment Point
  • the conventional bipedal walking humanoid robot is assumed to walk in a standing posture and tries to keep it from falling down as much as possible.
  • the unit is not designed to work with arms and legs.
  • a conventional bipedal walking humanoid robot has a whole-body movement that moves the torso, legs, and arms as a whole, such as passive movement when falling, rising from falling, It is not designed to perform movements such as rolling movements.
  • the walking control based on the ZMP standard described above is performed based on the dynamic characteristics near the sole of the robot, so that the whole body motion is performed to generate floor motion with contact with the environment. This is because it cannot be applied to control.
  • the present invention has been made in view of the above circumstances, and has as its object to provide a biped walking humanoid robot capable of easily performing and controlling a whole-body motion in a dynamically stable state. I have.
  • a body a knee having a swingable lower portion on both sides of the body, a leg having a foot at a lower end, and a swingable upper portion of the body. It has an arm with an elbow, a hand at the lower end, and a head attached to the upper end of the torso, and a foot, lower leg, thigh,
  • a slaughter device for swinging the swingable joints of the arm, the lower arm and the upper arm of the arm, and an operation control device for driving and controlling each of the driving units.
  • the operation control device is based on a force sensor provided at a portion protruding at the time of operation of each portion or a portion contacting the environment at the time of operation, and a detection signal of each force sensor. Compensation that detects the robot's posture and corrects the motion data from the motion generator based on this posture When it is accomplished by that it comprises a.
  • the motion control device detects a portion that is grounded at that time based on a detection signal of each force sensor, and operates the entire robot as a polyhedral rigid body.
  • the extended ZMF calculates the target value
  • the compensator compares the actual measured extended ZMP value detected based on the detection signal of each force sensor with the extended ZMP target value from the extended ZMP converter, and operates. The compensation amount of the operation data from the generation unit is calculated.
  • the biped walking humanoid mouth pot according to the present invention is preferably provided with an action library in which the action control device stores posture data serving as elements of the action of the mouth bot.
  • the operation library When generating operation data for the intermediate operation from the initial state of the robot to the final state of the specified operation, the operation library The posture data is read out, and operation data is generated as a sequence of the combination operation.
  • the motion control device detects the force from the force sensors provided at the portions protruding during operation of the robot components or at the portions that come into contact with the environment during operation.
  • the position of the robot is detected by grasping which part of the robot is in contact with the environment, for example, the floor surface or wall surface, based on the detection signal of the robot. Correct the operation data. Therefore, the motion control device always corrects the motion data based on the posture of the robot during the whole body movement of the robot, thereby stably and reliably performing the whole body motion such as the passive motion, the rising motion and the forward motion when falling. Can be performed.
  • the motion control device detects a portion that is grounded at that time based on a detection signal of each force sensor, and generates motion data using the entire robot as a polyhedral rigid body, and motion data from the motion generation unit.
  • an extended ZMF conversion unit that calculates an extended ZMF target value based on the extended ZMP actual measurement value detected based on the detection signal of each of the force sensors and an extension from the extended ZMP conversion unit.
  • the motion control device includes an operation unit that stores posture data that is an element of the operation of the robot, and the operation generation unit performs a predetermined operation from a given initial state of the robot.
  • the operation generation unit When generating motion data for the intermediate motion up to the final state of the motion, read the corresponding posture data from the motion library and generate motion data as a sequence of combined motion. Since the posture data as elements when the motion is decomposed is stored in the motion library, when the motion generator generates motion data, the posture data as elements are read from the motion library and combined. Thus, desired operation data can be generated. As a result, the operation amount of the operation generation unit is reduced, and it is possible to quickly generate the operation data.
  • the robot has an operation monitoring unit that constantly monitors the driving state and overall posture of each joint of the robot.
  • This operation monitoring unit monitors the error of the extended ZMF actual value from the extended ZMF target value and compensates.
  • the robot deviates from the initial state based on the generated operation data to the final state of the predetermined operation due to the loss of balance during the whole body movement, etc., in real time. Can be detected.
  • the robot When the motion monitoring unit instructs the motion generation unit to regenerate motion data when the error of the extended ZMP actual value from the extended ZMP target value is no longer compensable, the robot When the movement deviates significantly from the initial state due to the generated operation data and the intermediate operation from the final state of the predetermined operation due to a loss of balance during the operation, the operation data is regenerated to the predetermined state. An intermediate operation up to the final state of the operation can be performed to operate up to the final state.
  • a conventional so-called Z-type robot is applied to the biped walking humanoid robot based on the motion data.
  • the walking motion similar to the walking motion of the MF standard, or not only the walking by the legs but also various exercises using the whole body, or the forward rotation using the whole body can be performed.
  • FIG. 1 shows the appearance of an embodiment of a biped walking humanoid robot according to the present invention, wherein (A) is a schematic front view and (B) is a schematic side view.
  • FIG. 2 is a schematic diagram showing a mechanical configuration of the bipedal humanoid robot of FIG.
  • FIG. 3 is a schematic diagram showing the forward swing limit of each joint of the forward bending portion and the leg of the biped walking humanoid robot of FIG.
  • FIG. 4 is a schematic diagram showing the swing limit of each joint of the forward bending portion and the leg portion of the biped humanoid robot of FIG.
  • Fig. 5 is a schematic diagram of the joints at the forward flexion of the biped walking humanoid robot of Fig. 1. (A) shows the turning limit to the left, and (B) shows the turning limit to the right. Show.
  • FIG. 6 is a side view showing the arrangement of the kasensor in the biped humanoid robot of FIG.
  • FIG. 7 is a block diagram showing an electrical configuration of the biped humanoid robot of FIG.
  • FIG. 8 is a flowchart showing the operation control of the biped walking humanoid robot of FIG.
  • FIG. 9 is a left side view sequentially showing the forward rotation operation of the biped walking humanoid robot of FIG.
  • FIG. 10 is an enlarged view in the middle of the forward rotation operation of FIG. BEST MODE FOR CARRYING OUT THE INVENTION
  • FIG. 1 and 2 show the configuration of an embodiment of a bipedal walking humanoid robot according to the present invention.
  • a bipedal walking humanoid robot i 0 has a torso 11, legs 12 L and 12 R attached to lower sides of the torso 11, and attached to upper sides of the torso. Arm 13 L, 13 R provided, and a head 14 attached to the upper end of the torso.
  • the body 11 is divided into an upper chest 11 a and a lower waist 1 lb, 2054
  • the chest 1 1a is supported at the forward flexion 1 1c so as to be able to swing forward and backward with respect to the waist 1 1b, particularly to be able to flex forward and to turn left and right.
  • a walking control device 50 which will be described later, is incorporated in the chest 11a of the body 11 described above.
  • the forward bending portion 11c is a joint 11d for swinging back and forth and a joint for turning left and right.
  • each joint 11d and 11e are connected to a joint drive motor, respectively.
  • the legs 12L and 12R are composed of thighs 15L and 15R, lower legs 16L and 16R, and feet 17L and 17R, respectively.
  • the legs 12 L and 12 R are six joints, that is, joints for turning the legs 11 b with respect to the waist 11 b of the body 11 in order from the top.
  • Each joint 18L, 18R to 24L, 24R is composed of a joint drive module.
  • the hip joint is composed of the joints 11 d and 11 e
  • the hip joint is composed of the joints 18 L, 18 R, 19 L, 19 R, 2 OL, and 2 OR.
  • the ankle joint is composed of joint portions 23 L, 23 R, 24 L, and 24 R.
  • the motor is controlled to an appropriate angle by a motor so as to give a desired motion to the entire leg 12L, 12R, and, for example, to be able to walk in a three-dimensional space arbitrarily.
  • the arms 13 L and 13 R are composed of an upper arm 25 L and 25 R, a lower arm 26 L and 26 R, and a hand 27 L and 27 R, respectively.
  • the upper arm part 25, 25, the lower arm part 26, 261 ⁇ and the hand part 27, and the upper arm part 25, 27R of the above-mentioned arm part 13L, 1 31 are the above-mentioned leg part 12L,
  • Each of the joints 28L, 28R to 33L, 33R is constituted by a joint driving motor.
  • the left and right arms 13 L and 13 R of the biped humanoid robot 10 are given 5 degrees of freedom, respectively, and these 12 joints are moved during various operations.
  • the drive is controlled to an appropriate angle by the drive mode, and a desired operation can be given to the entire arms 13L and 13R.
  • the joints 28L and 28R in the pitch direction at the shoulders are arranged such that the rotation axis is forward with respect to the joints 29L and 29R in the roll direction and the joints 30L and 3OR in the left and right directions.
  • the swing angle of the arms 13L and 13R forward is set to be large.
  • the head 14 is attached to the upper end of the upper part 11a of the body 11 and, for example, is equipped with a camera for vision and a microphone for hearing.
  • the head part 14 includes a joint part 35 in the pitch direction of the neck and a joint part 36 in the left-right direction.
  • Each of the joints 35 and 36 is composed of a joint drive motor. In this way, the head of the biped humanoid robot 10 0 1
  • these two joints 35 and 36 are respectively driven and controlled to an appropriate angle by a drive motor, and the head 14 is moved in the left-right direction or forward and backward. It is configured to be able to move in the direction.
  • the joints 35 in the pitch direction are arranged such that the rotation axis is shifted forward with respect to the joints 36 in the left-right direction, and the swing angle of the head 14 forward is set large. ing.
  • 1c joint of 1c and joint of leg 12L and 12R in the front-rear direction that is, joint of hip joint 20L, 2OR, joint of knee 22L, 22R, joint of ankle Part 23 L,
  • the joint 23R is swingably supported in the angle range shown in FIGS. That is, the joints 23L and 23R of the ankles can swing in an angle range where the swing angle ⁇ 1 is ⁇ 20 to +20 degrees or more.
  • the knee joints 22L and 22R can swing in an angle range where the swing angle ⁇ 2 is ⁇ 120 to 0 ° or more.
  • the hip joint JP02 / 12054 The joints 2 OL and 20 R can swing in the range of the swing angle ⁇ 3 of ⁇ 45 to +60 degrees or more.
  • the oscillating angle ⁇ 4 can be oscillated in an angle range of 10 to +60 degrees or more.
  • the joint 11 e of the forward bending portion 11 c of the body 11 is swingably supported in the angle range shown in FIG. That is, the joint 11 e of the forward bending portion 11 c has a swing angle ⁇ 5 of more than 45 degrees with respect to the left as shown in FIG. 5 (A), and with respect to the right as shown in FIG. 5 (B). + It can turn in an angle range of more than 45 degrees.
  • force sensors 40 are provided on portions protruding during operation or in contact with the environment during operation, for example, on both knees and the back of the waist. Is provided. That is, the lower part of the torso part 1 1, the back side (that is, the waist part) and the both knee parts 21 L, 21 R, preferably around the head 14, the upper part 11 1 of the torso part 11 a front chest, back shoulder and back, a 1 lb lower back upper and lower, legs 12 L, 12 R thighs 15 L, 15 R before and after, knee 2
  • Force sensors are provided on the toes and heels of 1 L, 21 R, feet 17 L, 17 R, elbows of arms 13 L, 13 R, 31 L, 31 R and wrists. Is provided.
  • each force sensor 40 is an operation control for detecting a contact pressure when the force sensor 40 is in contact with the environment such as a floor surface or a wall surface by the whole body movement of the bipedal walking humanoid robot 10, and producing a detection signal. Output to the device 50. It is sufficient that each force sensor 40 can detect at least a force component in the vertical direction.
  • FIG. 7 shows an electric configuration of the biped walking humanoid robot 10 shown in FIGS.
  • a bipedal walking humanoid robot 10 is a driving means, that is, an operation of driving and controlling each of the above-mentioned joints, specifically, the joint driving motors 11 d, lie, 18 L, 18 ⁇ to 36.
  • the control device 50 is provided.
  • the motion control device 50 includes a motion plan ⁇ 1, a motion generation ⁇ 2, an extended ZMP conversion sound 53, and an extended ZMP stable
  • the coordinate system of the bipod walking robot 10 is an xyz coordinate system in which the front-rear direction is the X direction (forward +), the lateral direction is the y direction (inward +), and the up-down direction is the z direction (upward +). use.
  • the above-mentioned motion planning unit 51 determines the initial state of the given robot (the angle of each joint and the An intermediate operation between the initial state and the final state is planned from the posture based on the detection signal of the force sensor 40) and the final state of the desired operation. That is, the motion planning unit 51 virtually sets a polyhedral rigid body that covers the convex portion formed by the entire robot, and sets the time series shape data and the center of gravity of the polyhedral rigid body from the initial state to the final state. Calculate the trajectory and calculate the Lopot's angular momentum needed to perform the whole-body exercise.
  • the motion planning unit 51 generates a motion trajectory of the mouth pot, that is, a motion plan, based on the position of the center of gravity of the polyhedral rigid body and the initial motion state (angular velocity and angular acceleration around the center of gravity).
  • the operation plan unit 51 similarly reproduces the operation plan when the current state of the robot and the amount of deviation from the operation plan are input from the operation monitoring unit 57 as described later. .
  • the operation planning unit 51 includes an operation library 51a.
  • posture data and the like which are elements of the motion of the robot, are stored separately in advance.
  • the motion planning unit 51 reads out various posture data and the like from the motion library 51a as necessary, and generates a motion plan as a sequence of the combination motion.
  • the motion planning unit 51 outputs the posture data and the angular momentum of each joint at that time to the motion generation unit 52 as a motion plan.
  • the motion generation unit 52 generates angle data ⁇ ref of the joints 15 L, 15 R to 36 required for the whole body movement of the biped humanoid robot 10. At this time, the operation generating unit 52 corrects internal parameters and angle data based on a command from an extended ZMP stabilizing unit 54 described later.
  • the extended ZMF conversion unit 53 calculates the extended ZMP target value based on the angle data ref ref of each joint from the motion generation unit 52, and outputs it to the extended ZMF stabilization unit 54 and the motion monitoring unit 57. I do.
  • the extended ZMP stabilizer 54 calculates the extended ZMP actual value based on the posture information from the angle measurement unit 56 and the detection output from the knitting force sensor 40, and further extends the extended ZMF actual value into the ZMP conversion.
  • the extended ZMP compensation amount is calculated based on the difference with the extended ZMP target value from the unit 53 and output to the operation generation unit 52.
  • the extended ZMP compensation amount calculation method is the same as the conventional ZMP compensation amount calculation method.
  • the operation generating unit 52 corrects the operation data based on the extended ZMP compensation amount by feeding back the extended ZMP compensation amount from the extended ZMP stabilizing unit 54, and outputs it to the control unit 55. .
  • the control section 55 generates a control signal for each joint driving mode based on the corrected motion data from the motion generating section 52, and drives and controls each joint driving mode. ing.
  • the angle measurement unit 56 receives the angle information of each joint drive motor provided by, for example, a rotary encoder provided in the joint horse movement motor of each joint 15 L, 15 R to 36.
  • the angle measurement unit 56 receives the angle information of each joint drive motor provided by, for example, a rotary encoder provided in the joint horse movement motor of each joint 15 L, 15 R to 36.
  • the operation monitoring unit 57 is configured to output the operation plan from the operation planning unit 51, the extended ZMP target value from the extended ZMP conversion unit 53, the extended ZMP actual value from the angle measurement unit 56 and the force sensor 40 (angle And angle moments) Angle information is input, and based on these, the state of the bipedal walking humanoid mouth pot 10, ie, the current state and the operation plan of the extended ZMP actual value, the extended ZMP target The deviation (error) from the value is monitored. Then, the operation monitoring unit 57 determines when the actual robot operation deviates significantly from the operation plan and the extended ZMF target value, that is, the current state and the extended ZMF actual value from the operation plan and the extended ZMP target value. When the deviation (error) is no longer compensable, the current state and the amount of deviation are fed back to the operation planning unit 51 to cause the operation planning unit 51 to regenerate the operation plan.
  • the biped humanoid robot 10 according to the embodiment of the present invention is configured as described above, and operates as shown in the flowchart of FIG.
  • step ST1 the operation planning unit 51 starts generating an operation plan from the given initial state of the robot and the final state of the desired operation. Then, in step ST2, the motion planning unit 51 virtually sets a polyhedron ⁇ covering the convex portion of the entire mouth pot, and then in step ST3, the polyhedral rigid body from the initial state to the final state. Calculate the time series dog data and its center of gravity trajectory.
  • step ST4 the motion planning unit 51 calculates the angular momentum of the rod necessary for performing the whole-body motion, and in step ST5, the position of the center of gravity and the initial motion state ( Based on the angular velocity and angular acceleration around the center of gravity, a motion trajectory of the robot, that is, a motion plan, is generated.
  • the generation of the operation plan ends in step ST6.
  • step ST7 the robot operation is started in step ST7.
  • step ST8 the motion generating unit 52 generates the angle data ref ref of each joint from the time series dog data of the motion planning unit 51 and each momentum of each joint according to the center of gravity trajectory.
  • the extended ZMP conversion unit 53 calculates the extended ZMP target value based on the angle data ref.
  • the extended ZMP stabilizing unit 54 detects the extended ZMP actual value and the angular momentum of each joint based on the posture information from the angle measuring unit 56 and the detection output from the force sensor 40.
  • ST10 the actual extended ZMP value and the extended ZMP target value are compared.
  • step ST11 if there is an error equal to or greater than a predetermined value as a result of the comparison between the extended ZMP actual value and the extended ZMP target value, in step ST11, it is determined whether or not the state of the mouth pot is the final point of the operation plan. Judgment is made, and if it is not the final point, the process returns to step ST8. If it is the final point, the robot operation is completed in step ST12. If there is no error equal to or larger than the predetermined value in step ST10, the operation monitoring unit 57 determines whether this error can be compensated for by the extended ZMP stabilization unit 54 in step ST13. If the compensation cannot be made, in step ST14, the operation plan section 51 is made to reproduce the operation plan, and the process returns to step ST2.
  • step ST15 the extended ZMP stabilizing section 54 of the motion control device 50 changes the polygonal rigid dog constituted by the robot.
  • the above error is corrected by adjusting the angular velocity and the like of each joint portion without making a ditch, and the process proceeds to step ST11.
  • the walking control based on the conventional ZMP standard can be performed at a position where the robot that performs the whole body motion projects or comes into contact with the environment.
  • the extended ZMP The point at which the combined moment of force and gravity becomes zero is defined as the extended ZMP, and this extended ZMP is calculated using the difference between the extended ZMP target value and the measured extended ZMP value in the same way as ZMF in conventional robot walking control.
  • An extended ZMP By correcting the motion data based on the error, the inertial force generated in the robot 10 is controlled to compensate for the extended ZMP target value.
  • the whole body movement of a biped walking humanoid robot can be dynamically and stably performed by stably controlling the movement of a whole body movement such as a passive movement, a rising movement, and a forward movement when falling. It is possible to do this reliably.
  • the control unit 51 performs the operation control based on the operation control device 50 in the extended ZMF standard described above, and FIG. ) From the upright position shown in Fig. 9) (see Fig. 9 (B)), the head 14 and hands reach the floor (see Fig. 9 (C)), and both legs 12 L, 12 Move R away from the floor (see Fig. 9 (D)), put out the torso 11 forward (see Fig.
  • the entire robot is a multi-sided surface only by a convex surface.
  • Oka IJ can be treated as a body, and the polygonal rigid body ⁇ ⁇ is provided with a sensor 40 at the corner or face, so the posture of the entire robot at that time is the force sensor 4 that is grounded on the floor. Accurate detection is possible based on the detection signal from 0 and the angle of each joint.
  • a portion that protrudes during operation or a portion that comes into contact with the environment during operation includes: Since each of the force sensors 40 is provided, the current posture of the robot is accurately detected, and based on the detection signal of each of the force sensors 40, the reaction force against the robot's ground contact surface at that time is determined.
  • the motion of the entire robot based on the extension ⁇ ⁇ where the resultant moment with gravity becomes zero, it is possible to reliably control the motion of the whole body such as passive motion when falling, rising motion, and forward motion. Can be performed.
  • the legs 12 L and 12 R have six degrees of freedom, and the arms 13 L and 13 R have five degrees of freedom. It may have small or greater degrees of freedom.
  • the motion control device when the biped walking humanoid robot performs the whole-body motion, the motion control device is provided at a portion protruding at the time of operation of each part of the robot or a portion contacting the environment at the time of operation. Based on the detection signal from the provided force sensor, the position of the mouth pot is detected by grasping which part of the pot is in contact with the environment, for example, a floor surface or a wall surface, and the posture of the mouth pot is detected. Then, the compensator corrects the motion data from the motion generator.
  • the motion control device always corrects the motion data based on the robot's posture during the whole body motion of the robot, so that, for example, the whole body motion such as a passive motion when falling down, a rising motion or a forward rolling motion is stably performed. I can do it.
  • the whole body motion such as a passive motion when falling down, a rising motion or a forward rolling motion is stably performed. I can do it.
  • an extremely excellent bipedal walking humanoid robot capable of easily performing the whole body exercise.

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  • Chemical & Material Sciences (AREA)
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Abstract

L'invention concerne un robot (10) de forme humaine à deux jambes pouvant marcher, comprenant une section corps (11), des sections jambes (12L, 12R), des sections bras (13L, 13R), et une section tête (14), ainsi que des moyens de commande (11d, 11e; 18L, 18R-24L, 24R; 28L, 28R-33L, 33R; 35, 36) commandant respectivement toutes les articulations pouvant être commandées et une unité (50) de commande d'action commandant chaque moyen de commande. L'unité (50) de commande d'action comprend des capteurs (40) de force situés respectivement dans des parties en saillie pendant l'action de chaque section et dans des parties en contact avec l'environnement pendant l'action, et une section (54) de compensation détectant la position du robot en fonction du signal de détection de chaque capteur (40) et corrigeant les données d'action d'une section (52) de génération d'action en fonction de cette position. Ainsi, le robot stabilise et rend plus sûrs des mouvements de tout le corps, par exemple un mouvement défensif lors d'un basculement, des mouvements sur pied, et des mouvement de roulement en avant.
PCT/JP2002/012054 2001-11-19 2002-11-19 Robot de forme humaine a deux jambes pouvant marcher WO2003043787A1 (fr)

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JP2001353501A JP3627057B2 (ja) 2001-11-19 2001-11-19 二脚歩行式人型ロボット
JP2001-353501 2001-11-19

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CN105082125A (zh) * 2015-08-05 2015-11-25 华南理工大学 一种液滴微操作机械手结构及其姿态控制方法
CN106474740A (zh) * 2016-10-31 2017-03-08 河池学院 一种可充电的奏乐机器人
CN106541409A (zh) * 2016-10-31 2017-03-29 河池学院 一种可奏乐的机器人

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JP4998506B2 (ja) 2009-04-22 2012-08-15 トヨタ自動車株式会社 ロボット制御装置、ロボット制御方法、及び脚式ロボット
JP6356033B2 (ja) * 2014-09-29 2018-07-11 本田技研工業株式会社 移動体の制御装置
CN108237531B (zh) * 2016-12-26 2021-07-13 电子科技大学中山学院 一种仿人机器人步态自学习控制方法
CN114750851B (zh) * 2021-07-12 2023-08-01 智能移动机器人(中山)研究院 一种基于舵机的可变构四六足机器人及其行进方法

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