WO2003090982A1 - Dispositif de commande et dispositif de determination de pas pour robot mobile sur jambes - Google Patents
Dispositif de commande et dispositif de determination de pas pour robot mobile sur jambes Download PDFInfo
- Publication number
- WO2003090982A1 WO2003090982A1 PCT/JP2003/005450 JP0305450W WO03090982A1 WO 2003090982 A1 WO2003090982 A1 WO 2003090982A1 JP 0305450 W JP0305450 W JP 0305450W WO 03090982 A1 WO03090982 A1 WO 03090982A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- landing
- target
- foot
- gait
- determined
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
Definitions
- the present invention relates to a leg-type moving port pot such as a bipedal moving port pot, and more particularly, to a device for guiding the route of the lopot (track guiding).
- leg-type mobile robot that moves by repeating the lifting operation and the subsequent landing operation of a plurality of legs, especially when the moving speed increases, the leg forces are generated by the reaction force of swinging the legs.
- the frictional force between the foot, which is the tip, and the floor becomes the limit, causing rotational slip between the foot and the floor, causing the entire mouth pot to rotate around the vertical axis.
- a target gait that walks in a straight line is generated while the upper body always maintains a vertical posture (upright posture).
- the entire mouth pot or upper body turns or leans back and forth and left and right. That is, even in the desired gait, there is a rotation of the entire posture of the mouth pot (or a posture rotation of a representative part such as the upper body). Therefore, in this specification, the posture rotation in the desired gait is referred to as a desired posture rotation.
- the fact that the mouth pot deviates from the direction of the desired gait or deviates from the target path basically depends on the rotation of the entire posture of the actual mouth pot (or of the representative part such as the upper body). Attitude rotation) deviates from the target attitude rotation. If this phenomenon is strictly expressed, it should be called “perturbation from target posture rotation” or “posture rotation perturbation”. If there is no risk of confusion with rotation, this will be abbreviated as “posture rotation” hereinafter.
- spin the phenomenon in which the entire mouth pot rotates around the vertical axis and deviates from the direction of the desired gait.
- the mouth pot does not always shake the position or posture of the upper body, which is a typical part of the lopot, from side to side. Therefore, the speed of the body and the direction of movement (moving direction) do not match.
- the mouth pot can move in any direction regardless of the orientation of the upper body, the direction of the upper body does not always match the direction of travel. In other words, it was not possible to judge whether the robot was about to deviate from the target route just by looking at the instantaneous motion state of the mouth pot, such as the body speed and orientation.
- the gait could not be changed abruptly because the posture balance had to be maintained and the ability limit of Actuyue was not exceeded. For example, even if you try to change the landing position immediately before landing, the speed or force of the actiyue will exceed your ability and cannot be changed, or even if you can change it, you may lose balance after landing. was there. As described above, it was difficult to simply introduce conventional route guidance technology into the mouth port.
- the present invention has been made in view of such a background, and provides a control device for a leg-type moving port that can appropriately perform route guidance (track guidance) for causing a robot to follow a required target route. With the goal.
- An object of the present invention is to provide a footprint determination device capable of appropriately determining a target footprint of all lopots. Disclosure of the invention
- a first invention according to a control device for a legged mobile lopot includes a legged leg that moves by repeating a leaving operation of each of a plurality of legs and a subsequent landing operation.
- a foot landing position and direction estimating means for estimating a landing position and a landing direction of a foot of a leg landed by each landing operation of the mouth port, and a target footprint path of the robot.
- a target route setting means to be set; and a mouth port so that an actual footprint of the lopot approaches the target footprint route based on at least the estimated landing position and landing direction of the foot and the target footprint route.
- Foot target landing direction determining means for determining a target landing direction of a foot to be landed in at least one of the landing operations of the next and subsequent times
- the foot target landing Target gait determining means for determining a robot's desired gait using at least the target landing direction determined by the direction determining means, and an operation of controlling the operation of the lopot according to the determined desired gait And a control means.
- This first invention focuses on the landing position and landing direction of the foot of the leg that lands in each landing operation of the mouth pot (hereinafter, sometimes simply referred to as landing position and direction), and The position and direction are used to represent the position and movement direction of the lopot.
- the actual landing position and direction of the foot are estimated, and the target footprint route, which is the target of the footprint of the lopot represented by the column of the landing position and direction, is set.
- the actual footprint of the mouth pot (the column of the estimated landing position / direction) is made closer to the target footprint route from the next time onward.
- the target landing direction of the foot to be landed by at least one of the landing operations is determined.
- the target landing direction of the foot that will land in a future landing operation is determined.
- the target gait of the robot is determined using at least the determined target landing direction, and the robot operation is controlled according to the target gait.
- the landing position and orientation of the foot of the mouth pot are less likely to fluctuate more frequently than other parts such as the upper body of the mouth pot.
- a rotation slip spin
- the change in the landing position of the foot due to the rotation slip is very small, and the stability of the change in the landing direction is small. Is also high. Therefore, the landing position and direction of the foot are more stable as representative of the position of the mouth port and the moving direction as compared with other parts of the robot. For this reason, when the landing position and direction of the foot are estimated, the landing position and direction are suitable as representing the actual position and moving direction of the robot. It can guide the mouth pot properly. Monkey
- the target landing direction is a direction around a vertical axis
- the landing direction estimated by the foot landing position / direction estimation means is at least around the vertical axis. It is preferable to include the orientation (second invention). This is because the actual movement path of the mouth pot is mainly determined by the orientation of the foot that lands on the vertical axis.
- the target landing direction determined by the foot target landing direction determining means is: At least the target landing direction of the foot landing in the next landing operation of the mouth pot and the target landing direction of the foot landing in the next next landing operation; It is preferable to determine a target gait that defines the next landing operation of the robot using at least the target landing direction determined by the foot target landing direction determining means corresponding to each of the next landing operations.
- the next and next target landing positions and orientations are determined as described above, and at least those target landing directions are used to determine the target gait that defines the next landing operation.
- the desired gait can be determined in consideration of the next and desired landing direction. As a result, it is possible to move the mouth pot with high stability while bringing the actual footprint route of the mouth pot closer to the target footprint route.
- the foot target landing direction determining means includes at least the foot landing position and the landing direction estimated by the foot landing position / direction estimation means, and the target footprint path.
- the target landing position of the foot that determines the target landing direction is determined together with the target landing direction based on the target landing direction, and the target gait determining means determines the eye gait determined by the foot target landing direction determining means. It is preferable to determine the desired gait using the landing position and the desired landing direction (the fourth invention).
- the target landing direction not only the target landing direction but also the target landing position is determined, and it is used to determine the desired gait, so that the footprint path of the mouth pot can be more smoothly brought close to the target footprint path. Can be determined.
- the foot target landing direction determining means includes a target landing direction and a target landing around a vertical axis of the foot that lands in each of the landing operations up to a predetermined number of times including at least the next landing operation.
- Means for determining a position based on at least the landing position and landing direction estimated by the foot landing position and direction estimating means and the target and footprint route, and the desired gait determining means comprises: A target gait that defines the next landing operation using at least the target landing position and target landing direction of the foot corresponding to each of the landing operations up to the predetermined number of times ahead determined by the landing direction determination means.
- the foot target landing direction determining means performs the next landing operation when determining at least the target landing position and the target landing direction of the foot corresponding to the next landing operation.
- the set of the target landing position and target landing direction of the foot is determined within the allowable range of self-dependent landing determined by the mechanical constraints of the mouth pot itself, such as interference between the leg and other legs. Is more preferable (fifth invention).
- the predetermined number of times may be one time.
- the set of the target landing position and direction is determined within the self-dependent landing allowable range, so that only the followability to the target footprint route is determined.
- the robot's own mechanical constraints such as interference between the leg that performs the next landing motion and another leg are taken into account. Therefore, it is possible to determine a desired gait in which the legs of the mouth pot do not interfere with each other while following the desired footprint path, and to smoothly move the lopot. You.
- the self-dependent landing allowable range is defined by a map or an arithmetic expression that is defined in advance as a relative landing allowable range of the foot landing in the next landing operation with respect to the foot landing by the landing operation. It is preferable to set based on this (the sixth invention). In other words, the self-dependent landing allowable range is based on the relative position and posture relationship between the foot that has landed and the foot that is to be landed next, and the relationship is set using a map or an arithmetic expression. By doing so, the calculation load when determining the self-dependent landing allowable range can be reduced.
- the desired gait determining means defines the next landing operation using at least the target landing position and the target landing direction determined by the foot target landing direction determining means.
- Means for tentatively determining the target ZMP in the desired gait, wherein the foot target landing direction determining means, when the provisionally determined target ZMP does not satisfy a predetermined restriction condition, up to the predetermined number of times ahead It is preferable to correct at least one of the target landing position and the target landing direction of the foot that lands in at least one of the landing operations of the present invention (seventh invention).
- the target ZMP of the desired gait that satisfies the dynamic equilibrium condition is affected by the target landing position or the target landing direction, while being within the robot's ground contact surface (more precisely, within the so-called support polygon).
- a predetermined restriction condition specifically, a condition in which the target ZMP can exist
- at least one of the landing operations up to the predetermined several times ahead By correcting at least one of the target landing position and the target landing direction of the foot that lands in a single landing operation, a target step that can follow the target footprint path while maintaining dynamic stability You can decide what you want.
- the target landing position of the foot is relative to each foot.
- Each foot is a representative point having a predetermined positional relationship such that when the lopot is erected in a predetermined left-symmetric reference posture, the point for each foot is the same point for both feet. It is a target position of a representative point predetermined with respect to the plane, and the target footprint path is preferably a path to which the representative point should approach (an eighth invention). According to this, the target footprint route can be made common to each foot of the left and right legs of the lopot.
- the representative point is a point set near the heel or toe of each foot (ninth invention). According to this, it is possible to avoid interference between the feet when the feet are brought close to each other and landed.
- a tenth aspect of the present invention relates to a leg-type moving port control apparatus for a leg-type moving port, wherein the leg-type moving port moves by repeating a leaving operation and a landing operation of each of a plurality of legs.
- the desired gait is determined and the movement of the lopot is controlled in accordance with the desired gait, and at least each time the foot of the leg of the lopot lands by the landing operation of the lopot each time.
- a virtual periodic gait following the target gait is determined.
- a legged mobile robot that determines the target gait so as to approach the periodic gait
- a foot landing position / direction estimating means for estimating a landing position and a landing direction of a foot of a leg landed by each landing operation of the robot, and a target path for setting a target footprint path of the robot.
- Setting means said lopot
- the target gait position of the foot and the target landing direction about the vertical axis to be landed in at least one of the next and subsequent landing motions of the next time are the latest target gait and the periodic gait corresponding to the target gait.
- a foot target landing position and direction provisionally determining means provisionally determined based on the estimated landing position and landing direction of the foot, and based on the provisionally determined target landing position and target landing direction and the target footprint path.
- a desired gait determining means for determining the new desired gait of the lo-port using at least the determined target landing position and target landing direction.
- the landing position and orientation of the foot of the robot are focused, and the landing position and orientation of the foot are representative of the position and movement direction of the mouth pot.
- the target landing position and the target landing direction of the foot to be landed in at least one of the landing operations of the lopot after the next time are determined by the latest target gait (the already determined target gait).
- the tentatively determined target landing position and target landing direction are set so that the actual footprint of the small footprint approaches the target footprint route. At least one of them will be modified.
- the new target gait of the mouth pot is determined using at least the corrected target landing position and target landing direction, and the robot motion is controlled according to the target gait. Therefore, according to the tenth aspect, route guidance of the robot can be properly performed while maintaining the stability of the robot continuously.
- the target landing direction is a direction around a vertical axis
- the landing direction estimated by the foot landing position / direction estimating means is the same as in the second aspect of the invention. Includes at least the direction around the vertical axis It is preferable (the 11th invention).
- the desired gait determining means uses at least the target landing position and the target landing direction corrected by the foot target landing position and direction correcting means to set the new target gait.
- Means for temporarily determining a target ZMP in a gait wherein the foot target landing position / direction correction means is configured to: when the provisionally determined target ZMP does not satisfy a predetermined restriction condition, the foot eye landing position / direction. It is preferable that at least one of the target landing position and the target landing direction corresponding to at least one of the landing operations tentatively determined by the tentative determination means is further corrected (12th invention). .
- the target landing position of the foot is set at each foot.
- a fifteenth invention according to a legged moving port control device of the present invention is a legged moving robot that moves by repeating a leaving operation and a subsequent landing operation of each of a plurality of legs.
- Foot landing allowable range setting means for setting a plurality of environment-dependent landing allowable ranges respectively corresponding to landing operations at least up to a predetermined number of times including at least next time and next time, among the ranges, Based on the landing direction of the foot and the plurality of environment-dependent landing position allowable ranges set by the foot landing allowable range setting means, up to the predetermined number of times so as to satisfy each environment-dependent landing position allowable range.
- Foot target landing position and direction determining means for determining a set of a target landing position and a target landing direction of the foot to be landed in each of the landing operations described above, and the determined predetermined number of times ahead
- the virtual periodic gait of the robot is determined by using at least the target landing position and the target landing direction corresponding to each landing motion in the robot, and the virtual periodic gait approaches the determined virtual periodic gait.
- a desired gait determination means for determining a new desired gait of the lopot that defines at least the next landing motion, and controls the movement of the mouth port according to the determined new desired gait.
- Operation control means for performing the operation.
- the landing position and orientation of the foot of the mouth pot are focused on, and the landing position and orientation of the foot represent the position and movement direction of the lopot. Used as a thing.
- an environment-dependent landing allowable range is set instead of the target footprint route, and each environment-dependent landing is determined based on the estimated landing direction of the foot and the environment-dependent landing position allowable range.
- a set of the target landing position and the target landing direction of the foot to be landed in each landing operation up to a predetermined number of times is determined so as to satisfy the position allowable range.
- the virtual periodic gait of the mouth port is determined using at least the determined target landing position and orientation, and at least the next landing operation is performed so as to approach the virtual periodic gait.
- New rules for regulations The desired gait is determined, and the motion of the lopot is controlled according to the determined new desired gait.
- the desired gait satisfying the environment-dependent landing position allowable range for each landing (does not deviate from the range) while maintaining the continuous stability of the mouth pot.
- the movement route of the robot is the target landing direction is a direction around a vertical axis
- the landing direction estimated by the foot landing position / direction estimation means is: It is preferable to include at least the direction around the vertical axis (16th invention).
- the foot target landing position / direction determining means determines at least a set of a target landing position and a target landing direction of the foot in a next landing operation.
- the self-dependent landing allowable range defined by the lopot's own mechanical constraints such as interference between the leg performing the landing operation and another leg
- the environment-dependent landing allowable range corresponding to the next landing operation A pair of a target landing position and a target landing direction of the foot is determined within a common range of both allowable ranges, and the target gait determining means determines at least the next time in order to determine the virtual periodic gait. It is preferable to use the target landing position and target landing direction of the foot that lands in the landing operation (17th invention).
- the set of the target landing position and direction is determined within the common range of the environment-dependent landing allowable range and the self-dependent landing allowable range.
- the constraints on the landing position and orientation due to the environment-dependent landing tolerance but also the mechanical constraints of the lopot itself, such as interference between the leg that performs the next landing motion and other legs, are taken into account. Therefore, while satisfying the landing position and orientation conditions based on the environment-dependent landing tolerance, determine a target gait that does not cause interference between the mouth pot legs, etc., and move the robot smoothly. Can be.
- the self-dependent landing allowable range is predetermined as defining a relative landing allowable range of the foot landing in the next landing operation with respect to the foot landing by the landing operation. It is preferably set based on a map or an arithmetic expression (18th invention). According to this, similarly to the sixth aspect, the calculation load when determining the self-dependent landing allowable range can be reduced.
- the desired gait determining means includes means for temporarily determining at least a desired ZMP in a desired gait of a lopot that defines the next landing motion
- the target landing position / orientation determining means is configured to determine that when the provisionally determined target ZMP does not satisfy a predetermined restriction condition, the foot that lands in at least one of the landing operations up to the predetermined number of times ahead. It is preferable to correct at least one of the target landing position and the target landing direction (the nineteenth invention).
- the nineteenth aspect similarly to the seventh aspect, it is possible to determine a desired gait that can follow a desired footprint path while maintaining dynamic stability.
- the target landing position of the foot is: A representative point having a predetermined positional relationship with respect to the flat, and such a point with respect to each foot becomes the same point when the lopot is erected in a predetermined symmetrical reference posture. It is preferable that the target position is a preset representative point for each foot (20th invention). According to this, the environment-dependent landing allowable range and the self-dependent landing allowable range are each set as an allowable range of a set of the position of the representative point and the target landing direction of the foot. Therefore, setting of the allowable range becomes easy.
- the representative point is a point set near the heel or the toe of each foot (the twenty-first invention). According to this, the same function and effect as the ninth invention can be obtained.
- a second invention according to a legged moving port control device of the present invention is a legged moving robot that moves by repeating a leaving operation and a subsequent landing operation of each of a plurality of legs.
- First landing permissible range setting means for setting a plurality of environment-dependent landing permissible ranges respectively corresponding to the landing motions, and corresponding to each landing motion estimated by the foot landing position / direction estimation means. Landing in the next landing operation based on the flat target landing position and target landing direction, and the lopot's own mechanical constraints such as interference between the leg that performs the next landing operation and other legs Second landing allowable range setting means for setting a self-dependent landing allowable range for a set of foot landing position and landing direction; and at least the first landing allowable range setting means and the second landing allowable range setting means corresponding to the next landing operation.
- a foot target landing position and direction determining means for determining a set of a landing position and a target landing direction, and a desired gait for defining a next landing operation using at least the determined target landing position and target landing direction.
- Decision Bei a desired gait determining means, and operation control means for controlling the operation of robot Bok depending on the determined desired gait It is characterized by the fact that
- the landing position and direction of the foot of the mouth pot are representative of the position and movement direction of the lopot. Used as a thing.
- an environment-dependent landing allowable range and a self-dependent landing allowable range are set, and based on those allowable ranges, a set of the next target landing position and direction is set in a common range of those allowable ranges. Is determined. Then, a target gait that defines the next landing operation is determined using at least the determined target landing position and orientation, and the robot operation is controlled according to the target gait.
- a desired gait that satisfies both the environment-dependent landing position allowable range and the self-dependent landing allowable range for each landing (does not deviate from the common range of both allowable ranges) is determined. Then, the mouth pot can be moved. Therefore, when the mouth pot moves on a stepping stone or the like, the mouth pot can be moved without stepping off the foot from the landing allowable area of the stepping stone or the like or without interference between the legs.
- the target landing direction is a direction around a vertical axis
- the landing direction estimated by the foot landing position / direction estimation means is at least around a vertical axis. It is preferable to include the orientation (the 23rd invention).
- the foot target landing position / direction determining means more specifically, after determining a target landing position and a target landing direction corresponding to the next landing operation, Means for temporarily determining a self-dependent landing permissible range with respect to the landing position of the foot to be landed in the next landing operation based on the determined target landing position and target landing direction and the mechanical constraints of the lopot; At least the self-dependent landing allowable range corresponding to the provisionally determined next-next landing operation and the first landing allowable range setting corresponding to the next-next landing operation Means for correcting at least one of a target landing position and a target landing direction corresponding to the next landing operation so as to have the common range with the next-time environment-dependent allowable range set by the means. (24th invention).
- next-next environment-dependent allowable range and the self-dependent landing allowable range corresponding to the next-next landing operation provisionally determined corresponding to the next target landing position / direction do not have a common range.
- the previously determined next landing position and orientation are corrected so as to have the common range.
- the next target landing position and orientation are determined while being appropriately modified so that the next and next environment-dependent allowable ranges and the next and next self-dependent landing allowable ranges have a common range.
- the target landing position and orientation are determined so that the target landing position and orientation satisfying both the environment-dependent tolerance range and the self-dependent tolerance range can be determined continuously in the future.
- the second landing allowable range setting means sets a relative landing allowable range of a foot landing in a next landing operation with respect to a foot landed by the landing operation. It is preferable to set the self-dependent landing allowable range based on a map or an arithmetic expression that is predetermined as a prescribed one (fifth invention). According to this, similarly to the sixth invention, it is possible to reduce a calculation load when determining the self-dependent landing allowable range.
- the target landing position of the foot is: A point having a predetermined positional relationship with respect to the foot, and A representative point set in advance for each foot so that the corresponding point for each foot is the same for both feet when the lopot is raised in a predetermined symmetrical reference posture.
- the environment-dependent landing allowable range and the self-dependent landing allowable range are respectively set as allowable ranges of a set of the target position of the representative point and the target landing direction of the foot. Therefore, the setting of the allowable range becomes easy.
- the representative point is a point set near the heel or toe of each foot (the twenty-seventh invention). According to this, the same operation and effect as the ninth invention can be obtained.
- a twenty-eighth invention relating to a footprint determination device for a legged mobile robot according to the present invention.
- a legged mobile robot that moves by repeating each of a plurality of leg lifting operations and a subsequent landing operation.
- a footprint determination device for determining a target landing position and a target landing direction of a foot of a leg that is to be landed by each of the landing operations of the above, and provided with target path setting means for setting a target footprint path of the mouth pot.
- the landing position and orientation of the foot of the mouth pot As in the first invention, attention is paid to the landing position and orientation of the foot of the mouth pot, and the landing position and orientation of the foot are representative of the position and movement direction of the lopot. Used as a thing.
- the target landing position and direction of the foot that lands in each landing operation of the lopot, and the target landing position and direction of the foot that lands in at least one previous landing operation And the desired footprint route. Therefore, before the start of the movement of the mouth pot, a row of the target landing position and direction that follows the target footprint path, That is, the target footprint can be properly determined.
- the target landing direction is a direction around a vertical axis as in the second invention (the twenty-ninth invention).
- the leg that performs the landing operation and another leg It is preferable to determine the set of the target landing position and the target landing direction of the foot to be landed by the landing operation within the self-dependent landing allowable range defined by the lopot's own mechanical constraints such as interference with the body (No. 30 inventions).
- the set of the target landing position and direction is determined within the self-dependent landing allowable range, so that only the ability to follow the target footprint path is used. Instead, the robot's own mechanical constraints, such as interference between the landing leg and other legs, are taken into account. Therefore, it is possible to determine the target landing position and orientation sequence (target footprint) that does not cause interference between the legs of the lopot, while following the target footprint route.
- the self-dependent landing allowable range used when determining the target landing position and the target landing direction of the foot that lands in the arbitrary Nth landing operation of the mouth pot is: N- Set based on a map or an arithmetic expression that defines the relative allowable landing range of the foot that lands in the Nth landing operation with respect to the foot that lands in one landing operation. (The 31st invention). According to this, similarly to the sixth invention, the calculation load when determining the self-dependent landing allowable range can be reduced.
- the Nth landing operation when determining a target landing position and a target landing direction of a foot to be landed in an arbitrary Nth landing operation of the robot, the Nth landing operation is performed.
- the target landing of the foot until a predetermined number of landing actions including
- the target landing position and the target landing direction are temporarily determined based on the target landing position and the target landing direction of the foot to be landed in the N-th landing operation and the target footprint route.
- the target landing position and orientation up to a predetermined number of times ahead including the N-th target landing position and orientation (the N-th target landing position and orientation alone may be used).
- the tentative target gait that defines at least the Nth landing motion is determined by using the tentatively determined target landing position and orientation, and the target ZMP of the tentative target gait is determined by a predetermined value.
- the restriction condition specifically, the condition of the target ZMP that can exist
- at least one of the provisionally determined target landing position and target landing direction of the Nth time is corrected, and The Nth target landing position ⁇ Orientation is determined.
- the target landing position of the foot is a predetermined position with respect to each foot.
- a point having a relationship and when the robot is erected in a predetermined symmetrical reference posture, the point for each foot is the same for both feet.
- the target footprint path is preferably a path to which the representative point should approach (33rd invention).
- the representative point is a point set near the heel or the toe of both feet (the thirty-fourth invention). According to the 33rd and 34th inventions, the same functions and effects as those of the 8th and 9th inventions can be obtained.
- a thirty-fifth invention according to the footprint determination device for a legged mobile robot of the present invention is directed to a legged mobile robot that moves by repeating a leaving operation of each of a plurality of legs and a subsequent landing operation.
- a footprint determination device for determining a target landing position and a target landing direction of a foot of a leg that is to be landed by the landing operation of the foot, the landing position and the landing direction of the foot landing by each landing operation of the lopot.
- a foot landing allowable range setting means for setting an environment-dependent landing allowable range defined by an environmental condition in which the robot moves, and a foot landing destination set by each landing operation of the robot.
- a set of the target landing position and the target landing direction is determined based on the target landing position and the target landing direction of the foot to be landed in at least one previous landing operation, and the environment-dependent landing allowable range. It is characterized by the following.
- the landing position and orientation of the foot of the mouth pot are representative of the position of the lopot and the movement direction. It is used for According to the thirty-fifth invention, a set of a target landing position and a direction of a foot that lands in each landing operation of the lopot. A target landing position of a foot that lands in at least one previous landing operation. The orientation is determined based on the orientation and the environment-dependent landing allowable range. Therefore, a row of target landing positions and orientations in which the foot of the robot does not deviate from the landing allowable area such as a stepping stone before the robot starts moving, that is, the target footprint can be properly determined. In the thirty-fifth invention, it is preferable that the target landing direction is a direction around a vertical axis as in the second invention (the thirty-sixth invention).
- the leg performing the landing operation and the other leg are determined. Both allowable ranges are based on the self-dependent landing allowable range defined by the mechanical restrictions of the mouth pot itself, such as interference with the body, and the environment-dependent landing allowable range corresponding to the foot landing in the landing operation. It is preferable to determine a pair of the target landing position and the target landing direction of the foot within the common range of the foot (the 37th invention). '
- the set of the target landing position and the target landing direction of the foot that lands in each landing operation is determined within the common range of the environment-dependent landing allowable range and the self-dependent landing allowable range. Therefore, not only the landing position and orientation restrictions due to the environment-dependent landing tolerance, but also the mechanical constraints of the lopot itself, such as interference between the legs, are taken into account. Therefore, it is necessary to determine a sequence of target landing positions and directions (target footprints) that satisfy the conditions for landing positions and directions based on the environment-dependent landing allowable range and that do not cause interference between the legs of the mouth pot. it can.
- the self-dependent landing allowable range used when determining the target landing position and the target landing direction of the foot that lands in the arbitrary Nth landing operation of the mouth pot is as follows: Set based on a map or an arithmetic expression that is specified in advance to define the relative allowable landing range of the foot that lands in the Nth landing operation with respect to the foot that lands in the Nth one landing operation (The 38th invention). According to this, similarly to the sixth invention, the calculation load when determining the self-dependent landing allowable range can be reduced.
- an arbitrary N-th wear of the mouth pot is provided.
- the target landing position and the target landing direction of the foot up to a predetermined number of landing operations including the Nth landing operation.
- a target landing position / direction provisionally determining means provisionally determined based on the self-dependent landing allowable range corresponding to each landing operation up to the destination, and a target landing up to the provisionally determined predetermined number of landing operations ahead
- Provisional target gait determination means for determining a provisional target gait of a lo-port that defines at least the Nth landing motion using the position and the target landing direction; and a target ZMP corresponding to the determined provisional target gait.
- a target landing position and direction correcting means for determining a set of the position and the target landing direction (the 39th invention).
- the target landing position and direction up to a predetermined number of times ahead including the N-th target landing position and direction may be used.
- the provisional target gait is determined. If the target ZMP of the provisional target gait does not satisfy the predetermined restriction condition (specifically, the condition of the range in which the target ZMP can exist), the provisionally determined Nth target landing position and target landing position By correcting at least one of the directions, the Nth target landing position and direction are determined.
- the environment-dependent landing allowable range and the self-dependent landing are ensured while securing dynamic stability.
- a row of target landing position and orientation (target footprint) that satisfies the constraints of the allowable range can be determined.
- the target landing position of the foot is: A point having a predetermined positional relationship with respect to the flat, and such a point with respect to each foot being the same point for both feet when the mouth pot is erected in a predetermined symmetrical reference posture. It is preferable that the target position of the representative point is determined in advance for each foot (40th invention). According to this, the environment-dependent landing allowable range and the self-dependent landing allowable range are set as allowable ranges of the target position of the representative point and the target landing direction of the foot, respectively. Setting is easy.
- the representative point is a point set near the heel or toe of both feet (41st invention). According to this, the same operation and effect as the ninth invention can be obtained.
- FIG. 1 is a schematic diagram showing the outline of the overall configuration of a bipedal locomotion port as a legged port in an embodiment of the present invention
- FIGS. 3 and 4 are a cross-sectional side view and a bottom view showing the detailed configuration of the foot portion of each leg, respectively
- FIG. 5 is the mouth port of FIG.
- FIG. 6 is a block diagram showing a functional configuration of the control unit of FIG. 5, and FIG. 6 is a block diagram showing a functional configuration of the control unit of FIG.
- Fig. 7 is an explanatory diagram showing the robot's running gait.Figs.
- FIG. 8 (a) and 8 (b) are graphs showing examples of setting the floor reaction force vertical component of the target gait and the target ZMP, respectively.
- FIG. 10 is a flowchart showing a process of a main part of the control unit according to the embodiment
- FIG. 10 is a flowchart showing a self-position / posture estimation process of the flowchart of FIG. 9, and
- FIG. 9 is a diagram for explaining the self-position / posture estimation process of the flowchart in FIG. 9.
- FIG. 12 is an explanatory diagram of a normal turning gait determined by the process of the flowchart in FIG. 9, and
- FIG. 13 is a flowchart in FIG. 14 to 19 are diagrams for explaining the trajectory guidance process, and FIG.
- FIG. 20 is a flowchart showing the trajectory guidance correction process in the flowchart of FIG.
- FIG. 21 is a flowchart showing the trajectory guidance processing in the second embodiment.
- FIGS. 22 and 23 are diagrams for explaining the trajectory guidance processing in the second embodiment.
- FIG. 24 is a trajectory in the second embodiment.
- 5 is a flowchart showing a guidance correction process.
- FIG. 25 is a flowchart showing the trajectory guidance processing in the third embodiment
- FIG. 26 is a diagram for explaining the trajectory guidance processing in the third embodiment
- FIG. 27 is the trajectory of the third embodiment.
- 5 is a flowchart showing a guidance correction process.
- FIG. 28 is a flowchart showing the trajectory guidance processing of the fourth embodiment
- FIG. 29 is a diagram for explaining the trajectory guidance processing of the fourth embodiment
- FIG. 30 is the trajectory guidance correction processing of the fourth embodiment. It is a flowchart which shows.
- FIG. 31 is a flowchart showing the trajectory guidance processing of the fifth embodiment
- FIG. 32 is a diagram for explaining the trajectory guidance processing of the fifth embodiment
- FIGS. 33 and 34 are flowcharts of FIG. 31 respectively.
- Fig. 35 is a flowchart showing the details of the main process
- Fig. 35 is a flowchart showing the trajectory guidance correction process of the fifth embodiment.
- FIG. 36 is a flowchart showing the footprint determination process according to the seventh embodiment.
- FIG. 37 is a diagram for explaining another example of the target route.
- a two-legged robot is used as an example of a leg-type movable port.
- FIG. 1 shows a bipedal robot as a legged mobile robot according to this embodiment.
- a two-legged port (hereinafter referred to as a robot) 1 is a pair of left and right legs (leg links) extending downward from an upper body (the base body of the robot 1) 3, 2 Is provided.
- the two legs 2, 2 have the same structure, each having six joints.
- the six joints are, in order from the upper body 3 side, joints for rotation (rotation) of the crotch (lumbar region) (for rotation in the Y direction relative to the upper body 3). These symbols mean that they correspond to the right and left legs, respectively. The same applies below) and the joints for rotation of the crotch (lumbar region) in the roll direction (around the X axis).
- the hip joint (or hip joint) is composed of joints 1 OR (L), 12 R (L), and 14 R (L), and the knee joint is joint 16 R (L).
- the ankle joint is composed of joints 18 R (L) and 20 R (L).
- the hip joint and the knee joint are connected by a thigh link 24 R (L), and the knee joint and the ankle joint are connected by a lower leg link 26 R (L).
- a pair of left and right arms 5, 5 are attached to both upper sides of the upper body 3.
- a head 4 is arranged at the upper end of the upper body 3. Since the arms 5, 5 and the head 4 do not directly relate to the gist of the present invention, a detailed description is omitted.
- the desired motion of both feet 22 R and 22 L can be performed by driving the joint of the two feet at an appropriate angle.
- the mouth port 1 can move arbitrarily in the three-dimensional space.
- a known 6-axis force sensor 50 is located below the ankle joints 18 R (L), 20 R (L) of each leg 2 and the foot 22 R (L). Are interposed.
- the 6-axis force sensor 50 is for detecting the presence / absence of landing on the foot 22 R (L) of each leg 2, and detecting a floor reaction force (ground load) acting on each leg 2.
- the detection signals of the three-directional components FX, Fy, Fz of the translational force of the floor reaction force and the three-directional components MX, My, Mz of the moment are output to the control unit 60.
- the body 3 is provided with an inclination sensor 54 for detecting the inclination (posture angle) of the body 3 with respect to the Z axis (vertical direction (gravity direction)) and its angular velocity. Is output from the tilt sensor 54 to the control unit 60.
- the tilt sensor 54 includes a three-axis acceleration sensor and a three-axis gyro sensor (not shown). Detection signals from these sensors are used to detect the tilt of the body 3 and its angular velocity. It is also used to estimate the self-position and orientation of the mouth port 1.Although the detailed structure is not shown, each joint of the mouth port 1 has an electric motor for driving it. 6 4 (see FIG.
- a joystick (operator) 73 (see FIG. 5) is provided at an appropriate position of the robot 1, and the joystick 73 is operated.
- a request for the gait of the mouth pot 1 can be input to the control unit 60 as needed, for example, by turning the lopot 1 moving straight.
- FIG. 2 is a diagram schematically showing a basic configuration of a tip portion (including each foot 22 R (L)) of each leg 2 in the present embodiment.
- a spring mechanism 70 is provided between the foot 22 and the 6-axis force sensor 50, and a sole (each foot 22) is provided.
- An elastic sole 71 made of rubber or the like is affixed to the bottom surfaces of R and L).
- the compliance mechanism 72 is constituted by the spring mechanism 70 and the sole elastic body 71.
- a rectangular guide member (not shown in FIG. 2) attached to the upper surface of the foot 22 R (L) and an ankle joint 18 R (L) (The ankle joint 2 OR (L) is omitted in FIG. 2) and attached to the 6-axis force sensor 50 side, and are housed in the guide member via a flexible material (rubber or spring) so as to be finely movable. It consists of a piston-like member (not shown in FIG. 2) and.
- the foot 22 R (L) shown by a solid line in FIG. 2 shows a state when no floor reaction force is applied.
- the spring mechanism 70 of the compliance mechanism 72 and the sole elastic body 7 1 bend, and the foot 2 2 R (L) is illustrated by a dotted line in the figure. Move to such a position and orientation.
- the structure of the compliance mechanism 72 is not only for reducing landing impact as described in detail in, for example, Japanese Patent Application Laid-Open No. 5-305584 which was previously proposed by the present applicant. It is also important for improving controllability.
- a more detailed configuration of the foot 22 R (L) including the compliance mechanism 72 (hereinafter sometimes referred to as the foot 22 R (L)) will be described with reference to FIGS. 3 and 4. Will be further described.
- FIG. 3 is a cross-sectional view of a side view of the foot mechanism 22 R (L)
- FIG. 4 is a plan view of the foot mechanism 22 R (L) as viewed from the bottom side.
- the foot mechanism 22 R (L) includes a generally flat foot plate member 102 as a skeletal member.
- the foot plate member 102 has a front end portion (toe portion) and a rear end portion (heel portion) that are slightly upwardly curved, but the other portions are flat and flat.
- a guide member 103 having a rectangular cross section is fixed to the upper surface of the foot plate member 102 with its axis centered in the vertical direction.
- a movable plate (piston-shaped member) 104 is provided inside the guide member 103 so as to be movable in a substantially vertical direction along the inner peripheral surface of the guide member 103.
- the movable plate 104 is connected to the ankle joints 18 R (L) and 20 R (L) via a six-axis force sensor 50.
- the movable plate 104 has a lower edge with a plurality of elastic members 106 made of an elastic material such as a spring or rubber (shown as a spring in the figure). 0 2. Therefore, the foot plate member 102 is connected to the ankle joint 18 R (L) via the elastic member 106, the movable plate 104 and the six-axis force sensor 50.
- the inside of the guide member 103 (the space below the movable plate 104) is open to the atmosphere through holes and gaps (not shown). The member 103 can enter and exit freely. Further, the guide member 103, the movable plate 104, and the elastic member 106 constitute the spring mechanism 70 shown in FIG.
- the grounding member 71 is an elastic member interposed between the foot plate member 102 and the floor when the foot mechanism 22 R (L) is grounded (the elastic member that is in direct contact with the floor).
- the foot plate member 102 is fixed to the four corners of the ground contact surface (both sides of the toe portion of the foot plate member 102 and both side portions of the heel portion). .
- the grounding member 71 is formed by vertically stacking a soft layer 107 a made of a relatively soft rubber material and a hard layer 107 b made of a relatively hard rubber material.
- a hard layer 107 b is provided on the lowermost surface side as a grounding surface portion that comes into direct contact with the floor surface when the leg 2 is placed on the floor.
- the foot mechanism 22 R (L) is provided with a landing shock absorbing device 108 in addition to the above configuration.
- the landing shock absorbing device 108 includes a bag-like member 109 attached to the bottom surface of the foot plate member 102 and a compressive fluid with respect to the inside of the bag-like member 109. And a flow passage 110 for letting in and out of the air (air in the atmosphere).
- the bag-shaped member 109 is provided substantially at the center of the bottom surface of the foot plate member 102 such that the grounding member 71 is present around the bag-shaped member 109.
- This bag-shaped member 109 is made of an elastic material such as rubber so as to be freely deformable. In a natural state where no directional deformation due to external force occurs, as shown by a solid line in FIG. It has a cylindrical container shape.
- the open end of the bag-shaped member 109 is fixed to the bottom surface of the foot plate member 102 over the entire circumference, and is closed by the foot plate member 102.
- the bag-shaped member 109 is provided such that the bottom of the bag-shaped member 109 protrudes below the grounding member 71 in a natural state in the shape of a cylindrical container.
- the natural state in which the bag-shaped member 109 has the shape of a cylindrical container is the inflated state of the bag-shaped member 109. Since the bag-shaped member 109 is made of a flexible material, it has a shape restoring force to a natural state (cylindrical container shape) when compressed.
- the flow passage 110 constitutes inflow / outflow means for inflow / outflow of air to / from the bag-like member 109.
- the inside of the bag-like member 109 and the guide And a communication hole formed in the foot plate member 102 so as to communicate with the inside of the pad member 103.
- the flow passage 110 communicates the inside of the bag-shaped member 1 ′ 09 with the atmosphere side. Will be. Therefore, the air in the atmosphere can freely enter and exit through the flow passage 110 inside the bag-shaped member 109, and the bag-shaped member 109 is in an expanded state (natural state).
- the flow passage 110 is a throttle passage so that when air enters and exits the inside of the bag-shaped member 109, a fluid resistance is generated.
- FIG. 5 is a block diagram showing the configuration of the control unit 60.
- the control unit 60 is constituted by a microcomputer, and comprises a first arithmetic unit 90 and a second arithmetic unit 92 each comprising a CPU, an A / D converter 80, and a power counter 80. 6, a D / A converter 96, a RAM 84, a R ⁇ M 94, and a pass line 82 for exchanging data therebetween.
- This control unit The output signals of the 6-axis force sensor 50, tilt sensor 54 (acceleration sensor and rate gyro sensor), and joystick 73 of each leg 2 are output by the A / D converter 80. After being converted to a digital value, it is sent to the RAM 84 via the bus line 82.
- the output of the encoder 65 (rotary encoder) of each joint of the mouth port 1 is input to the RAM 84 via the counter 86.
- the first arithmetic unit 90 generates a desired gait as described later and calculates an articulation angle displacement command (a displacement angle of each joint or a command value of a rotation angle of each electric motor 64). 8 Send to 4.
- the second arithmetic unit 92 reads the joint angle displacement command from the RAM 84 and the measured value of the joint angle detected based on the output signal of the encoder 65, and drives the joints. calculates and outputs the required operation amount through a D / 7 a converter 9 6 and Sapoanpu 6 4 a to the electric motor 6 4 for driving each joint.
- FIG. 6 is a block diagram showing the overall functional configuration of the legged mobile robot control device according to this embodiment.
- the part other than the “real mouth pot” in FIG. 6 is constituted by the processing functions executed by the control unit 60 (mainly the functions of the first arithmetic unit 90 and the second arithmetic unit 92). It is something that is done.
- the symbols R and L are omitted.
- the control unit 60 includes a gait generator 200 that generates and outputs a desired gait of the mouth port 1 freely and in real time.
- the desired gaits to be output include the desired body position / posture trajectory (trajectory of the target position and target posture of the upper body 3), the desired foot position / posture trajectory (trajectory of the target position and target posture of each foot 22), the target It consists of an arm posture trajectory (trajectory of the target posture of each arm 5), a desired total floor reaction force center point (target ZMP) trajectory, and a desired total floor reaction force trajectory.
- target ZMP desired total floor reaction force center point
- the “trajectory” in the above-mentioned gait means a temporal change pattern (time-series pattern), and in the following description, it may be referred to as “pa-chan” instead of “trajectory”.
- the “posture” of each part is a general term for the inclination and direction of the part.
- inclination is an angle formed with the vertical direction of the site
- direction is the direction of a vector obtained by projecting a vector indicating the forward direction of the site on a horizontal plane.
- the inclination of the body posture is the inclination angle (posture angle) of the body 3 in the roll direction (around the X axis) with respect to the Z axis (vertical axis), and the body in the pitch direction (around the Y axis) with respect to the Z axis.
- the orientation of the upper body 3 is represented by the rotation angle of the vector in which the vector indicating the forward direction of the upper body 3 is projected on a horizontal plane, in the X direction (around the Z axis).
- the foot posture is represented by a two-axis spatial azimuth fixedly set for each foot 22.
- the landing posture of the foot 22 basically indicates the direction of the landing foot 22, and specifically, from the heel of the landed foot 22 to the toe. Indicates the direction of the vector when the heading vector is projected on the horizontal plane.
- the target arm posture is represented by a posture relative to the body 3 with respect to all parts of the arms 5, 5.
- the body position means a predetermined position of the body 3, specifically, a position of a predetermined representative point of the body 3.
- the foot position means the position of a predetermined representative point of each foot 22R, 22L.
- the body speed means the moving speed of the representative point of the body 3, and the foot speed means the moving speed of the representative point of each of the feet 22 R and 22 L.
- gait such as the desired body position / posture
- “goal” is often omitted in the following description if there is no risk of misunderstanding.
- each foot floor reaction force The floor reaction force (floor reaction force consisting of translational force and moment) of each foot 22 is called “each foot floor reaction force”, and all (two) feet 22
- the resultant of the R and 22 L floor reaction forces is called the “total floor reaction force”.
- total floor reaction force the resultant of the R and 22 L floor reaction forces.
- the desired floor reaction force is generally expressed by the point of action, the force acting on that point (translational force), and the moment of the force. Since the point of action is good for everywhere, countless expressions can be considered for the same desired floor reaction force, but especially when the target floor reaction force is expressed using the aforementioned target floor reaction force center point as the point of action, the moment of force is , Except for the vertical axis component.
- the ZMP calculated from the target motion trajectory (the model where the resultant force of the inertia force of the mouth port 1 calculated from the target motion trajectory and gravity acts around that point) (The point where one comment becomes 0 except for the vertical axis component) coincides with the desired total floor reaction force center point, so the target ZMP trajectory is given instead of the desired total floor reaction force center point trajectory.
- a desired gait is a set of a desired motion trajectory and a desired floor reaction force trajectory during one or more steps.
- a target gait in a narrow sense is a set of a target motion trajectory during one step and its ZMP trajectory.
- c) The gait of the run is a sequence of several gaits.
- the target gait in a narrow sense is a set of the target motion trajectory during one step, its ZMP trajectory, and the floor reaction force vertical component trajectory.
- the target gait will be used in the narrow sense of the target gait unless otherwise specified.
- the “one step” of the desired gait is used in the meaning from the time when one leg 2 of the robot 1 lands to the time when the other leg 2 lands.
- the period during which the robot 1 supports its own weight with both legs 2 and 2 during the gait, and the period during which the robot 1 supports one leg is the weight of the mouth port 1 with only one leg 2 during the one-leg support period.
- the period of support, aerial refers to the period during which both legs 2, 2 are off the floor (floating in the air).
- the leg 2 on the side that does not support the own weight of the robot 1 during the one-leg support period is called a “free leg”, and the leg 2 on the side supporting the own weight is called the “support leg”.
- the two-leg supporting period and the one-leg supporting period are alternately repeated, and in the running of lo-pot 1, the one-leg supporting period and the aerial period are alternately repeated. In this case.
- neither leg 2 nor 2 supports the weight of mouth pot 1
- the leg 2 that was the free leg in the one-leg supporting period immediately before the aerial period and the leg 2 that was the supporting leg are also called the free leg and the supporting leg in the aerial period, respectively.
- each part of the robot 1 in the desired gait such as a desired body posture, a desired body position, a desired foot position and posture, and a desired arm posture
- the support leg coordinate system is a coordinate system fixed to the floor having an origin near the ground contact surface of the foot 22 of the support leg. More specifically, the supporting leg coordinate system does not slide the foot 22 of the supporting leg between the ground surface and the horizontal position as described in the applicant's patent No. 3273443.
- the horizontal axis toward the toe of the foot 22 of the support leg, with the vertical projection point from the center of the ankle joint of the support leg to the tread (the axis in the front-rear direction of the foot 22) ) Is the X axis, the vertical axis is the Z axis, and the coordinate axis orthogonal to these X and Z axes (the axis in the horizontal direction of the foot 22) is the Y axis.
- the gait generator 200 receives a landing position / posture of the foot 22 of the free leg up to two steps ahead and a required value (a target value) of a landing time, and receives a target body position. Generates a desired gait consisting of a posture trajectory, a desired foot position / posture trajectory, a desired ZMP trajectory, a desired floor reaction force vertical component trajectory, and a desired arm posture trajectory. At this time, a part of the parameters that define these trajectories (this is called gait parameters) is modified to satisfy the gait continuity.
- the required value of the landing position / posture of the foot 22 of the free leg is determined by the trajectory guiding unit 220 shown in FIG.
- the trajectory guidance unit 220 includes a target route (a target footprint route to be described later) of the mouth port 1 from the movement planning unit 222 and a landing allowable range such as a stepping stone or a stair (to be described later).
- the self-position / posture estimating unit 222 outputs the estimated body posture, which is an estimated value of the actual body posture, and the landing swing leg (after landing, The estimated value of the actual landing position and orientation of the free leg that became the supporting leg (more specifically, the position and orientation of the estimated supporting leg coordinate system described later) is given.
- the environment-dependent landing position / posture allowable range relates to a fifth embodiment to be described later.
- the orbit guide unit 220 includes a movement planning unit.
- a target route is given from 2 2 2.
- the gait generator 200 generates a desired gait for one step from the landing of one leg 2 of the robot 1 to the landing of the other leg 2 (the target gait in the narrow sense).
- the desired gait for one step is generated in order with the gait) as the unit.
- the gait that is currently or about to be generated is the “current gait”
- the next gait is the “next gait”.
- the next gait is called the “next gait”.
- the target gait generated just before the current gait is called the previous gait.
- the desired foot position / posture trajectory is calculated using a finite time setting filter disclosed in Japanese Patent No. 3233450 by the present applicant. Generated.
- the foot position trajectory starts moving while gradually accelerating the foot 22 toward a target landing position (required value of the landing position).
- the speed is gradually reduced to 0 or almost 0 by the target landing time (required value of the landing time), and is generated so as to reach the target landing position and stop at the target landing time.
- the foot posture trajectory Since the ground speed at the moment of landing is 0 or almost 0 in the target foot position / posture trajectory generated in this way, especially when traveling at the mouth port 1, the landing impact at the time of landing from the mid-air period Can be reduced.
- the desired floor reaction force vertical component trajectory and the desired ZMP trajectory (specifically, the support leg coordinate system) X-axis direction (before and after support leg foot 22)
- the target ZMP trajectory in the direction) is set in the pattern shown by the solid line in Fig. 8 (a) and Fig. 8 (b), respectively.
- the first to third figures in Fig. 7 schematically show the movement states of the two legs 2, 2 of the mouth pot 1 at the start, middle, and end of the one-leg support period, respectively.
- the fourth and fifth diagrams show the movement of the two legs 2 and 2 of the mouth pot 1 at the midpoint of the aerial phase and at the end of the aerial phase (at the beginning of the next one-leg support phase), respectively. This is shown schematically.
- the target floor reaction force vertical component trajectory When traveling at mouth port 1, the target floor reaction force vertical component trajectory basically has an upwardly convex pattern during the one-leg support period, and is maintained at 0 during the aerial period.
- the desired floor reaction force vertical component trajectory is set, for example, as shown by a two-dot chain line in FIG. 8 (a).
- the upper convex part of the two-dot chain line corresponds to the two-leg supporting period
- the lower convex part corresponds to the one-leg supporting period.
- the target ZMP is basically set near the center of the contact surface of the leg 2 of the mouth pot 1 (more specifically, the so-called support polygon) regardless of whether the vehicle is running or walking. .
- FIG. 9 shows a gait generation process of the gait generator 200, a self-position / posture estimation process of the self-position / posture estimation unit 222 shown in FIG. 6, and a trajectory of the trajectory guidance unit 220 shown in FIG. It is a flowchart (structured flowchart) showing the guidance process.
- the processing proceeds to S014 via S012, and waits for a timer interrupt every control cycle (operation processing cycle of the control unit 60).
- the control cycle is At.
- the process proceeds to S 0 16, where the self-position / posture estimation processing of the self-position / posture estimation unit 224 is performed.
- robot 1 moves. This is a process for estimating the actual position and orientation of the robot 1 in the coordinate system (global coordinate system) fixed to the moving floor (ground), and is performed, for example, as shown in the flowchart of FIG. Note that the self-position / posture estimation process described here is based on the same application as the present application (PCT application based on Japanese Patent Application No.
- This self-position / posture estimation process is performed based on the position / posture of the supporting leg coordinate system corresponding to the position / posture of the supporting leg foot 22 of the mouth port 1 (more precisely, the position of the supporting leg coordinate system in the global coordinate system). And the direction around the vertical axis) are assumed to be representative of the actual position and direction (direction around the vertical axis) of the support leg foot 22.
- the self-position / posture estimation process is performed by a support leg coordinate system representing the landing position / posture of the free leg foot 22 which becomes a new support leg foot by landing at each step of the robot 1
- This is a process for estimating the actual position and orientation (direction around the vertical axis) of the robot, in other words, a process for estimating the position and orientation of the footprint of the lopot 1 in the global coordinate system.
- the direction of the support leg coordinate system is expressed as a direction around the vertical axis of the X axis (horizontal axis of the support leg foot 22) in the support leg coordinate system.
- the self-position / posture estimating process will be described below with reference to FIG. 10.
- the detected value of the gyro sensor provided in the tilt sensor 54 of the body 3, that is, the body 3 By integrating (accumulated addition) the detected values of the angular velocities (angular velocities in the three axis directions), the estimated body posture, which is the estimated value of the actual body posture, is obtained.
- This estimated body posture is described in the global coordinate system.
- the inclination component of the estimated body posture that is, the inclination angle with respect to the vertical axis, accumulates the integration error of the detection value of the gyro sensor.
- drift correction is performed using the direction of gravity detected by the acceleration sensor provided in the tilt sensor 54.
- the process proceeds to S 2 202, where the estimated body posture change amount viewed from the global coordinate system during the control cycle (the estimated body posture in the previous control cycle (time t ⁇ A t)
- the difference between the body posture and the target body posture in the current control cycle is calculated (hereinafter referred to as the body posture change amount difference).
- the body posture of the target gait viewed from the global coordinate system is defined as the mouth position of the mouth pot 1 during one step on the currently estimated supporting leg coordinate system without tilting or spin of the mouth pot 1.
- the estimated supporting leg coordinate system is a supporting leg coordinate system corresponding to the actual position and orientation of the supporting leg foot 22 of the robot 1. More specifically, the estimated supporting leg coordinate system is obtained by rotating the supporting leg foot 22 of the actual lopot 1 from its position and orientation to the horizontal without sliding between the foot and the ground.
- the origin is the vertical projection point from the center of the ankle joint to the ground contact surface, the horizontal axis toward the toe of the support leg foot 22 is the X axis, the vertical axis is the Z axis, and the coordinate axis orthogonal to these is the Y axis. This is the coordinate system taken.
- the position and orientation (position and direction about the vertical axis) of the estimated supporting leg coordinate system are estimated as the estimated value of the self-position of the mouth port 1.
- the position of the origin and the direction of the coordinate axes of the estimated supporting leg coordinate system are represented by a global coordinate system.
- the flow proceeds to S2204, and the attitude rotation center is determined.
- the target ZMP at that moment (current target ZMP) is determined as the posture rotation center. It is.
- the supporting leg foot 22 may cause a spin on the ground contact surface due to swinging of the free leg or the like
- the estimated amount of change in the body posture during the control cycle and the target The difference in the amount of change in the body posture, which is the difference from the amount of change in the body posture, is considered to be caused by the spin of the support leg foot 22.
- the posture rotation center means the rotation center of the spin of the support leg foot 22.
- the process proceeds to S 220, where the current estimated supporting leg coordinate system (estimated supporting leg coordinate system at time t_ ⁇ t shown in FIG. 11) is used to calculate the body posture change obtained in S 220.
- the one that has been rotated around the attitude rotation center by the amount difference is determined again as the current estimated support leg coordinate system (estimated support leg coordinate system at time t shown in FIG. 11). That is, the position and orientation of the estimated supporting leg coordinate system in the current control cycle (current time t) are determined.
- the body posture change amount difference ′ obtained in S 2 202 generally includes not only a component around the vertical axis but also a component around the horizontal axis, and thus is newly determined as described above.
- the direction of the Z axis in the estimated support leg coordinate system is not always the vertical direction. Therefore, in the present embodiment, after the current estimated support leg coordinate system (at time t ⁇ 1 :) is rotated around the attitude rotation center by the body posture change amount difference, the estimated support leg coordinates The estimated support leg coordinate system is rotated about its origin so that the Z-axis of the system is oriented vertically, thereby determining a new (at time t) estimated support leg coordinate system. Alternatively, only the component around the vertical axis of the body posture change amount difference. The current (time t-at) estimated support leg coordinate system is rotated around the posture rotation center to obtain a new estimation. The support leg coordinate system may be determined.
- the process proceeds to S2208, and determines whether or not the current time t is the landing time of the swing leg foot 22 (the time at which the generation of the current time's gait for one step is completed), that is, at the gait switching point. It is determined whether there is.
- the result of the determination in S2208 is YES, the following processing is performed. That is, first, the process proceeds to S2210, and the next time the estimated gait of the gait with respect to the current estimated supporting leg coordinate system (determined in S2206) is used. 2 The relative position / posture relationship of the estimated supporting leg coordinate system corresponding to the landing position / posture of 2 is up to the target gait (more specifically, at time t-1 ⁇ ⁇ (control cycle immediately before the gait switching).
- the position and orientation of the next time's gait estimation support leg coordinate system are determined so that they have the same relationship as the relative position and orientation relationship of the next time's gait's support leg coordinate system with respect to the support leg coordinate system in the current time's gait generated in step 2.
- the support leg coordinate system of the next time's gait with respect to the support leg coordinate system of the target gait is a support leg coordinate system corresponding to the required value of the landing position / posture of the first step.
- the self-position estimation processing of SO 16 is completed.
- the position and orientation of the estimated supporting leg coordinate system representing the actual landing position and orientation of the foot 22 for each landing operation of the robot 1 are obtained.
- the method of the self-position estimation processing is not limited to the above.
- the position and orientation (position and orientation in the global coordinate system) of a predetermined part such as the upper body 3 of the lopot 1 are sequentially estimated by a known inertial navigation method, and the The position and orientation of the estimated supporting leg coordinate system may be obtained by using the target gait of this example or the displacement detection value of each joint of the mouth port 1.
- the self-position estimation process is a method capable of estimating the actual landing position / posture (particularly the orientation around the vertical axis) of the foot 22 landing on each landing operation of the robot 1 as accurately as possible. Any method may be used.
- the process proceeds to S 018, at which the gait switches (the generation of the previous time's gait is completed, and the generation of a new current time's gait is performed. (Time to start).
- the determination result is Y E S
- the process proceeds to S 0 20
- the determination result is NO
- the process proceeds to S 0 38.
- time t is initialized to 0.
- the trajectory guidance processing by the trajectory guidance section 220 is executed, and the next-time gait support leg coordinate system and the next-time gait support leg coordinate system are determined.
- the next time gait support leg coordinate system is a support leg coordinate system corresponding to the required value of the landing position and orientation of the foot 22 of the swing leg in this time's gait (the landing position and orientation of the first step).
- the supporting leg coordinate system is a supporting leg coordinate system corresponding to the required value of the landing position / posture (the landing position / posture of the second step) of the foot 22 of the leg 2 to be a free leg in the next time's gait.
- the trajectory guidance processing in S022 is a characteristic part of the present invention, and will be described later.
- the current gait cycle and the next gait cycle are also determined in SO22. These gait periods are determined based on the operation of the joystick 73 or the required moving speed (or required landing time) of the mouth port 1 set by a predetermined moving plan or the like. .
- the gait parameters of the normal turning gait to which the gait should be connected this time are the next time gait support leg coordinate system determined in S 0 2 2, the next time gait support leg coordinate system, this time It is determined based on the gait cycle and the next gait cycle.
- foot trajectory parameters that specify the desired foot position / posture trajectory reference body posture trajectory parameters that specify the reference trajectory of the desired body posture, and arm posture trajectory parameters that specify the target arm posture trajectory
- the ZMP orbital parameters that define the target ZMP trajectory and the floor reaction force vertical component trajectory parameter that defines the desired floor reaction force vertical component trajectory are determined. For example, taking the floor reaction force vertical component trajectory parameter as an example, the time and value of the break point of the pattern shown in FIG. 8A are determined as the floor reaction force vertical component trajectory parameter.
- the normal turning gait means a periodic gait such that when the gait is repeated, no discontinuity occurs in the motion state of the mouth port 1 at the boundary of the gait (hereinafter, “normal gait” may be abbreviated as “normal gait” in some cases.)
- the gait for one cycle of the normal gait is shown in Fig. 12 as the supporting leg coordinate system of the current gait.
- the foot 22 of the supporting leg corresponding to the XY coordinate) (in the example shown, the foot 22 R on the right side of the mouth port 1) is converted to the next-time gait supporting leg coordinate system (X "Y" coordinate in the figure)
- the first turning gait corresponding to the gait when moving to the position and posture corresponding to, and the foot 2 2 of the supporting leg corresponding to the next time gait support leg coordinate system ( ⁇ ' ⁇ ' coordinates in the figure)
- the gait corresponding to the gait when the foot 2 2 L on the left side of the mouth pot 1 is moved to the position and orientation corresponding to the next and next supporting leg coordinate system ( ⁇ '" ⁇ '" coordinates in the figure)
- You And a second turning gait You And a second turning gait.
- the next / next time gait support leg coordinate system corresponds to the target landing position / posture of the free leg foot 22 of the second turning gait.
- the next next time's gait support leg coordinate system is the next next time's gait support leg coordinate system viewed from the next time's gait support leg coordinate system (the second leg's support leg coordinate system).
- the position / posture (position and orientation) is the next time the gait support leg coordinate system viewed from the gait support leg coordinate system (the landing position of the free leg foot 22 in this time's gait) (Posture) is set to match the position and orientation (position and orientation).
- the term “turning” is used for the normal turning gait because, when the turning rate is set to zero, it means straight ahead, and straight running can be included in turning in a broad sense. is there.
- the normal turning gait is a virtual periodic gait tentatively created by the gait generator 200 to determine the divergent component at the end of the current gait and the body vertical position speed. Gait generator 2 to actually control
- divergence means that the position of the upper body 3 is shifted to a position far away from the position of both feet 22.
- the value of the divergent component means that the position of the upper body of the bipedal transfer port is far away from the position of both feet (strictly speaking, the origin of the support leg coordinate system set on the support leg contact surface). Is a function of the horizontal position of the body 3 and its speed.
- a normal gait to be connected after the current gait to be generated is requested according to the movement request (required values such as the landing position / posture of the foot 22 of the free leg up to two steps ahead and the landing time).
- the gait is generated this time so that the terminal divergent component of the current gait matches the initial divergent component of the normal gait.
- the process proceeds to S 0 26, and the initial state of the normal turning gait (initial body horizontal position velocity, initial body vertical position velocity, Initial divergence component, initial body posture angle and angular velocity) are determined.
- the process proceeds to S028, and the gait parameters of the current time's gait are determined (partially provisionally determined).
- the determined gait parameters of the current gait are Similar to the gait parameters of the turning gait, mainly the foot trajectory parameters, the reference body posture trajectory parameters, the arm posture trajectory parameters, the target ZMP trajectory parameters — Evening, the desired floor reaction force vertical component trajectory This is a paramete, and the trajectory defined by each paramete is determined so as to be continuous with the trajectory of the normal turning gait.
- the target ZMP orbit parameters are provisional.
- the details of the processing of S028 are described in the above-mentioned PCT Publication No. WOZ 02/40224, PCTZJP02Z13596, and the like, and further description is omitted here.
- the process proceeds to S030, in which the gait parameters of the current time gait are corrected so that the terminal divergent component of the current time gait matches the initial divergent component of the normal gait.
- the corrected gait parameters are the target ZMP trajectory parameters.
- a dynamic model representing the relationship between the movement of the mouth port 1 and the floor reaction force is used.
- a simplified model described in CT publication WO / 02/40224 or a multi-mass model (full model) described in Japanese Patent Application Laid-Open No. 2002-326173 proposed by the present applicant may be used.
- the allowable range of the target ZMP is set within a possible range of the target ZMP (a so-called supporting polygon, which is a minimum convex polygon including a ground contact surface).
- the desired gait is generated as described above.
- the desired body position / posture (depression) and the desired arm posture (trajectory) are sent directly to the mouth pot geometric model (inverse kinematics calculation unit) 202.
- the desired foot position / posture (trajectory), the desired ZMP trajectory (target total floor reaction force center point trajectory), and the desired total floor reaction force (trajectory) (target floor reaction force horizontal component and target floor reaction force vertical component) Is sent directly to the composite compliance operation determination unit 204 On the other hand, it is also sent to the target floor reaction force distributor 206.
- the desired total floor reaction force is distributed to each of the feet 22R and 22L, and the desired foot floor reaction force center point and the desired foot floor reaction force are determined. .
- the determined desired foot floor reaction force center point and the desired foot floor reaction force are sent to the composite compliance operation determination unit 204.
- the composite compliance operation determination unit 204 generates a corrected target foot position / posture trajectory with mechanism deformation compensation, and sends it to the robot geometric model 202.
- the mouth-pot geometry model 202 receives the target body position / posture (trajectory) and the corrected target foot position / posture (trajectory) with mechanical deformation compensation. The legs 2 and 2 satisfying them are input. 12 Calculate joint displacement commands (values) for two joints (10 R (L), etc.) and send them to the displacement controller 208.
- the displacement controller 208 controls the displacement of the 12 joints of the mouth port 1 by using the joint displacement command (value) calculated by the lopot geometric model 202 as a target value.
- the floor reaction force generated at the mouth port 1 (specifically, the floor reaction force of each foot) is detected by the 6-axis force sensor 50.
- the detected value is sent to the composite compliance operation determining unit 204.
- a tilt component of a difference between the estimated body posture obtained in S2200 in FIG. 10 and the target body posture generated by the gait generator 200 that is, a posture tilt deviation 0 errx , 0 erry are sent to the posture stabilization control operation unit 2 1 2.
- 0 errx is a tilt component in the roll direction (around the X axis)
- 0 erry is a tilt component in the pitch direction (around the Y axis).
- the posture stabilization control calculation unit 2 1 2 is used to restore the inclination of the mouth posture of mouth port 1 to the inclination of the body posture of the desired gait. Is calculated and sent to the composite compliance operation determination unit 204.
- the composite compliance operation determining unit 204 corrects the desired floor reaction force based on the input value. Ingredient Specifically, the target floor reaction force is modified so that the compensation total floor reaction camouflage Mdmd acts around the target total floor reaction force center point (target ZMP).
- the composite compliance operation determination unit 204 sets the corrected target foot with mechanical deformation compensation to match the corrected target floor reaction force with the actual robot state and floor reaction force calculated from the sensor detection values and the like. Determine the position and orientation (trajectory). However, since it is virtually impossible to match all states to the target, a trade-off relationship is given between them so that they can be compromised. That is, the control deviation for each target is weighted, and control is performed so that the weighted average of the control deviation (or the square of the control deviation) is minimized. As a result, the actual foot position and posture of the mouth port 1 and the total floor reaction force generally follow the desired foot position and posture and the desired total floor reaction force generated by the gait generator 200. Is controlled.
- the corrected target foot position / posture (trajectory) with the mechanism deformation compensation is the foot deformation mechanism (the trajectory necessary to generate the target value of the floor reaction force corrected by the composite compliance operation determination unit 204).
- the deformation amount of the elastic member 106, the sole elastic member 71, and the bag-like member 109) of the foot mechanism shown in FIG. 3 is obtained by using a mechanical model (such as a spring damper model) of the deformation mechanism.
- FIG. 13 shows a flowchart of the trajectory guidance processing.
- the target route is a route along which the actual footprint of the mouth port 1 represented by the time series of the estimated supporting leg coordinate system (a row of landing positions and directions of the foot 22 of the free leg).
- the target route may be referred to as a target footprint route.
- This target footprint route may be set in advance, but while the mouth port 1 is moving, the map information and the estimated self-position / posture of the robot 1 (the position of the estimated supporting leg coordinate system in the global coordinate system and the Based on the direction), a target footprint route that reaches a target point while avoiding an obstacle or the like may be generated at any time.
- the movement planning unit 2 included in the control unit 60 may be used. 22 outputs the desired footprint route, but it may be generated in S300.
- the representative point P (0) of the supporting leg coordinate system is a predetermined point on the supporting leg coordinate system. As shown in FIG. 14 and FIG. 15, the representative point: P (0) is set so as to satisfy the correspondence between the position and orientation of the support leg foot 22 and the position and orientation of the support leg coordinate system. Place the other foot 22 2R or 22 L in parallel with the support leg foot 22 R or 22 L of the horizontal posture determined according to the supporting leg coordinate system (both feet 22 R and 22 L In a state where the robot 1 is standing upright in a normal upright posture (a state where the robot 1 is left-right symmetric), the position of the representative point P (0) in the Y-axis direction (left-right direction) is two feet. It is set to be between 2 R and 22 L.
- the representative point P of the support leg coordinate system corresponding to the support leg foot 22 L (0) is set so that the position in the Y-axis direction is a predetermined distance to the right from the support leg foot 22L.
- the representative point P () of the supporting leg coordinate system corresponding to the supporting leg foot 2.2R is shown in FIG. 0) is set so that the position in the Y-axis direction is a position separated by a predetermined distance to the left from the support leg foot 22R.
- the position in the X-axis direction of the representative point of the support leg coordinate system is set near the heel or the toe of the support leg foot 22 corresponding to the support leg coordinate system.
- the representative point of the supporting leg coordinate system When the representative point of the supporting leg coordinate system is set near the toe of foot 22, the representative point of the supporting leg coordinate system corresponding to the left and right foot 22 R, 22 L is placed on a certain floor. Even if the heels of both feet are opened and closed and turned on the spot while keeping the fixed points, the feet 22R and 22L do not interfere with each other.
- both feet are used.
- a normal upright posture symmetrical posture
- both feet are used.
- At the center of the left and right sides of 22R and 22L at the point close to the heel, and support so that the representative points of the supporting leg coordinate system corresponding to the right and left feet 22R and 22L respectively match.
- FIG. 14 shows the representative points of the supporting leg coordinate system when the right leg 2R is the supporting leg.
- FIG. 15 shows the representative points of the supporting leg coordinate system when the left leg 2L is the supporting leg.
- the representative point P (0) in the supporting leg coordinate system is a point determined by a relative relationship with the foot 22 at the time of touchdown, and may be hereinafter referred to as a foot representative point.
- the short-term target point Q (0) is set on the target route (target footprint route) so that the line segment P (0) Q (0) has a predetermined length LqO.
- Q (0) is set at the intersection of the circumference of the circle having the predetermined length LqO with the radius centered on P (0) and the target path.
- Q (0) is set to the destination.
- the predetermined length LqO is set in accordance with the required moving speed of the mouth port 1 so that the longer the required moving speed is, the longer the c length LqO is.
- the speed at which the foot landing position of (1) approaches the target route increases, but the rate of change of the foot landing orientation (or the rate of the upper body (3) of the mouth pot (1)) increases.
- a representative candidate point R (0) of the next time's gait support leg coordinate system is determined on the line segment P (0) Q (0).
- R (0) is set on the line segment P (0) Q (0) so that the line segment P (0) R (0) has a predetermined length LrO.
- the predetermined length LrO may be, for example, a length equivalent to a normal stride when the vehicle travels straight at the required moving speed of the lopot 1.
- the landing allowable area is an allowable area based on the mechanical (or kinetic) constraints of the robot 1 itself (hereinafter referred to as the landing allowable area).
- the landing allowable area is sometimes referred to as a self-dependent landing allowable area).
- the self-dependent landing allowable area is included in a range where the free leg and the support leg do not interfere with each other when the free leg foot lands.
- the landing direction of the swing leg foot 22 becomes the support leg foot 22.
- the supporting leg foot 22 In contrast to 22, the thick curve shown in FIG. 18 is the landing allowable area for the swing leg foot 22 (more specifically, the allowable area of the swing leg representative point).
- the swing leg foot 22 When the landing direction of the swing leg foot 22 is 13 degrees with respect to the support leg foot 22, that is, the swing leg foot 22 is oriented in the direction of the support leg foot 22 (of the support leg coordinate system).
- the area within the bold curve shown in Fig. 19 is the landing allowable area (more specifically, the representative representative of the swing leg footprint). (Permissible area of point).
- the landing allowable area is a set of a set of the X coordinate and Y coordinate of the representative point of the swing leg foot 22 and the foot landing direction 0z, that is, a three-dimensional set.
- the foot landing direction 0 z is a subset of 0 degrees
- Figure 19 is a subset of foot landing direction ⁇ z of ⁇ 30 degrees.
- FIG. 18 and FIG. 19 are cross-sectional areas when the landing allowable area, which is a three-dimensional area, is cut by a plane where the foot landing direction 0 z is a certain value.
- the area of this cross-section represented by a set of X and Y coordinate pairs is called a self-dependent landing position allowable area.
- FIGS. 18 and 19 show examples in which the self-dependent landing permissible area is matched within a range where the free leg and the supporting leg do not interfere in the free leg landing state.
- the free leg may interfere with the supporting leg while moving from the current position and posture of the free leg to the landing position and posture. .
- the self-dependent landing allowable area depends on the current position and posture of the free leg, and the range in which the free leg does not interfere with the support leg in the free leg landing state (the landing allowable area shown in Figs. 17 and 18). ) May be narrower.
- the self-dependent landing allowable area may be obtained in real time while the robot 1 is moving. However, in this embodiment, in order to reduce the computational load of the control unit 60 in advance, The self-dependent landing allowable area is set by the determined map. In this case, the self-dependent landing allowable area is mapped as a relative allowable area with respect to the support leg coordinate system, and the position and orientation (position and orientation) of the current estimated support leg coordinate system and the current estimated support leg seat are determined. Based on the current position and orientation of the free leg foot 22 relative to the reference system, and the landing direction of the free leg foot 22 determined by the direction of the line segment P (0) Q (0), a self-dependent landing position is allowed by the above map. The area is set.
- the relative area (boundary of the area) of the self-dependent landing allowable area with respect to the support leg coordinate system is determined in advance using an arithmetic expression, and the self-dependent landing position allowable area is set using the arithmetic expression. You may do so.
- the self-dependent landing allowable range of the swing leg foot 22 may be narrowly limited.
- the self-dependent landing allowable area depends on the landing position / posture before changing the landing position / posture of the swing leg foot 22 (the next time's gait support leg coordinate system determined or corrected in the previous trajectory guidance processing). .
- the representative candidate point R (0) is determined as it is as the representative point P (l) at the time of landing of the free leg foot 22 of the current time's gait.
- the boundary of the landing position allowable area The point on the (thick line) and closest to the representative candidate point R (0) is determined as P (l).
- the position and orientation may be determined as the position and orientation of the next time's gait support leg coordinate system.
- the position and orientation of the next time gait support leg coordinate system are determined. More specifically, the position of the representative point of the next time's gait support leg coordinate system is P (l), and the X-axis direction of the next time's gait support leg coordinate system is the line segment P (0) Q (0). The position and orientation of the next time's gait support leg coordinate system are determined so as to be oriented.
- the direction of the next time's gait support leg coordinate system is determined to be the direction of the line segment P (0) Q (0). Deviates from the permissible turning range of the direction of the supporting leg coordinate system (the range of the direction of the next time's gait supporting leg coordinate system in which the landing allowable area may exist within the range defined by the mechanical restrictions of the mouth port 1) In some cases. In such a case, the direction of the next time's gait support leg coordinate system is forcibly determined to be the upper or lower limit of the turning permissible range, and according to the determined direction, the S 300 Similarly to the processing of 2 to S306, the position of the next time gait support leg coordinate system is determined. This is because the next-generation support leg coordinate system The same applies to the determination processing of the position and the orientation of the image (specifically, the processing of S31010 to S31014).
- next short-term target point Q (l) is determined based on the representative point P (l) of the next time's gait support leg coordinate system and the target path as shown in FIG. More specifically, the next short-term target point Q (l) is set on the target footprint route such that the line segment P (1) Q (1) has a predetermined length Lql. However, if the distance between P (l) and the final moving destination of the mouth pot 1 is equal to or less than the predetermined length Lql, Q (l) is set to the destination. Lql may be the same length as LqO, but may be set to a different value.
- a representative candidate point R (l) of the next-time gait support leg coordinate system is determined on the line segment P (1) Q (1).
- R (l) is set on the line segment P (1) Q (1) so that the line segment P (1) R (1) has a predetermined length Lrl.
- Lrl may be the same length as LrO, but may be set to a different value.
- the process proceeds to S3102, and as shown in FIG. 17, the landing position allowable area set for the next time's gait support leg coordinate system (the free leg landing direction is determined by the line segment P (1) ⁇ 3 ⁇ 4 (1) And the point closest to the representative candidate point R (l) is determined as P (2).
- the representative candidate point R (l) is not within the landing position allowable area corresponding to the next time's gait support leg coordinate system, a point on the boundary (thick line) of the landing position allowable area, and The point closest to the representative candidate point R (l) is determined as P (2).
- the representative candidate point R (l) is determined as it is as the representative point P (2).
- next time gait support The position and orientation of the legs coordinate system are determined. More specifically, the position of the representative point in the next-time gait support leg coordinate system is P (2), and the X-axis direction of the next-time gait support leg coordinate system is a line segment P (1) Q (1) The position and orientation of the next-time gait support leg coordinate system are determined so that the orientation is as shown.
- an amount where the target ZMP exceeds an allowable range is determined.
- this is e. e is a vector consisting of the X-axis component and the Y-axis component of the support leg coordinate system of the gait this time. Components that do not exceed the allowable range are set to 0.
- R (l) may be changed according to the ZMP excess, but is not necessarily changed.
- This is the next-time gait support leg coordinate used to determine the normal turning gait, which is a virtual periodic gait that is not used for the actual control of the mouth port 1. This is because it is a representative point of the system.
- the target ZMP if the target ZMP exceeds the allowable range, the target ZMP should not exceed the allowable range, or at least the amount of the target ZMP exceeding the allowable range should be reduced.
- the landing position of the free leg foot 22 of this time's gait that is, the position of the next time's gait support leg coordinate system is corrected.
- the flow returns to S024 through S36 in Fig. 9, and the above processing is executed again. Thereafter, if it is determined in SO 32 that the target ZMP is within the allowable range, the process proceeds to SO 38. Therefore, when proceeding to SO 38, the next time the gait supporting leg coordinate system (the next landing time) satisfies both the restriction of the landing allowable area (self-dependent landing allowable area) and the target ZMP allowable range. Position / posture), Next-time gait support leg coordinate system (Next-time landing position / posture) are determined.
- the target ZMP is calculated. It is also possible to determine the gait parameters this time so as to fall within the allowable range.
- the first embodiment described above is an embodiment of the first to ninth inventions of the present invention, and the gait generation processing and the self-position / posture estimation processing are respectively performed by: It supports target gait determination means and foot landing position / direction estimation means.
- the trajectory guidance processing and the trajectory guidance correction processing correspond to the foot target landing direction determination means.
- the second embodiment is the same as the first embodiment except for the trajectory guidance processing of S022 and the trajectory guidance correction processing of S34 in FIG. Accordingly, hereinafter, only the trajectory guidance processing of S 022 and the trajectory guidance correction processing of S 034 of FIG. 9 in the second embodiment will be described.
- FIG. 21 is a flowchart showing the trajectory guidance processing of S022 in FIG. 9 in the second embodiment.
- the trajectory guidance processing of S 0 222 in the second embodiment will be described in detail with reference to FIG. 21.
- the current estimated supporting leg coordinate system (the figure in the control cycle of the current time t) 9, based on the representative point P (0) of the estimated supporting leg coordinate system obtained in S016 and the target path (target footprint path), as shown in FIG.
- the curve C is determined so that the trajectory of the unmanned guided vehicle or the self-driving vehicle whose trajectory guidance control is performed approaches the target route.
- the curvature at the point A of the curve C is determined by the following equation 2. I do. Curvature at point A of curve
- Ka and Kb are predetermined gains.
- a representative candidate point R (0) of the next time's gait support leg coordinate system is determined on the curve C.
- R (0) is set on the curve so that the line segment P (0) R (0) has a predetermined length LrO.
- the destination is set to (0).
- the process proceeds to S3204, and similarly to the processing of S304 in FIG. 13 described in the first embodiment, the self-dependent landing position with respect to the current estimated supporting leg coordinate system (landing direction) Is the tangent direction of the curve C at the representative candidate point R (0), and the point closest to the representative candidate point R (0) is determined as P (l). I do.
- the process proceeds to S 3 206, and as shown in FIG. 22, the position of the representative point of the next time's gait support leg coordinate system is P (l), and the X-axis direction of the next time's gait support leg coordinate system is the representative point P.
- the next time's gait such that the tangent direction of the curve C in (l) (more precisely, the tangent direction of the curve C at the intersection of the perpendicular line dropped from the representative point P (l) to the curve C and the curve C) Determine the position and orientation of the support leg coordinate system.
- the gait support leg coordinate system determined as described above The position and orientation pair almost satisfies the self-dependent landing tolerance area.
- a representative candidate point R (l) of the next-time gait support leg coordinate system is determined on the curve C.
- R (l) is set on the curve C so that the line segment P (1) R (1) has a certain predetermined length Lql.
- Lql may be the same as LqO, but may be set to a different value.
- the self-dependent landing allowable area for the next time gait support leg coordinate system (the landing direction is the representative candidate point R
- the point closest to the representative candidate point R (l) at the point of the self-dependent landing position allowable area which is the tangent direction of the curve C in (l) and is determined as P (2) (see FIG. 23). ).
- the position of the representative point of the next-time gait support leg coordinate system is P (2) and the X-axis direction of the next-time gait support leg coordinate system is The tangent direction of the curve at the representative point P (2) (more precisely, the tangent direction of the curve C at the intersection of the perpendicular drawn from the representative point P (2) to the curve C and the curve C)
- the position and orientation of the next-time gait support leg coordinate system are determined. The above is the trajectory guidance processing of S 0 2 2 in the second embodiment.
- FIG. 24 is a flowchart of the processing.
- the third embodiment is the same as the first embodiment, except for the trajectory guidance processing of S022 and the trajectory guidance correction processing of S034 in FIG. Accordingly, in the following, the trajectory guidance processing of S 0 22 in FIG. Only the trajectory guidance correction processing of 34 will be described.
- FIG. 25 is a flowchart showing the trajectory guidance processing of S022 in FIG. 9 in the third embodiment.
- the process proceeds to S3402, in which the self-dependent landing position allowable area (the self-dependent landing position allowable area in which the landing direction is the direction of the line segment P (0) Q (0)) with respect to the current estimated supporting leg coordinate system is set.
- the representative point P (l) of the next time's gait support leg coordinate system is determined on the line segment P (0) Q (0) so as not to exceed.
- P (l) is set at the intersection of the boundary line of the self-dependent landing position allowable area and the line segment P (0) (3 ⁇ 4 (0).
- the allowable area is set in the same manner as in the first embodiment. ⁇ Then, the process proceeds to S3404, and as shown in FIG.
- the process proceeds to S3406, and as shown in FIG.26, similar to S308 of FIG.13 of the first embodiment, the representative point P (l) of the next time gait support leg coordinate system
- the next short-term target point Q (l) is set based on and the target route (target footprint route).
- the next-time gait support on the line segment P (1) Q (1) so that the landing direction does not exceed the self-dependent landing position allowable area that is the direction of the line segment P (1) Q (1).
- step 2 the position of the representative point of the next-time gait support leg coordinate system is P (
- step 2) the position and orientation of the next-time gait support leg coordinate system are adjusted so that the X-axis direction of the next-time gait support leg coordinate system points to the line segment P (1) Q (1). decide.
- the above is the trajectory guidance processing of S022 in FIG. 9 in the third embodiment.
- FIG. 27 is a flowchart of this processing.
- the amount e of the target ZMP exceeding the allowable range is obtained as in S3100 in FIG. 20 of the first embodiment.
- the trajectory guidance correction subroutine of the third embodiment If the target ZMP is beyond the allowable range, the landing position of the free leg foot 22 of the current time's gait (the next time the gait is supported) Leg position).
- FIG. 28 is a flowchart showing the trajectory guidance processing of S022 of FIG. 9 in the fourth embodiment.
- the trajectory guidance processing of S022 in the fourth embodiment will be described in detail with reference to FIG. 28.
- the previous control cycle one of the control cycles at the time of gait switching
- the first gait determined in the previous control cycle is the current gait
- the second gait determined in the previous control cycle is the next gait.
- the first turning gait and the second turning gait of the normal turning gait determined at the time of starting the generation of the last time gait are the current time gait and the next time gait, respectively.
- the process proceeds to S3602, where the current estimated supporting leg coordinate system (the estimated supporting leg coordinate system finally determined in S016 in FIG. 9 in the control cycle of the gait switching) and Based on the current time's gait and the next time's gait determined in S360, an expected next landing position / posture and an expected next landing position / posture are calculated.
- the expected next landing position / posture is a provisional value of the landing position / posture of the free leg foot 22 of the gait.
- the expected next next landing position / posture is the landing position / posture of the free leg foot 22 of the next gait. This is a provisional value.
- next time's gait support leg coordinate system the coordinate systems shown in FIG. Of the next time's gait support leg coordinate system, next-time gait support leg coordinate system, and next-time gait support leg coordinate system
- the expected landing position and orientation of the foot 22 and the expected next landing position / posture expected landing position and orientation of the free leg foot 22 of the next time gait
- FIG. 29 and FIG. 12 it is assumed that the support leg coordinate system of the first turning gait of the normal turning gait (the next time's gait support leg coordinate system in Fig. 12) that is determined in accordance with the current estimated support leg coordinate system.
- the position and orientation of the predicted next-time support leg coordinate system (see Fig. 29) corresponding to the predicted next landing position and posture, as seen from the current estimated support leg coordinate system.
- the expected next landing position / posture is determined to match the position and orientation of the leg coordinate system. Therefore, the relative position and orientation of the anticipated next support leg coordinate system with respect to the current estimated support leg coordinate system shown in Fig. 29 are calculated in the next gait support leg coordinate system of Fig. 12 (the support leg coordinate system of the first turning gait). ) Is made the same as the relative position and orientation of the next-time gait support leg coordinate system (the support leg coordinate system of the second turning gait) with respect to.
- the position and orientation of the predicted next-next support leg coordinate system (see Fig. 29) corresponding to the predicted next-next landing position / posture viewed from the current estimated support leg coordinate system.
- Position and orientation of the support leg coordinate system of the first turning gait in the next gait viewed from the support leg coordinate system of the first gait in the gait The expected next-next landing position / posture is determined to match the gait support leg coordinate system position and orientation). Therefore, the relative position and orientation of the anticipated next-next support leg coordinate system with respect to the current estimated support leg coordinate system shown in Fig. 29 is the next-time gait support leg coordinate system shown in Fig. 12 (the first first turning gait).
- the position and orientation of the next-time gait support leg coordinate system (the support leg coordinate system of the second turning gait) with respect to the next-time gait support leg coordinate system are made the same.
- the process proceeds to S3664, and calculates a predicted next landing position deviation and a predicted next landing direction deviation, which are the positional deviation and the direction deviation of the predicted next landing position / posture from the target route shown in FIG.
- the expected next landing position deviation is the length of the perpendicular drawn from the foot representative point corresponding to the expected next landing position and posture to the target route (Distance between the foot representative point and the target route), and the expected next landing direction deviation.
- the foot 2 corresponding to the tangent direction of the target route at the intersection of the perpendicular and the target route, and the expected next landing position / posture 2 2 (22R in the figure) (the direction in the front-rear direction).
- the flow proceeds to S3668, and the position and orientation of the next time's gait support leg coordinate system and the position and orientation of the next time's gait support leg coordinate system are determined based on the above shift.
- the amount of correction of the position and orientation of the next time's gait support leg coordinate system and the amount of correction of the position and direction of the next time's gait support leg coordinate system are determined by Equations 4, 5, 5, 6 and 7, and the The correction amount is the position and orientation of the predicted next-next support leg coordinate system corresponding to the predicted next landing position and orientation determined in S3662, respectively, and the predicted next-next support leg coordinate system corresponding to the predicted next landing position and posture.
- the next-time gait support leg coordinate system and the next-time gait support leg coordinate system are determined by adding to the position and orientation of.
- FIG. 30 is a flowchart of this processing.
- the amount e where the target ZMP exceeds the allowable range is determined, as in S310 in FIG. 20 of the first embodiment.
- the process proceeds to S3702, and the position of the next time gait support leg coordinate system and the position of the next time gait support leg coordinate system are corrected by an amount obtained by multiplying a predetermined coefficient Ka by e.
- the fourth embodiment described above is an embodiment of the tenth to fourteenth inventions of the present invention, and the gait generation processing and the self-position / posture estimation processing are each a desired gait.
- the trajectory guidance processing and the trajectory guidance correction processing combine these with the determination means and the foot landing position / direction estimation means. It corresponds to target landing position ⁇ provisional orientation determination means and foot target landing position ⁇ orientation correction means.
- the fifth embodiment is the same as the first embodiment except for the trajectory guidance processing of S022 and the trajectory guidance correction processing of S034 in FIG. Accordingly, only the trajectory guidance processing of S 022 and the trajectory guidance correction processing of S 034 of FIG. 9 in the fifth embodiment will be described below.
- the fifth embodiment is an embodiment corresponding to a case where the allowable range of the landing position of the free leg foot 22 is limited, such as walking on a stepping stone.
- FIG. 31 shows trajectory guidance processing of S 0 22 in the fifth embodiment.
- the trajectory guidance process of S022 in the fifth embodiment will be described below in detail with reference to FIG. 31.
- S380 the allowable range of the environment-dependent next landing position and the environment-dependent next- Determine the allowable range of position and orientation.
- this processing is performed by the movement planning unit 222 shown in FIG. 6, and the determined environment-dependent next landing position allowable range and the environment-dependent next landing direction allowable range are determined by the above-described trajectory guidance.
- the orbit guidance part Given to part 220, the orbit guidance part
- the environment-dependent next landing position orientation allowable range determined in S3800 is shown in FIG.
- the allowable range for the next environment-dependent landing position should be the allowable range for the combination of the footprint representative point at the next environment-dependent landing and the next environment-dependent landing.
- the allowable range of the next landing position depending on the environment may be mapped and stored in advance, or may be determined each time from environmental information such as a stepping stone.
- the environment-dependent next landing position allowable range is also set in the same manner as the environment-dependent next landing position allowable range ⁇ Then, proceed to S3802, and the environment-dependent next landing position allowable range, environment-dependent next range are set.
- the permissible range of the next landing position and the self-dependent landing permissible area which is the mechanical constraint condition of the robot 1 itself (the permissible landing area described with reference to FIGS. 18 and 19 in the first embodiment). Determine the position and orientation of the next-time gait support leg coordinate system, and the position and orientation of the next-time gait support leg coordinate system.
- next landing position direction (the position of the representative point of the next time gait support leg coordinate system and the direction of the coordinate system) is set within the allowable range of the environment-dependent next landing position direction and the current estimated support.
- a temporary decision is made within the self-dependent landing allowable area corresponding to the leg coordinate system (the self-dependent landing allowable area for the next landing position).
- the next landing position direction is set at the center of the common area. Is temporarily determined.
- next landing position orientation the position of the representative point in the next and next support leg coordinate system and the foot landing orientation
- the user is asked to enter the next next landing position orientation.
- the dependent landing allowable area is obtained.
- the process proceeds to S3854, and it is determined whether there is a common area between the self-dependent landing permissible area for the next-next landing position and the environment-dependent permissible range for the next-next landing position. If the determination result is YES, the process proceeds to S3856, and the next next landing position is set within the common area of the self-dependent landing allowable area for the next next landing position and the allowable range for the environment-dependent next landing position. Determine the orientation (the position of the representative point in the next and next support leg coordinate system and the orientation of the coordinate system). In this case, the next / next landing position orientation is determined to be approximately the center position and orientation in the common area. As a result, the position and orientation of the next-time gait support leg coordinate system and the next-time gait support leg coordinate system are determined, and the processing of S3802 in FIG. 31 ends.
- the process proceeds to S 3588 and the self-dependent landing permissible area in the next-next landing position direction approaches the environment-dependent next-next landing position permissible range.
- the self-dependent landing permissible area in the next-next landing position direction approaches the environment-dependent next-next landing position permissible range.
- at least one of the currently determined next landing position and orientation (the position of the representative point of the next time gait support leg coordinate system and the coordinate system thereof) Correct at least one of the directions. For example, as shown in the left figure of Fig. 34, if there is no common area between the self-dependent landing allowable area of the next-next landing position and the allowable range of the environment-dependent next-next landing position, As shown in the right figure, the direction of the next landing position is corrected. The correction of the next landing position direction is performed in the common region of the self-dependent landing allowable region of the next landing position direction and the allowable range of the environment-dependent next landing position direction.
- the position and orientation of the next time's gait support leg coordinate system and the position and orientation of the next and next time's gait support leg coordinate system are corrected so as not to deviate as much as possible from the value determined in S3902. .
- the fifth embodiment described above is an embodiment of the fifteenth to twenty-seventh inventions of the present invention.
- the gait generation processing and the self-position / posture estimation processing correspond to the desired gait determining means and the foot landing position / orientation determining means, respectively, and the trajectory guidance processing and the trajectory guidance correction processing combine them to allow landing. It corresponds to the range setting means and means for determining the foot target landing position and direction.
- FIG. Fig. 36 shows the trajectory planning process (the process of determining the footprint of the mouth pot) in the sixth embodiment.
- This processing is executed by the movement planning unit 222 shown in FIG. 6.
- the processing is the same as that of the first embodiment except for the processing of the movement planning unit 222.
- initialization is performed in S400. Specifically, the current support leg coordinate system Into the coordinate system of the 0th step support leg, and set the number of steps count nn to 0. Also, the target gait is initialized. The initial state of the desired gait is usually a gait in the upright state of the mouth port 1.
- a target route (target footprint route) is determined from a predetermined destination and map information.
- the process proceeds to S4006 via S404, and executes the trajectory guidance subroutine shown in FIG. 13 (the trajectory guidance subroutine in the first embodiment).
- the estimated supporting leg coordinate system in the subroutine processing is the nnth supporting leg coordinate system
- the next gait supporting leg coordinate system is the nn + 1th supporting leg coordinate system
- the process proceeds to S410, where the trajectory guidance shown in FIG.
- the correction subroutine is executed, and then the process returns to S 4 08 through S 4 0 2.
- the trajectory guidance correction subroutine as in the case of the trajectory guidance subroutine of S406, the estimated support leg coordinate system in the trajectory guidance correction subroutine processing is changed to the nnth support leg coordinate system, and the next time the gait is supported.
- the subroutine process is executed by replacing the leg coordinate system with the nn + 1th support leg coordinate system and the next-time gait support leg coordinate system with the nn + 2th support leg coordinate system.
- the above is the trajectory planning process in the sixth embodiment. This processing is executed before the robot 1 moves, and the result of this processing is passed to the gait generator 200.
- the sixth embodiment described above is an embodiment of the twenty-eighth to thirty-fourth inventions.
- the means of the twenty-eighth invention to the thirty-fourth invention are constituted by the processing of the flowchart of FIG.
- the allowable range of the target ZMP and the self-dependent landing allowable area are satisfied by the trajectory planning process.
- the processing of S 0 22 in FIG. 9 is omitted, and the columns of the supporting leg coordinate system determined by the movement planning unit 222 are sequentially substituted into the next supporting leg coordinate system and the next next supporting leg coordinate system in order. But it is good.
- the trajectory guidance subroutine of S 406 and the trajectory guidance correction subroutine of S 418 in FIG. 36 in addition to those described in the first embodiment, the second to fourth embodiments May be executed.
- the trajectory guidance subroutine of S406 and the trajectory of S410 In the processing of the guidance correction subroutine the processing described in the fifth embodiment may be executed.
- one embodiment of the 35th to 41st inventions of the present invention is constituted.
- the trajectory planning process before the movement of the mouth port 1, the trajectory planning process satisfies not only the allowable range of the target ZMP and the self-dependent landing allowable area but also the allowable range of the environment-dependent landing position and orientation.
- the processing of S022 in FIG. 9 in the fifth embodiment may be omitted.
- a part of the trajectory guidance processing is performed before moving. It can be interpreted as being executed.
- the current estimated support leg when moving to the target position while avoiding an obstacle or the like newly found during the movement, is set according to the current position and orientation of the estimated support leg coordinate system. From the position and orientation of the coordinate system, a target route that moves to the destination while avoiding obstacles may be recreated.
- each foot 2 2 The foot representative point is set at the center of the left and right of the foot 22.
- the target path for the left leg (target footprint path of the left foot) and the right leg May be set, and the landing position / posture of the free leg foot 22 may be determined so that each foot representative point asymptotically approaches the corresponding target footprint route.
- FIG. 37 shows an example (seventh embodiment) in which the above-described target route is set for each of the left and right feet 22 in the second embodiment. The same may be applied to other embodiments.
- a method of changing the landing position / posture of the swing leg foot 22 so that the estimated body position / posture follows the target body position / posture is also considered.
- the target body position swings back and forth and left and right to satisfy the dynamic equilibrium condition, so the instantaneous movement direction of the target body position is long-term movement. Does not match direction.
- the desired gait is modified, the desired body position and posture also changes. That is, since the desired body position and posture also depends on the current walking state, the trajectory of the desired body position and posture is global. The target trajectory cannot be set absolutely on the coordinate system.
- the target route may be a marker set on the floor etc., a white line drawn on the floor, a power line, an antenna, or a point separated from the wall by a predetermined distance, in addition to the route set based on the stored map information. It may be a route consisting of a set of (for moving along a wall).
- the notation of the estimated self-position does not have to be a position on the global coordinate system. It may be a relative positional relationship with the environment, such as a white line drawn on the floor or a distance from a wall.
- the trajectory guidance processing other than at the gait switching to correct the gait parameters such as the landing position / posture.
- the landing position of the free leg foot 22 of the gait this time can hardly be changed immediately before landing.In this case, the landing position of the free leg foot 22 of the next time gait is mainly changed.
- the landing position / posture of the swing leg foot 22 of this time's gait cannot be made in time, the landing position / posture of the swing leg foot 22 of this time's gait is not corrected, and the swing leg of the next time's gait is not changed. It is preferable to correct only the landing position and posture of the foot 22.
- the target ZMP trajectory or free leg foot trajectory cannot be changed in the program, or if the target landing position is changed.
- This refers to cases where the physical parameters of the mouth pot are modified, such as the acceleration pattern of the foot, the joint speed, the force (torque), or the target ZMP trajectory exceeding the limit.
- At least one of the predetermined lengths LrO, Lrl, LqO and Lql is reset (usually Lq0 and Lql are lengthened and LrO and Lrl are shortened), and the next and next gaits are set.
- the position and orientation of the supporting leg coordinate system It may be decided again.
- the target gait is determined based on the landing position / posture (orientation) of the foot 22 which is hardly affected by the swing of the upper body 3. Therefore, it is possible to perform a trajectory guidance with high tracking accuracy and tracking responsiveness to the target route.
- trajectory guidance path guidance
- the legged mobile robot such as the bipedal mobile robot is moved along the required target route, or the landing position of the foot, such as a stepping stone, is limited. It is useful as a way to move the lopot smoothly when it is moved in the environment.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/511,360 US7319919B2 (en) | 2002-04-26 | 2003-04-28 | Control device and footstep determination device for legged mobile robot |
EP03720961.6A EP1504858B1 (en) | 2002-04-26 | 2003-04-28 | Control device and footstep determination device for legged mobile robot |
JP2004501991A JP4225969B2 (ja) | 2002-04-26 | 2003-04-28 | 脚式移動ロボットの制御装置および足跡決定装置 |
KR1020047017060A KR100960552B1 (ko) | 2002-04-26 | 2003-04-28 | 다리식 이동 로봇의 제어장치 및 족적결정 장치 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002-127682 | 2002-04-26 | ||
JP2002127682 | 2002-04-26 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003090982A1 true WO2003090982A1 (fr) | 2003-11-06 |
Family
ID=29267660
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/005450 WO2003090982A1 (fr) | 2002-04-26 | 2003-04-28 | Dispositif de commande et dispositif de determination de pas pour robot mobile sur jambes |
Country Status (5)
Country | Link |
---|---|
US (1) | US7319919B2 (ja) |
EP (1) | EP1504858B1 (ja) |
JP (1) | JP4225969B2 (ja) |
KR (1) | KR100960552B1 (ja) |
WO (1) | WO2003090982A1 (ja) |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006247769A (ja) * | 2005-03-09 | 2006-09-21 | Toyota Motor Corp | 脚式ロボットとその動作制御方法 |
WO2006132330A1 (ja) * | 2005-06-08 | 2006-12-14 | Nagoya Institute Of Technology | 脚式移動体の平衡点安定化装置 |
JP2007007802A (ja) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | 脚式ロボットとその制御方法 |
JP2007007793A (ja) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | 脚式ロボットの歩容データ作成方法と歩容データ作成装置 |
JP2009214255A (ja) * | 2008-03-12 | 2009-09-24 | Toyota Motor Corp | 脚式ロボット、及びその制御方法 |
JP2009223628A (ja) * | 2008-03-17 | 2009-10-01 | Toyota Motor Corp | 移動ロボット及び環境地図生成方法 |
WO2012011182A1 (ja) * | 2010-07-22 | 2012-01-26 | トヨタ自動車株式会社 | 二足歩行ロボット及び二足歩行ロボットの着地タイミング決定方法 |
JP2013141715A (ja) * | 2012-01-10 | 2013-07-22 | Honda Motor Co Ltd | 脚式移動ロボットの脚体運動軌道生成装置。 |
JP2018513496A (ja) * | 2015-04-22 | 2018-05-24 | マサチューセッツ インスティテュート オブ テクノロジー | 足接地位置追随装置、その動きを制御する方法、コンピュータ実行可能なプログラム、及びそれを格納したコンピュータ読取可能な非一時的な情報記録媒体 |
CN111360844A (zh) * | 2020-03-24 | 2020-07-03 | 北京理工大学 | 刚度主动控制的末段肢杆及包含该末段肢杆的仿生机器人 |
CN113894795A (zh) * | 2021-11-17 | 2022-01-07 | 青岛九维华盾科技研究院有限公司 | 一种工业机器人外部轴位置优化方法 |
US11599128B2 (en) | 2020-04-22 | 2023-03-07 | Boston Dynamics, Inc. | Perception and fitting for a stair tracker |
US11660752B2 (en) | 2019-04-12 | 2023-05-30 | Boston Dynamics, Inc. | Perception and fitting for a stair tracker |
US12077229B2 (en) | 2020-04-22 | 2024-09-03 | Boston Dynamics, Inc. | Stair tracking for modeled and perceived terrain |
US12094195B2 (en) | 2020-04-20 | 2024-09-17 | Boston Dynamics, Inc. | Identifying stairs from footfalls |
Families Citing this family (49)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE60236546D1 (de) * | 2001-12-28 | 2010-07-08 | Honda Motor Co Ltd | Gangerzeugungsvorrichtung für beweglichen roboter mit beinen |
JP3679105B2 (ja) * | 2001-12-28 | 2005-08-03 | 本田技研工業株式会社 | 脚式移動ロボットの歩容生成装置 |
US7379789B2 (en) * | 2003-06-27 | 2008-05-27 | Honda Motor Co., Ltd. | Gait generating device of legged mobile robot and legged mobile robot controller |
JP4592276B2 (ja) * | 2003-10-24 | 2010-12-01 | ソニー株式会社 | ロボット装置のためのモーション編集装置及びモーション編集方法、並びにコンピュータ・プログラム |
JP4485279B2 (ja) * | 2004-08-02 | 2010-06-16 | 本田技研工業株式会社 | 脚式移動ロボットの歩容生成装置および制御装置 |
JP2006068872A (ja) * | 2004-09-03 | 2006-03-16 | Honda Motor Co Ltd | 脚式移動ロボット |
JP2006136962A (ja) * | 2004-11-11 | 2006-06-01 | Hitachi Ltd | 移動ロボット |
JP2007007801A (ja) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | 脚式ロボットとその制御方法 |
JP4641252B2 (ja) * | 2005-12-12 | 2011-03-02 | 本田技研工業株式会社 | 脚式移動ロボットの歩容生成装置 |
JP4779982B2 (ja) * | 2007-02-02 | 2011-09-28 | トヨタ自動車株式会社 | 移動体及び移動体の制御方法 |
KR100927572B1 (ko) * | 2007-02-28 | 2009-11-23 | 주식회사 싸인텔레콤 | 칼만 필터를 이용한 2족보행로봇의 균형제어시스템 및 그제어방법 |
US9168963B2 (en) * | 2007-12-28 | 2015-10-27 | The Invention Science Fund I, Llc | Systems and methods employing limbed vehicle and spaced posts |
US20090166105A1 (en) * | 2007-12-28 | 2009-07-02 | Searete Llc | Limbed vehicles, systems and methods using same, and post networks on which limbed vehicles travel |
US9162719B2 (en) * | 2007-12-28 | 2015-10-20 | The Invention Science Fund I, Llc | Limbed vehicles, systems and methods using same, and post networks on which limbed vehicles travel |
KR100953431B1 (ko) * | 2008-02-28 | 2010-04-20 | 숭실대학교산학협력단 | 지엠피의 상태추정을 통한 2족보행로봇의 균형제어기법 |
US7905303B2 (en) * | 2009-02-10 | 2011-03-15 | Honda Motor Co., Ltd. | Legged locomotion robot |
JP5219956B2 (ja) * | 2009-07-23 | 2013-06-26 | 本田技研工業株式会社 | 移動体の制御装置 |
JP5284923B2 (ja) * | 2009-10-28 | 2013-09-11 | 本田技研工業株式会社 | 脚式移動ロボットの制御装置 |
US9120512B2 (en) * | 2010-04-22 | 2015-09-01 | Honda Motor Co., Ltd. | Control device and gait generating device for bipedal mobile robot |
KR101305617B1 (ko) * | 2012-01-02 | 2013-09-09 | 현대자동차주식회사 | 착용식 로봇의 양중제어방법 및 양중제어시스템 |
KR101985790B1 (ko) * | 2012-02-21 | 2019-06-04 | 삼성전자주식회사 | 보행 로봇 및 그 제어 방법 |
KR101945734B1 (ko) * | 2012-08-16 | 2019-02-11 | 한화에어로스페이스 주식회사 | 로봇 시스템 및 그의 동작 방법 |
US10081098B1 (en) | 2014-08-25 | 2018-09-25 | Boston Dynamics, Inc. | Generalized coordinate surrogates for integrated estimation and control |
US9387588B1 (en) | 2014-08-25 | 2016-07-12 | Google Inc. | Handling gait disturbances with asynchronous timing |
US9618937B1 (en) | 2014-08-25 | 2017-04-11 | Google Inc. | Slip detection using robotic limbs |
US9499219B1 (en) * | 2014-08-25 | 2016-11-22 | Google Inc. | Touch-down sensing for robotic devices |
US9446518B1 (en) * | 2014-11-11 | 2016-09-20 | Google Inc. | Leg collision avoidance in a robotic device |
US9499218B1 (en) | 2014-12-30 | 2016-11-22 | Google Inc. | Mechanically-timed footsteps for a robotic device |
JP6126152B2 (ja) * | 2015-03-16 | 2017-05-10 | ファナック株式会社 | 曲線部を有する軌道を生成するロボットの軌道生成装置 |
US9594377B1 (en) * | 2015-05-12 | 2017-03-14 | Google Inc. | Auto-height swing adjustment |
US9586316B1 (en) | 2015-09-15 | 2017-03-07 | Google Inc. | Determination of robotic step path |
US9868210B1 (en) | 2015-12-30 | 2018-01-16 | Google Inc. | Methods and systems for planning a body position of a robotic device |
US9789919B1 (en) | 2016-03-22 | 2017-10-17 | Google Inc. | Mitigating sensor noise in legged robots |
US10828767B2 (en) | 2016-11-11 | 2020-11-10 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
US10821614B2 (en) | 2016-11-11 | 2020-11-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
JP7069155B2 (ja) * | 2017-06-29 | 2022-05-17 | 株式会社ソニー・インタラクティブエンタテインメント | ロボットの制御装置、制御方法および制御プログラム |
JP6823569B2 (ja) * | 2017-09-04 | 2021-02-03 | 本田技研工業株式会社 | 目標zmp軌道の生成装置 |
CN109693236B (zh) * | 2017-10-23 | 2021-03-02 | 深圳市优必选科技有限公司 | 足式机器人着地控制方法及装置 |
US11241801B2 (en) | 2018-12-31 | 2022-02-08 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
EP3931068A4 (en) * | 2019-02-25 | 2023-02-08 | Agility Robotics, Inc. | METHOD AND SYSTEM FOR IMPROVING LEGGED MOVEMENT IN A ROBOT |
US11292126B2 (en) * | 2019-10-17 | 2022-04-05 | Disney Enterprises, Inc. | Robots with robust bipedal locomotion supported with non-conventional physics |
FR3106975B1 (fr) * | 2020-02-10 | 2023-10-27 | Wandercraft | Procédés de génération d’une trajectoire d’un exosquelette et de mise en mouvement de l’exosquelette |
US11407109B2 (en) | 2020-04-16 | 2022-08-09 | Boston Dynamics, Inc. | Global arm path planning with roadmaps and precomputed domains |
US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
US11738452B1 (en) * | 2022-07-29 | 2023-08-29 | Sarcos Corp. | Sole with various compliant regions for robots |
US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1083120A2 (en) | 1999-09-07 | 2001-03-14 | Sony Corporation | Leg-movement-type robot and its hip joint device |
EP1120203A1 (en) | 1998-04-20 | 2001-08-01 | Honda Giken Kogyo Kabushiki Kaisha | Controller for legged mobile robot |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3273443B2 (ja) | 1992-05-22 | 2002-04-08 | 本田技研工業株式会社 | ロボットのリンクなどの軌道生成方法及び装置 |
JP3233450B2 (ja) | 1992-05-22 | 2001-11-26 | 本田技研工業株式会社 | 指定時刻到達関数発生器 |
DE69725764T2 (de) * | 1996-07-25 | 2004-08-05 | Honda Giken Kogyo K.K. | Vorrichtung zur nachbildung des ganges für einen zweibeinigen robotor |
JP3663034B2 (ja) | 1996-07-25 | 2005-06-22 | 本田技研工業株式会社 | 脚式移動ロボットの歩容生成装置 |
JP3628826B2 (ja) * | 1996-12-24 | 2005-03-16 | 本田技研工業株式会社 | 脚式移動ロボットの遠隔制御システム |
EP1514777B1 (en) * | 1997-01-31 | 2009-03-11 | Honda Giken Kogyo Kabushiki Kaisha | Control system of legged mobile robot |
US6353773B1 (en) * | 1997-04-21 | 2002-03-05 | Honda Giken Kogyo Kabushiki Kaissha | Remote control system for biped locomotion robot |
JP3726009B2 (ja) * | 2000-05-19 | 2005-12-14 | 本田技研工業株式会社 | 脚式移動ロボットの床形状推定装置 |
JP3726032B2 (ja) | 2001-04-27 | 2005-12-14 | 本田技研工業株式会社 | 脚式移動ロボットの目標運動生成装置 |
WO2003020476A1 (fr) * | 2001-08-29 | 2003-03-13 | Honda Giken Kogyo Kabushiki Kaisha | Dispositif de commande a distance pour robot mobile bipede |
JP4246638B2 (ja) * | 2002-01-18 | 2009-04-02 | 本田技研工業株式会社 | 脚式移動ロボットの制御装置 |
DE60332233D1 (de) * | 2002-04-26 | 2010-06-02 | Honda Motor Co Ltd | System zur selbstbewertung der lage eines mobilen roboters mit beinen |
-
2003
- 2003-04-28 US US10/511,360 patent/US7319919B2/en active Active
- 2003-04-28 EP EP03720961.6A patent/EP1504858B1/en not_active Expired - Lifetime
- 2003-04-28 WO PCT/JP2003/005450 patent/WO2003090982A1/ja active Application Filing
- 2003-04-28 KR KR1020047017060A patent/KR100960552B1/ko active IP Right Grant
- 2003-04-28 JP JP2004501991A patent/JP4225969B2/ja not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1120203A1 (en) | 1998-04-20 | 2001-08-01 | Honda Giken Kogyo Kabushiki Kaisha | Controller for legged mobile robot |
EP1083120A2 (en) | 1999-09-07 | 2001-03-14 | Sony Corporation | Leg-movement-type robot and its hip joint device |
Non-Patent Citations (1)
Title |
---|
See also references of EP1504858A4 |
Cited By (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006247769A (ja) * | 2005-03-09 | 2006-09-21 | Toyota Motor Corp | 脚式ロボットとその動作制御方法 |
JP4492395B2 (ja) * | 2005-03-09 | 2010-06-30 | トヨタ自動車株式会社 | 脚式ロボットとその動作制御方法 |
WO2006132330A1 (ja) * | 2005-06-08 | 2006-12-14 | Nagoya Institute Of Technology | 脚式移動体の平衡点安定化装置 |
US8024070B2 (en) | 2005-06-08 | 2011-09-20 | Nagoya Institute Of Technology | Passive walking legged robot |
JP4815611B2 (ja) * | 2005-06-08 | 2011-11-16 | 国立大学法人 名古屋工業大学 | 受動歩行脚式ロボット |
JP2007007802A (ja) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | 脚式ロボットとその制御方法 |
JP2007007793A (ja) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | 脚式ロボットの歩容データ作成方法と歩容データ作成装置 |
JP4696728B2 (ja) * | 2005-07-01 | 2011-06-08 | トヨタ自動車株式会社 | 脚式ロボットとその制御方法 |
JP2009214255A (ja) * | 2008-03-12 | 2009-09-24 | Toyota Motor Corp | 脚式ロボット、及びその制御方法 |
JP2009223628A (ja) * | 2008-03-17 | 2009-10-01 | Toyota Motor Corp | 移動ロボット及び環境地図生成方法 |
WO2012011182A1 (ja) * | 2010-07-22 | 2012-01-26 | トヨタ自動車株式会社 | 二足歩行ロボット及び二足歩行ロボットの着地タイミング決定方法 |
CN103003031A (zh) * | 2010-07-22 | 2013-03-27 | 丰田自动车株式会社 | 双脚行走机器人以及双脚行走机器人的着地时机确定方法 |
JP5282852B2 (ja) * | 2010-07-22 | 2013-09-04 | トヨタ自動車株式会社 | 二足歩行ロボット及び二足歩行ロボットの着地タイミング決定方法 |
US8565921B2 (en) | 2010-07-22 | 2013-10-22 | Toyota Jidosha Kabushiki Kaisha | Biped walking robot |
JP2013141715A (ja) * | 2012-01-10 | 2013-07-22 | Honda Motor Co Ltd | 脚式移動ロボットの脚体運動軌道生成装置。 |
JP2018513496A (ja) * | 2015-04-22 | 2018-05-24 | マサチューセッツ インスティテュート オブ テクノロジー | 足接地位置追随装置、その動きを制御する方法、コンピュータ実行可能なプログラム、及びそれを格納したコンピュータ読取可能な非一時的な情報記録媒体 |
US11660752B2 (en) | 2019-04-12 | 2023-05-30 | Boston Dynamics, Inc. | Perception and fitting for a stair tracker |
CN111360844A (zh) * | 2020-03-24 | 2020-07-03 | 北京理工大学 | 刚度主动控制的末段肢杆及包含该末段肢杆的仿生机器人 |
US12094195B2 (en) | 2020-04-20 | 2024-09-17 | Boston Dynamics, Inc. | Identifying stairs from footfalls |
US11599128B2 (en) | 2020-04-22 | 2023-03-07 | Boston Dynamics, Inc. | Perception and fitting for a stair tracker |
US12077229B2 (en) | 2020-04-22 | 2024-09-03 | Boston Dynamics, Inc. | Stair tracking for modeled and perceived terrain |
CN113894795A (zh) * | 2021-11-17 | 2022-01-07 | 青岛九维华盾科技研究院有限公司 | 一种工业机器人外部轴位置优化方法 |
CN113894795B (zh) * | 2021-11-17 | 2023-11-28 | 青岛九维华盾科技研究院有限公司 | 一种工业机器人外部轴位置优化方法 |
Also Published As
Publication number | Publication date |
---|---|
US7319919B2 (en) | 2008-01-15 |
US20050228539A1 (en) | 2005-10-13 |
EP1504858A4 (en) | 2009-04-01 |
EP1504858B1 (en) | 2014-06-04 |
KR20050003386A (ko) | 2005-01-10 |
EP1504858A1 (en) | 2005-02-09 |
JPWO2003090982A1 (ja) | 2005-09-02 |
KR100960552B1 (ko) | 2010-06-03 |
JP4225969B2 (ja) | 2009-02-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2003090982A1 (fr) | Dispositif de commande et dispositif de determination de pas pour robot mobile sur jambes | |
US9120512B2 (en) | Control device and gait generating device for bipedal mobile robot | |
JP4912891B2 (ja) | 脚式移動ロボットおよびその制御プログラム | |
JP5053644B2 (ja) | 脚式移動ロボットおよびその制御プログラム | |
JP4199236B2 (ja) | 脚式移動ロボットの歩容生成装置 | |
JP5284923B2 (ja) | 脚式移動ロボットの制御装置 | |
EP1502711B1 (en) | Control device of legged mobile robot | |
US7715944B2 (en) | Gait generating device of mobile robot | |
US8793019B2 (en) | Control device for legged mobile robot | |
EP2110210B1 (en) | System for estimating attitude of leg type moving robot itself | |
US7873436B2 (en) | Gait generator for mobile robot | |
US7765030B2 (en) | Gait generator for mobile robot | |
US7715945B2 (en) | Gait producing device for moving robot | |
JPH05337849A (ja) | 脚式移動ロボットの姿勢安定化制御装置 | |
JP5232120B2 (ja) | 移動体の制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): JP KR US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): DE FR GB |
|
DFPE | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2004501991 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 10511360 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1020047017060 Country of ref document: KR |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2003720961 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 1020047017060 Country of ref document: KR |
|
WWP | Wipo information: published in national office |
Ref document number: 2003720961 Country of ref document: EP |