WO2004028757A1 - 歩行ロボットの歩行歩容生成装置 - Google Patents
歩行ロボットの歩行歩容生成装置 Download PDFInfo
- Publication number
- WO2004028757A1 WO2004028757A1 PCT/JP2003/011842 JP0311842W WO2004028757A1 WO 2004028757 A1 WO2004028757 A1 WO 2004028757A1 JP 0311842 W JP0311842 W JP 0311842W WO 2004028757 A1 WO2004028757 A1 WO 2004028757A1
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- Prior art keywords
- walking
- zmp
- robot
- gravity
- center
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Definitions
- the present invention relates to a motion generation device such as a bipedal walking robot and a humanoid robot, and for example, a future Zero-Moment Point (Zero-Moment Point, sometimes abbreviated as “ZMP” in this specification) several seconds ahead.
- the present invention relates to a walking gait generator for a walking robot that generates a walking motion in real time using what has been foreseen or planned. Background art
- FIG. 9 shows an example of a bipedal walking robot to which the present invention is applied.
- the robot is not limited to such a humanoid, and if it has two legs, it has a bird shape. And various shapes such as dinosaurs.
- the technical problem of such a robot is that the center of gravity is located at a high position despite having only a small foot area, and it is very easy to overturn, especially when supporting the body with one leg. You.
- ilj dynamics of such a biped robot is expressed by a complicated equation of motion, and its approximate behavior can be approximated by a table and bogie model as shown in Fig.10. This is because a bogie with a mass M runs horizontally on a table with negligible mass. The pedestal of the table is smaller than the travel range of the bogie, so when the bogie reaches the end of the table, the whole becomes You will fall.
- this model uses the horizontal displacement of the center of gravity of the biped Is replaced with a table support.
- Z h is the height of the center of gravity from the floor
- X is the horizontal displacement of the center of gravity. Since the position of the center of gravity of the robot almost coincides with the waist, the movement of the bogie can be considered to correspond to the movement of the waist.
- Zero-Moment Point ZMP
- Equation 2 TZMP — Mg z-p)-Mxz h ⁇ 0
- the motion p (t) of the ZMP can be easily calculated under the given bogie motion pattern x (t).
- the generation of a walking pattern is to find the motion of the center of gravity to realize this from the ZMP target trajectory determined from the landing position of the leg.
- this calculation method Conventionally, the following two methods have been known as this calculation method.
- Equation 2 A method that can easily and quickly calculate the center-of-gravity motion that achieves the target ZMP by solving the three-term equation obtained by discretizing Equation 2 (for example, Nishiwaki, Kitagawa, Sugihara, Kagami et al .: ZMP derived linear High-speed generation of dynamic stable orbit of humanoid by decoupling and discretization-sensory behavior Realization with integrated whole-body humanoid H6, The 18th Annual Conference of the Robotics Society of Japan, PP.721-72
- the present invention solves the above-described problems by creating a walking motion in real time using, for example, a foreseeable or planned future ZMP several seconds ahead, and a gait generating a gait using a simple method.
- An object of the present invention is to provide a walking gait generating device for a robot. Disclosure of the invention
- the walking gait generating device of the walking robot using the preview information of the ZMP is a walking gait generating device of a walking robot that generates a walking motion from a target trajectory of the ZMP.
- the amount of drive of the center of gravity at the moment is calculated in real time based on the feedback of the motion state of the center of gravity at the moment and the forecast or planned future ZMP trajectory. It is characterized by the fact that
- the walking gait generating device of the walking robot using the preview information of the ZMP according to the present invention is characterized in that the walking robot is a bipedal walking robot.
- the walking gait generation device of the walking robot using the preview information of the ZMP of the present invention is capable of generating a future ZMP trajectory to be predicted or planned in addition to a basic model of a table and a trolley model and a detailed robot. It is characterized in that it is modified based on a dynamic model.
- FIG. 1 is a block diagram showing trajectory generation based on preview control according to the embodiment of the present invention.
- FIG. 2 is a diagram showing the motion of the center of gravity calculated by the method according to the embodiment of the present invention and the resulting ZMP.
- FIG. 3 is a diagram showing a preview control gain used in the embodiment of the present invention.
- FIG. 4 shows the calculated motion of the center of gravity and the resulting ZMP when the preview time is short.
- FIG. 5 is a diagram showing a state in which a bipedal walking robot is walking (simulation). .
- Fig. 6 is a diagram showing the difference between ZMP (dashed line) based on the table and trolley model and ZMP (thin solid line) based on the detailed model that takes into account the movements of the limbs.
- FIG. 7 is a diagram showing a configuration of a ZMP correction device by preview control according to the embodiment of the present invention.
- FIG. 8 is a diagram showing the trajectory of ZMP based on the modified detailed model.
- FIG. 9 is a diagram showing an example of a bipedal walking robot targeted by the present invention.
- Fig. 10 is a diagram showing a table / trolley model that approximates the dynamics of a biped robot.
- Equation 2 is expressed as the following dynamic system.
- Equation 6 the control input that minimizes the evaluation function of Equation 5 is given by Equation 6 below.
- N corresponds to how far ahead the road condition is to be seen.
- the characteristics of the preview control can be adjusted by the parameters Q and R in Equation 5. If Q is made larger than I, waist movement that can match ZMP to the target value as much as possible can be obtained, but waist movement will be intense movement with a large differential value of acceleration. Conversely, if R is made larger than Q, the hip movement becomes smoother, but the error from the ZMP target trajectory increases.
- the feedback gain required for preview control is calculated as follows.
- Figure 1 shows a block diagram of trajectory generation based on preview control. Tracking of the ZMP output to the target value is realized by the preview control system. At this time, the state x k + 1 of Equation 4 calculated at the same time becomes the motion pattern of the required center of gravity.
- FIG. 2 shows the motion of the center of gravity calculated by the method according to the embodiment of the present invention and the ZMP obtained as a result.
- the upper part of Fig. 2 shows the movement direction in the advancing direction, and the lower part of Fig. 2 shows the movement pattern in the left-right direction.It can be seen that appropriate center-of-gravity movements are generated for the stepped and rectangular target ZMP, respectively. .
- Fig. 3 shows the preview control gain used.
- this method requires that the ZMP to the future be determined to some extent. For example, in the case of a robot walking at an average speed of 2 km / h, a preview time of 1.6 seconds is equivalent to seeing 0.89 m ahead. Conversely, it is reasonable from our intuition that it is not possible to continue walking with peace of mind unless the front is visible to this extent.
- the desired walking can be realized by driving the robot's center of gravity or waist displacement to match the trajectory calculated by the above method.
- Figure 5 shows a state in which a bipedal walking robot weighing 62.5 kg is walking based on the calculated center-of-gravity trajectory (simulation).
- Table 6 shows the difference between ZMP (dashed line) based on the table-trolley model and ZMP (thin solid line) based on the detailed model that takes into account the movement of the limbs. If the ZMP error becomes large, walking may become unstable. To correct this ZMP error, exactly the same predictive control method can be used.
- FIG. 7 shows the configuration of a ZMP correction device by preview control according to the present invention.
- Figure 8 shows the trajectory of the ZMP based on the detailed model modified based on this. As is evident from the figure, using predictive control enables a robot with a complicated structure to produce a stable walking motion that achieves the desired ZMP.
- the correction time is not so large, so the preview time may be short, and in the example of FIG. 8, it is set to 0.75 (s).
- the present invention has the following excellent effects as compared with the conventional technology.
- the present invention allows the trajectory of the center of gravity to be obtained continuously and instantaneously, so that the trouble of calculating and connecting the trajectory every several steps as in the conventional technology 2 is unnecessary. As a result, the program is significantly simplified.
- the present invention does not require any planning of a typical gait in advance, and can freely create an appropriate center of gravity trajectory simply by giving an arbitrary ZMP pattern. be able to. _-. Industrial availability
- the present invention is suitable as a motion generating device for a bipedal walking bot that creates a walking motion in real time, a humanoid robot, and the like.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/529,252 US20050267630A1 (en) | 2002-09-26 | 2003-09-17 | Walking gait producing device for walking robot |
AU2003264470A AU2003264470A1 (en) | 2002-09-26 | 2003-09-17 | Walking gait producing device for walking robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002-281656 | 2002-09-26 | ||
JP2002281656A JP3834629B2 (ja) | 2002-09-26 | 2002-09-26 | 歩行ロボットの歩行歩容生成装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004028757A1 true WO2004028757A1 (ja) | 2004-04-08 |
Family
ID=32040517
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/011842 WO2004028757A1 (ja) | 2002-09-26 | 2003-09-17 | 歩行ロボットの歩行歩容生成装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20050267630A1 (ja) |
JP (1) | JP3834629B2 (ja) |
AU (1) | AU2003264470A1 (ja) |
WO (1) | WO2004028757A1 (ja) |
Cited By (3)
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CN107450555A (zh) * | 2017-08-30 | 2017-12-08 | 唐开强 | 一种基于深度强化学习的六足机器人实时步态规划方法 |
CN107562052A (zh) * | 2017-08-30 | 2018-01-09 | 唐开强 | 一种基于深度强化学习的六足机器人步态规划方法 |
CN111291718A (zh) * | 2020-02-28 | 2020-06-16 | 上海商汤智能科技有限公司 | 行为预测方法及装置、步态识别方法及装置 |
Families Citing this family (21)
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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 |
JP4971977B2 (ja) * | 2004-03-31 | 2012-07-11 | 本田技研工業株式会社 | 角運動量の変化率に基づいて脚式ロボットを制御する方法 |
JP4548135B2 (ja) | 2005-02-03 | 2010-09-22 | トヨタ自動車株式会社 | 脚式ロボットとその制御方法 |
US7835822B2 (en) * | 2005-03-30 | 2010-11-16 | Honda Motor Co., Ltd. | Systems and methods for controlling a legged robot using a two-phase disturbance response strategy |
JP2007007797A (ja) * | 2005-07-01 | 2007-01-18 | Toyota Motor Corp | 歩行ロボット |
KR100709556B1 (ko) | 2005-10-19 | 2007-04-20 | 한국과학기술연구원 | 인간형 로봇의 보행 제어 방법 |
JP4591419B2 (ja) * | 2006-07-18 | 2010-12-01 | トヨタ自動車株式会社 | ロボットとその制御方法 |
KR100958114B1 (ko) * | 2007-12-17 | 2010-05-18 | 한국과학기술연구원 | 인간형 로봇의 보행 안정화 및 자세 제어 방법 |
KR100985713B1 (ko) | 2008-04-29 | 2010-10-06 | 한국과학기술연구원 | 휴머노이드 로봇의 보행패턴 생성방법 |
EP2238894B1 (en) * | 2009-04-07 | 2011-11-02 | Syco Di Hedvig Haberl & C. S.A.S. | System for controlling an exoskeleton haptic device for rehabilitation purposes, and corresponding exoskeleton haptic device |
CN101950176B (zh) * | 2010-09-02 | 2014-12-10 | 北京理工大学 | 一种机器人自主进行zmp标定的方法 |
KR20130078886A (ko) * | 2012-01-02 | 2013-07-10 | 현대자동차주식회사 | 보행로봇의 균형제어방법 |
JP5807591B2 (ja) * | 2012-03-06 | 2015-11-10 | トヨタ自動車株式会社 | 脚式歩行ロボットおよびその重心軌道生成方法 |
JP5803751B2 (ja) * | 2012-03-07 | 2015-11-04 | トヨタ自動車株式会社 | 重心軌道生成装置、その生成方法及びプログラム |
JP6015474B2 (ja) * | 2013-02-05 | 2016-10-26 | トヨタ自動車株式会社 | 脚式ロボットの制御方法および脚式ロボット |
US9594377B1 (en) * | 2015-05-12 | 2017-03-14 | Google Inc. | Auto-height swing adjustment |
CN105269577B (zh) * | 2015-06-26 | 2017-06-13 | 浙江大学 | 仿人双足机器人步态切换控制系统及控制方法 |
CN105511465B (zh) * | 2015-12-02 | 2017-08-04 | 歌尔股份有限公司 | 一种双足机器人的步态控制方法和装置 |
CN108345211A (zh) * | 2017-01-23 | 2018-07-31 | 深圳市祈飞科技有限公司 | 双足仿人机器人及其非线性步态规划方法以及控制方法 |
US11550335B2 (en) * | 2018-11-28 | 2023-01-10 | Ubtech Robotics Corp Ltd | Biped robot and its moving method and apparatus |
CN109634100B (zh) * | 2018-12-30 | 2021-11-02 | 深圳市优必选科技有限公司 | 仿人机器人行走加速度补偿方法、装置及仿人机器人 |
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EP1018467A1 (en) * | 1996-07-25 | 2000-07-12 | Honda Giken Kogyo Kabushiki Kaisha | Gait generating device for leg type moving robot |
JP2002326173A (ja) * | 2001-04-27 | 2002-11-12 | Honda Motor Co Ltd | 脚式移動ロボットの動作生成装置 |
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JP3615702B2 (ja) * | 1999-11-25 | 2005-02-02 | ソニー株式会社 | 脚式移動ロボットの動作制御装置及び動作制御方法、並びに、脚式移動ロボット |
JP4480843B2 (ja) * | 2000-04-03 | 2010-06-16 | ソニー株式会社 | 脚式移動ロボット及びその制御方法、並びに、脚式移動ロボット用相対移動測定センサ |
-
2002
- 2002-09-26 JP JP2002281656A patent/JP3834629B2/ja not_active Expired - Lifetime
-
2003
- 2003-09-17 AU AU2003264470A patent/AU2003264470A1/en not_active Abandoned
- 2003-09-17 US US10/529,252 patent/US20050267630A1/en not_active Abandoned
- 2003-09-17 WO PCT/JP2003/011842 patent/WO2004028757A1/ja active Application Filing
Patent Citations (2)
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EP1018467A1 (en) * | 1996-07-25 | 2000-07-12 | Honda Giken Kogyo Kabushiki Kaisha | Gait generating device for leg type moving robot |
JP2002326173A (ja) * | 2001-04-27 | 2002-11-12 | Honda Motor Co Ltd | 脚式移動ロボットの動作生成装置 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107450555A (zh) * | 2017-08-30 | 2017-12-08 | 唐开强 | 一种基于深度强化学习的六足机器人实时步态规划方法 |
CN107562052A (zh) * | 2017-08-30 | 2018-01-09 | 唐开强 | 一种基于深度强化学习的六足机器人步态规划方法 |
CN111291718A (zh) * | 2020-02-28 | 2020-06-16 | 上海商汤智能科技有限公司 | 行为预测方法及装置、步态识别方法及装置 |
CN111291718B (zh) * | 2020-02-28 | 2022-06-03 | 上海商汤智能科技有限公司 | 行为预测方法及装置、步态识别方法及装置 |
Also Published As
Publication number | Publication date |
---|---|
US20050267630A1 (en) | 2005-12-01 |
JP2004114243A (ja) | 2004-04-15 |
JP3834629B2 (ja) | 2006-10-18 |
AU2003264470A1 (en) | 2004-04-19 |
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