WO2005051612A1 - 移動ロボットの制御装置 - Google Patents
移動ロボットの制御装置 Download PDFInfo
- Publication number
- WO2005051612A1 WO2005051612A1 PCT/JP2004/018096 JP2004018096W WO2005051612A1 WO 2005051612 A1 WO2005051612 A1 WO 2005051612A1 JP 2004018096 W JP2004018096 W JP 2004018096W WO 2005051612 A1 WO2005051612 A1 WO 2005051612A1
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- WO
- WIPO (PCT)
- Prior art keywords
- node
- reaction force
- floor reaction
- target
- floor
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Definitions
- the present invention relates to a control device for a mobile robot such as a bipedal mobile robot, and more particularly, to a case where a portion outside the tip of a leg or arm of a mouth port, such as a knee, elbow, or torso, is grounded.
- the present invention relates to a device for controlling floor reaction force (external force) acting on a moving port.
- Patent Document 1 Japanese Patent Application Laid-Open No. Hei 5-3005585
- Patent Document 2 Japanese Patent Application Laid-Open No. Hei 10-27979
- Patent Document 3 Japanese Patent Application Laid-Open No.
- Patent Document 3 A technique disclosed in Japanese Patent Application Laid-Open No. 1-322206 (Patent Document 3) is known.
- the grounding state of the grounding portion was sometimes unstable, such as the ground portion of the mouth pot shaking due to the unevenness of the floor.
- the posture of the lopot was unstable when trying to perform the operation or work of the lopot.
- the position of the center of gravity of the mouth pot is appropriately controlled.
- the robot may fall down because the robot tries to stand up while the posture of the upper body is inclined.
- the present invention has been made in view of such a background, and a part other than a leg or arm tip, such as a knee, an elbow, a torso, or a buttocks of a mobile robot, is considered to be an object considered to be a floor or an extension of the floor.
- a part other than a leg or arm tip such as a knee, an elbow, a torso, or a buttocks of a mobile robot, is considered to be an object considered to be a floor or an extension of the floor.
- the robot controls not only the external force acting on the tip of the leg or arm but also the external force acting on parts other than the tip of the leg or arm. It is an object of the present invention to provide a control device for a mobile robot capable of maintaining a stable posture.
- a control device for a moving port comprising: a base; and a plurality of link mechanisms connected to the base and in contact with the outside for moving the base.
- a plurality of joints are provided between the base and each of the link mechanisms so as to make the front end of each of the link mechanisms movable with respect to the base, and one or more specific link mechanisms of the plurality of link mechanisms are provided.
- External force detecting means for detecting or estimating an external force acting on the predetermined portion in the specific operation posture
- Target external force determining means for determining a target external force that is a target value of the external force of the predetermined portion in the specific operation posture
- Joint displacement control means for controlling at least displacement of a joint existing between the predetermined portion and the base so that the detected or estimated external force approaches the target external force. Things.
- the predetermined portion contacts the outside.
- the predetermined portion is a portion provided on the specific link mechanism between the base and the distal end portion of the specific link mechanism.
- An external force acting on the predetermined portion is detected or estimated by the external force detecting means. It is.
- the predetermined external force is controlled. External force acting on the site can be appropriately controlled. As a result, the posture of the mouth pot can be kept stable.
- the specific link mechanism is, for example, a leg (second invention).
- the predetermined site is an intermediate site (for example, a knee or the like) between the tip of the leg and the base. So, for example, a humanoid mouth pot In a kneeling position, external forces acting on the knee can be controlled.
- the link mechanism provided in the robot is not limited to the legs, and may include an arm. In that case, the specific link mechanism may be only a leg, but may be only an arm, or may include both a leg and an arm.
- the specific link mechanism is a leg extending from a buttock connected to the base via a joint, and The site is the buttocks (third invention).
- the external force acting on the buttocks can be controlled to control the posture of the mouth pot (especially the posture of the body such as the upper body) to an appropriate stable posture.
- an actual posture detecting means for detecting an actual posture of a second predetermined portion such as the base of the moving port pot;
- Target movement determining means for determining the target posture of the second predetermined portion, wherein the target external force determining means determines the target external force at least according to a deviation between the actual posture of the second predetermined portion and the target posture.
- the external force acting on the predetermined portion can be controlled so as to restore the actual posture of the second predetermined portion (for example, the base) to a desired target posture, so that the stability of the posture of the robot can be improved. Can be increased.
- an actual posture detecting means for detecting an actual posture of a second predetermined portion such as the base of the moving robot; and a target posture of the second predetermined portion.
- the joint control means further comprises: means for determining an operation amount of an external force according to a deviation between an actual posture of the second predetermined portion and a target posture. It is preferable that the displacement of the joint is controlled so that the detected or estimated external force approaches a resultant force of a target external force and an operation amount of the external force (a fifth invention).
- the displacement of the joint is controlled so that the actual posture of the second predetermined portion (for example, the base) approaches the target posture while the external force acting on the predetermined portion approaches the target external force. Therefore, the posture of the robot can be stabilized, and at the same time, the external force acting on the predetermined portion can be appropriately controlled.
- the second predetermined portion in the fourth invention and the fifth invention may be the same as the predetermined portion that comes into contact with the outside in the specific operation posture.
- FIG. 1 is an overall external view of a rod according to a first reference example and a second reference example related to the present invention
- FIG. 2 is a block diagram showing a functional configuration of a control device of the first reference example
- FIG. (a) to (c) and FIGS. 4 (a) to (c) are diagrams for explaining the operation of the robot (four-leg port) of the first reference example
- FIG. 5 (d) is a graph showing a setting example of ZMP (target total floor reaction force center point) in the first reference example.
- Fig. 6 shows the hierarchical structure of the nodes in the first reference example
- Fig. 6 shows the hierarchical structure of the nodes in the first reference example
- Fig. 6 shows the hierarchical structure of the nodes in the first reference example
- Fig. 6 shows the hierarchical structure of the nodes in the first reference example
- FIG. 9 and FIG. 9 are flowcharts showing the main routine processing of the control device of the first reference example.
- Figures 10 to 14 show the target node floor reaction force translational force component, real node floor reaction force translational force component, and real node floor reaction force of the mouth pot (four-legged robot) of the first reference example, respectively. It is a figure which illustrates a moment, a compensation total floor reaction force moment, and a node compensation floor reaction force element.
- FIGS. 15 and 16 are diagrams for explaining the position correction (convergence operation) using the node compensation angle in the first reference example, and FIGS.
- FIG. 17 to 21 are the hierarchical types in the first reference example, respectively. Shows the functional configuration of the compliance operation determination unit, the total floor reaction force moment distributor, and the 01423 determination unit (compensation angle determination unit), the 014 determination unit (compensation angle determination unit), and the mechanism deformation compensation amount calculation unit.
- Block diagram, Fig. 22 Is a flowchart showing a process of determining a compensation angle
- FIG. 23 is a diagram for explaining another example of the hierarchical structure related to the mouth port of the first reference example.
- Fig. 24 is a diagram for explaining the hierarchical structure of the lopot (six-leg port) of the second reference example
- Fig. 25 shows the functional configuration of the hierarchical compliance operation determination unit in the second reference example.
- FIGS. 26 to 28 show the translational force component of the target node floor reaction force, the translational force component of the actual node floor reaction force, and the actual nodal force of the robot (six-leg port) of the second reference example, respectively.
- Fig. 29 (a) and (b) are diagrams for explaining the method of setting the node compensated floor reaction force moment in the second reference example
- Figs. 30 and 31 is a diagram for explaining the position correction (compliance operation) by the node compensation angle in the second reference example.
- FIG. 32 and 33 are block diagrams showing the functions of the 0 145236 determining unit (compensation angle determining unit) and the 0 145 determining unit (compensation angle determining unit) in the second reference example, respectively, and FIG. 34 is the second reference example.
- FIG. 10 is a diagram for explaining another example of the hierarchical structure related to the lopot.
- FIG. 35 is a block diagram showing a functional configuration of a hierarchical compliance operation determination unit in the third reference example.
- FIG. 36 is a flowchart showing a main routine process of a control device in the third reference example.
- -Fig. 39 is a diagram for explaining concepts and terms in the third reference example,
- Fig. 40 is a block diagram showing functions of a floor shape estimator in the third reference example, and Fig.
- FIGS. 41 and 9 are diagrams for explaining the hierarchical relativization process in the four-legged mouth port and the six-legged lopot, respectively.
- FIG. 44 is a diagram showing a setting example of a request mode of each node related to floor shape estimation
- FIGS. 45 to 55 are flowcharts showing floor shape estimation processing.
- FIG. 56 is a block diagram showing the function of the floor shape estimator in the fourth reference example
- FIG. 57 is a block diagram showing the function of the floor shape estimator in the fifth reference example.
- FIGS. 58 and 59 show a lopot (a bipedal lopot) according to the first embodiment of the present invention.
- FIG. 60 shows a configuration of a floor reaction force sensor for a knee of a lopot in the first embodiment
- FIG. 61 shows a hierarchical structure of nodes in the first embodiment
- FIG. 62 is a block diagram showing a functional configuration of a hierarchical compliance operation determination unit in the first embodiment.
- FIGS. 63 (a) to (c) are diagrams for explaining a method of correcting the posture of the upper body of the mouth pot in the first embodiment
- FIG. 64 is a diagram of the upper body of the robot in the first embodiment.
- FIG. 65 is a diagram for explaining a position and orientation correction method.
- FIG. 65 is a block diagram illustrating functions of an inverse kinematics calculation unit according to the first embodiment.
- FIG. 66 is a block diagram showing the function of the inverse kinematics calculation unit in the second embodiment
- FIGS. 67 and 68 are diagrams for explaining a method of correcting the posture of the robot in the second embodiment.
- FIG. 69 is a diagram showing a configuration of a robot in the third embodiment
- FIG. 70 is a diagram showing a hierarchical structure of nodes in the third embodiment.
- the “floor” means not only the floor (or the ground) in the usual sense, but also a chair (mouth pot) fixed to the floor (or the ground).
- An object, such as a chair to be hung, that receives a reaction force due to the contact of the mouth pot in its movement shall be included in the “floor”. Therefore, for example, when the bipedal locomotive sits on a chair or the like, the waist of the robot corresponds to the ground contact portion.
- the tip of each leg may not correspond to the ground contact area. Of course.
- grounding parts In classifying (discriminating) the grounding parts, when the grounding parts are separated and distributed on the same link (the part corresponding to a single rigid body) of the mouth port (the same link)
- these are collectively defined as one ground part. For example, if a grounding site with four spike pins is grounded via those spike pins, the grounding surfaces of the four spike pins are regarded as one grounding site. However, it is not always necessary to combine those ground planes.
- the ground reaction force at the contact portion is a floor reaction force acting on the contact portion, and in particular, the floor reaction force acting on the ⁇ -th contact portion is referred to as the ⁇ -th contact portion floor reaction force.
- the total floor reaction force is the sum of the floor reaction forces acting on all contact points.
- the floor reaction force center point is an action point at which the horizontal component of the moment at which the floor reaction force is generated becomes zero.
- the floor reaction force such as the floor reaction force at the contact portion and the total floor reaction force is generally expressed by a set of an action point of the force and a translational force and a moment applied to the action point.
- an action point of the force and a translational force and a moment applied to the action point.
- the floor reaction force center point may be defined as a point at which the floor parallel component (the component parallel to the floor) of the moment at which the floor reaction force occurs is zero.
- the “floor surface” is a virtual floor surface (assumed on a desired gait) described in Japanese Patent Application Laid-Open No. Hei 5-3-1840, which was previously proposed by the present applicant.
- Floor surface which does not always match the actual floor surface).
- the floor reaction force center point of the ground contact point is usually set on the ground contact surface (contact surface with the floor) when the ground contact point is in contact with the ground.
- the ground reaction force at the contact point when the contact point is moving in the air is always 0, so that the moment horizontal component of the floor reaction force at the contact point is
- the floor reaction force center point can be set arbitrarily. However, in order to smoothly control the movement of the robot, it is desirable that the target floor reaction force center point moves continuously. Therefore, in the embodiment of the present specification, it is assumed that the floor reaction force central point of the floor reaction force of the contact portion is an action point that moves together with the contact portion when the contact portion moves in the air.
- each ground contact portion is classified in a tree structure, and at least the actual floor reaction force acting on each of the classified groups (the actual floor reaction force acting on all the ground contact portions included in each group or It is characterized by determining the corrective action of the position and orientation of the contact area based on the resultant force.
- classifying using the tree structure is sometimes called “hierarchy”.
- the target value of the variable generated by the gait generator of the legged moving port in the embodiment of the present specification is prefixed with “target”.
- the actual value of the relevant variable at the actual legged port (the actual value is not known, so the actual value is the detected value or estimated value) is prefixed with “real”.
- the “actual floor reaction force” is an example.
- the target of the total floor reaction force (combined force of the actual floor reaction forces acting on all the contact points of the robot) in the compliance control (floor reaction force control) described later is called the target total floor reaction force.
- the point on the surface is called the target ZMP. Since the motion of the desired gait is determined by the time series of the desired position and orientation of each part of the lopot in the desired gait, the time series of the desired position and orientation of each part is generally referred to as the desired gait movement or the desired gait. Exercise. Supplementally, if these time series can be specified, the target motion may be described in a different expression from the target motion defined above. For example, a set of a time series of a target displacement of each joint of the robot and a time series of a target position and orientation of a specific part such as a base may be used as the target motion.
- the desired total floor reaction force is generally a total floor reaction force that dynamically balances the desired gait movement pattern (time series pattern of desired movement). Therefore, the target center point of the total floor reaction force usually coincides with the target ZMP. Therefore, in the following description, the target total floor reaction force center point and the target ZMP are often used without distinction. However, exceptionally, in the case of the control of the mouth pot described in Patent No. 3269852 previously proposed by the present applicant, the target total floor reaction force center point and the target It does not always match ZMP. In the following description, the goal In some cases, the term ZMP is used, but strictly speaking, there is a place to be called the target total floor reaction force center point.
- the target port of the moving port receives a reaction force (external force) other than the floor reaction force from the environment in the target gait.
- the reaction force (external force) other than the floor reaction force is called, for example, a target object reaction force, and the target ZM described above is referred to as the target ZM.
- the definition of P may be extended as follows. That is, the resultant force of the inertia force generated by the movement pattern of the desired gait of the mouth pot, the gravitational force acting on the lopot, and the reaction force of the target object is dynamically obtained, and the resultant force is on the floor surface. If the moment generated at a point is 0 except for the component around the vertical axis, that point may be set as the target ZMP again. However, if the target object reaction force is also considered as a form of the floor reaction force, the definition of the target ZMP may be the same as that described above.
- FIG. 1 is an external view of a general multi-legged moving port pot (legged moving port pot) according to the first and second reference examples.
- the mouth pot 1 is shown as having six legs (legs) from the first leg # 1 to the sixth leg # 6, but in the first reference example, Has no fifth leg # 5 and sixth leg # 6. That is, in the first reference example, it is assumed that the robot 1 is a four-legged mouth pot having four legs (legs) of the first leg # 1 to the fourth leg # 4.
- the constituent elements of the mouth port 1 according to the second reference example are denoted by reference numerals in parentheses. As shown in FIG.
- Each ground contact portion 10 is engaged with the ball joint 12 with its center point coincident with the center point of the ball joint 12, and the center point of the ground contact portion 10 (strictly speaking, the ball joint 1
- the ground reaction force moment (moment component of the floor reaction force) does not act on 2). That is, the floor reaction force at the center point of the ground contact portion 10 (actual floor reaction force moment) is always zero.
- each of the legs # 1 to # 4 has joints 14 and 15 at a portion near the upper body 24 of the robot 1 and an intermediate portion, respectively, and each of the legs # 1 to # 5.
- a convergence mechanism 42 composed of an elastic member such as a panel, and a ground contact portion 10
- a 6-axis force sensor 34 as floor reaction force detection means (external force detection means) for detecting the actual floor reaction force acting on the floor is interposed.
- the joint 14 is allowed to rotate around two axes
- the joint 15 is allowed to rotate around one axis.
- an elastic body such as sponge or rubber may be provided on the bottom surface of the grounding part as a compliance mechanism.
- the displacement operation (rotation operation around each axis) of each joint 14 and 15 is performed by an actuating mechanism such as an electric motor (not shown).
- the actual joint displacement which is the actual displacement (rotation angle about each axis) of each of the joints 14 and 15, is detected by a sensor such as a rotary encoder (not shown).
- the three-axis force sensor 34 is capable of detecting the translational force in the three-axis direction and the moment around the three axes.
- the grounding part 10 is used.
- the actual floor reaction force moment does not act on the center point of. Therefore, instead of the 6-axis force sensor 34, a 3-axis force sensor that detects the translational force in the 3-axis direction, or a force sensor that detects only the vertical component of the translational force of the actual floor reaction force may be used. .
- the body 24 includes a control device 50 composed of an electronic circuit unit including a microcomputer actuator driving circuit, a posture sensor 36 for detecting the posture of the body 24, and a power supply (not shown). Rechargeable battery, capacity battery, etc.).
- the posture sensor 36 is composed of, for example, an acceleration sensor and a gyro sensor.
- “posture” generally means a spatial orientation (however, “posture” of the entire mouth pot means an instantaneous value of the movement of the mouth pot).
- the posture sensor 36 detects, for example, a posture inclination (inclination angle) in the pitch direction and the roll direction with respect to the vertical direction among the postures of the body 24. That is, the posture sensor 36 functions as actual posture detecting means for detecting the actual posture inclination of the body 24.
- FIG. 2 is a block diagram showing a functional configuration and operation of the control device 50.
- the actual pot 1 is the one excluding the control device 50, the attitude sensor 36, and the six-axis force sensor 34 from the mouth pot 1 in FIG.
- a predetermined coordinate system fixed to the floor with the X-axis being roughly forward of the mouth port 1, the Y-axis roughly left-lateral, and the Z-axis being upward.
- XYZ coordinate system is changed to "Support leg coordinate system” or " We call it "bal coordinate system.”
- the position, posture, translational force, and moment shall be represented by a set of coordinate components of this support leg coordinate system (global coordinate system).
- the origin of the supporting leg coordinate system does not need to be fixed to a single point constantly, and the origin position with respect to the floor may be changed during the movement of the mouth port 1. For example, the origin position of the supporting leg coordinate system (global coordinate system) may be changed each time a predetermined leg of the mouth port 1 lands.
- the control device 50 includes, as its functional components (functional means), a gait generator 100, a desired floor reaction force distributor 102, and a robot geometric model ( Inverse kinematics calculation unit) 110, hierarchical compliance operation determination unit 114, displacement controller 112, actual floor reaction force detector 108, posture deviation calculation unit 103, and posture stabilization
- a control operation unit 104 is provided.
- an outline of these elements of the control device 50 will be described.
- the gait generator 100 has a function as a desired gait determining means or a desired motion determining means, and generates (determines) and outputs a desired gait defining the operation of the robot 1.
- the desired gait is the trajectory of the desired movement of the mouth pot (the time series of the desired position and orientation of each part of the mouth pot) and the trajectory of the desired floor reaction force (the reaction force of the robot from the floor).
- “trajectory” means a time-series pattern (a pattern of temporal change).
- the trajectory of the target motion output by the gait generator 100 is the trajectory of the target contact part, which is the trajectory of the target value of the position and posture of each ground part 10 of the mouth pot 1, and the body of the mouth pot 1 24.
- the target body position / posture trajectory which is the trajectory of the target values of the position and posture in 24.
- a gait generating device in a robot having a joint related to an arm or a head includes an arm or a head.
- the target position / posture trajectory of the section is also determined and output as a component of the target motion.
- the trajectory of the desired floor reaction force output by the gait generator 100 is the trajectory of the desired position of the center point of the total floor reaction force of the mouth port 1, which is the desired center of the total floor reaction force. It consists of a point trajectory and a desired total floor reaction force trajectory, which is a trajectory of the target value of the total floor reaction force with the target total floor reaction force central point as an action point.
- the desired total floor reaction force center point trajectory is the same as the desired ZMP trajectory, which is the trajectory of the ZMP target position.
- the position of each contact part 10 is the position of a representative point of the contact part 10.
- the representative point is, for example, the center point of each contact part 10 (the center point of the ball joint 12).
- the vertical projection point on the ground contact surface (bottom surface) of the ground contact portion 10 or the center point of the ground contact portion 10 (center point of the ball joint 12) is set.
- the position of the representative point of each contact part 10 will be simply referred to as the contact part position.
- the trajectory (target trajectory position trajectory) of the target value of the contact position is included in the target trajectory determined by the gait generator 100.
- the target contact area trajectory means the same as the target contact area position trajectory.
- each grounding portion when each grounding portion is attached to the tip of each leg so that its posture can be controlled (the tip of each leg can be operated by actuation)
- the trajectory of the target posture of each ground contact portion should also be included in the target ground portion trajectory.
- the term “contact position / posture” is often used in order to generally consider such cases. It is used, but in this reference example, it substantially means “contact position”.
- the target contact area trajectory target contact area position trajectory
- the target total floor reaction force center point trajectory This will be specifically described.
- the pair of the first leg # 1 and the fourth leg # 4 is the supporting leg
- the pair of the second leg # 2 and the third leg # 3 is the free leg.
- the pair of the first leg # 1 and the fourth leg # 4 is the free leg
- the pair of the second leg # 2 and the third leg # 3 are the By repeating the timing of the supporting legs and moving in the air after leaving the set of legs to be the free legs and moving in the air
- the legs # 1 to # 4 perform the exercise of the legs by landing at the desired position.
- the movement of Pot 1 is performed.
- the supporting leg is a leg that supports the own weight of the robot 1 by touching the ground (a leg that should exert a non-zero floor reaction force), and the swing leg is a leg that is not a supporting leg.
- FIGS. 3 (a) to 3 (c) and FIGS. 4 (a) to 4 (c) show the target ground contact points at the tips of the legs # 1 to # 4 when the robot 1 is moved as described above.
- the position (specifically, the position on the horizontal plane (XY plane)) is shown in chronological order (time tl to t6).
- the triangles corresponding to the reference signs ⁇ 3 ⁇ 41 to ⁇ 3 ⁇ 44 in these figures are the target grounding part positions of the first to fourth grounding parts 10 (the horizontal plane of the representative point of the first to fourth grounding parts 10 respectively). (Position on the XY plane).
- the triangles denoted by reference signs Q1 to Q4 in FIGS. 3 and 4 accurately represent the target node floor reaction force center point (the target contact area floor reaction force ).
- the triangles corresponding to the reference signs Ql, Q2, Q3, and Q4 in Figs. 3 and 4 indicate the later-described target node floor reaction force central points of the first to fourth ground contact portions 10 respectively. At the same time, the respective positions of the first to fourth ground contact portions 10 are shown.
- Fig. 3 (a) shows the moment when the pair of the second leg # 2 and the third leg # 3 is used as the supporting leg, and the pair of the first leg # 1 and the fourth leg # 4 as the swing leg is landed (time tl).
- Fig. 3 (b) shows the target ground contact position at time t2 when all legs # 1 to # 4 are supporting legs.
- Fig. 3 (c) shows the pair of the first leg # 1 and the fourth leg # 4 as the supporting leg, and the pair of the second leg # 2 and the third leg # 3 as the swing leg is lifted off (in the air). It indicates the position of the target contact area at the immediately preceding time t3.
- Fig. 3 (b) shows the target ground contact position at time t2 when all legs # 1 to # 4 are supporting legs.
- Fig. 3 (c) shows the pair of the first leg # 1 and the fourth leg # 4 as the supporting leg, and the pair of the second leg # 2 and the third leg # 3 as the swing leg is lifted off (in the air).
- FIG. 4 (a) shows the pair of the first leg # 1 and the fourth leg # .4 as the supporting leg, and the pair of the second leg # 2 and the third leg # 3 as the swing leg is lifted in the air.
- Figure 4 (b) shows the pair of the first leg # 1 and the fourth leg # 4 as the supporting legs, and the second legs # 2 and # 2 as the swing legs.
- the position of the target contact area at the moment when the set of tripod # 3 is landed (time t5) is shown in Fig. 4 (c).
- the figure shows the target contact position at time t6 immediately before leaving the pair of the first leg # 1 and the fourth leg # 4 as the legs.
- the target contact positions of the second legs # 2 and the third legs # 3, which are the free legs, are indicated by broken triangles.
- the trajectory of the vertical position (Z-axis direction) of the landing portion 10 of the swing leg is determined so as to rise to a predetermined height from the floor surface, then descend, and land again.
- the point P in FIGS. 3 and 4 is the target total floor reaction force center point (target ZMP).
- the target total floor reaction force center point trajectory is a position within the range where the ZMP can exist (the area on the floor corresponding to the so-called support polygon) that does not come too close to the boundary of the range (eg, approximately the center of the range where the ZMP can exist). It is determined to move continuously while existing at the position.
- the ZMP can exist
- the target total floor reaction force center point trajectory is a position within the range where the ZMP can exist (the area on the floor corresponding to the so-called support polygon) that does not come too close to the boundary of the range (eg, approximately the center of the range where the ZMP can exist). It is determined to move continuously while existing at the position.
- Figs. 3 (a) and (c) when two legs # 1, # 4 or # 2, # 3 become supporting legs (see Figs. 3 (a) and (c), and Figs.
- Fig. 5 (d) is a graph that illustrates the 'trajectory' of the component ZMPx in the X-axis direction (the traveling direction of robot 1) at the position of the target total floor reaction force center point (target ZMP) determined in this way. is there.
- FIGS. 5 (a) to 5 (c) are graphs showing weight setting examples described later. ⁇
- the desired body position / posture trajectory determined by the gait generator 100 must be at least the target force of the inertial force generated by the desired motion of the robot 1 and the gravitational force acting on the robot 1.
- the horizontal component of the moment acting around is determined using a dynamic model of the lopot 1 and so on.
- the “body position” is the position of a certain representative point of the body 24.
- the desired total floor reaction force determined by the gait generator 100 is composed of the desired values of the translational force and moment acting on the desired total floor reaction force center point.
- the mouth port 1 The total inertia generated by the target motion and the resultant force of gravity acting on the rod 1 are determined so as to be balanced at the target total floor reaction force center point.
- the moment horizontal component of the target total floor reaction force around the target total floor reaction force center point (target ZMP) is zero.
- the translational force and all the components of the moment acting on the target total floor reaction force central point are determined as the target values. No need. For example, if the attitude of the robot 1 around the vertical axis or the floor reaction force is not controlled, it is not necessary to determine the component of the target total floor reaction force around the vertical axis (the Z-axis component).
- the trajectory trajectory (target trajectory position trajectory) determined by the gait generator 100 is corrected by a hierarchical compliance motion determination unit 114 described later.
- the target floor reaction force distributor 102 divides the first to fourth contact portions 10 of the robot 1 into a tree structure (that is, hierarchizes), and divides each of the hierarchized groups into a tree structure. Make nodes correspond. Therefore, in the following description, nodes may be replaced with groups.
- Each node is a group composed of one or more grounding parts 10.
- a node having the second node and the third node as child nodes is a 23rd node
- a node having the 14th node and the 23rd node as child nodes is a 1423th node. Therefore, the first to fourth nodes are respectively composed of the first, second, third and fourth grounding parts 10, and the fourteenth node is composed of the first grounding part 10 and the fourth grounding part 10.
- the 23rd node is a node made up of the second grounding portion 10 and the third grounding portion 10
- the 1423th node is a node made up of all grounding portions 10.
- n l, 2,3,4
- the 1423th node is a root node.
- leaf nodes have the same numbers (1, 2, 3) as their corresponding grounding parts (or legs). Is assigned, and nodes other than leaf nodes are assigned a larger number than leaf nodes. Nodes other than leaf nodes and root nodes are called intermediate nodes. In the first reference example, the intermediate nodes are the 14th node and the 23rd node.
- the desired floor reaction force distributor 102 includes the desired total floor reaction force center point trajectory, the desired total floor reaction force trajectory, and the desired landing part trajectory of the desired gait determined by the gait generator 100. Is input.
- the gait parameters used by the gait generator 100 to determine the desired gait are also set as targets. It may be input to the floor reaction force distributor 102. Then, based on these inputs, the target floor reaction force distributor 102 obtains the target node floor reaction force center point, which is the target position of the floor reaction force center point of each node hierarchized as described above.
- each weight Wn is a non-negative value of 1 or less.
- Fig. 3 (b) shows the relationship between Qn and Wn in the state shown in Fig. 3.
- Figs. 5 (a) to 5 (c) show examples of setting Wn.
- Fig. 7 shows the weight and target node. The relationship with the floor reaction force center point is shown.
- the weight of the root node, W1423, is Set to "1" above.
- the target node floor reaction force center point of the leaf node may be referred to as a target ground contact floor reaction force center point.
- the target floor reaction force center point of each leaf node (each contact point) is, for example, the target position and orientation of the contact point corresponding to that leaf node. It may be set within the contact surface (contact surface with the floor assumed in the target gait) of the contact portion determined by the following formula.
- a line segment connecting any two points A and B or its length is expressed as AB.
- the operator “*” means multiplication for a pair of scalar and scalar or for a pair of scalar and vector.
- the outer product vector Torr product.
- Qn (n l, 2, 3, 4, 4) on the right side of the above equations 1, 2, and 3
- the coefficients (weights) of 14,23) are all non-negative values.
- Equations 1 to 3 indicate that the position of the target node floor reaction force center point of each node having a child node (that is, each node that is not a leaf node) is determined by using a predetermined non-negative weight, It means that it is set to the weighted average position of the floor reaction force center point position.
- L23, L14, and L1423 in FIG. 3B are the lengths of the line segments Q2Q3, Q1Q4, and Q23Q14, respectively.
- the desired floor reaction force distributor 102 outputs the desired node floor reaction force center point of each node determined as described above. Note that the desired floor reaction force center point of the root node is the same as the desired total floor reaction force center point determined by the gait generator 100. It is not necessary to output from the desired floor reaction force distributor 102.
- the desired floor reaction force distributor 102 further determines and outputs a desired node floor reaction force which is a target value of the floor reaction force acting on the desired floor reaction force central point of each node.
- This target node floor reaction force is applied to the deflection compensation (see FIG. 1) of the compliance mechanism 42 of each of the legs # 1 to # 4, which is executed in the processing of the hierarchical compliance operation determination unit 114 described later.
- Robot 1 has a compliance mechanism in addition to the tip of each leg # 1 to # 4, the target 14th node floor reaction force and the 23rd target It is desirable to determine and output the node floor reaction force (the target node floor reaction force of the intermediate node).
- the desired floor reaction force acting on the target node floor reaction force center point of each node may be determined from the desired total floor reaction force and the weight of each node.
- the desired floor reaction force of an arbitrary node may be determined by multiplying the product of the weight of the node and the weights of all ancestor nodes of the node by the desired total floor reaction force. . That is, the target n-th node floor reaction force is calculated by the following equation 4a (or equation 4b).
- Target n-node floor reaction force is calculated by the following equation 4a (or equation 4b).
- Target total floor reaction force ... Equation 4a Target n-node floor reaction force
- the target floor reaction force of any nth node that is not a leaf node is the nth node So that the target floor reaction force of all child nodes of the node matches the sum of the desired floor reaction forces (the resultant force), and that the desired floor reaction force of the root node matches the desired total floor reaction force.
- the power is determined. FIG. 8 shows this relationship.
- the equation in FIG. 8 is equivalent to the above equation 4a or 4b.
- determining the desired floor reaction force center point of each node (target node floor reaction force center point) and the desired floor reaction force of each node (target node floor reaction force) is performed by all children of the n-th node.
- the target floor reaction force center point and the target floor reaction force of each node are determined so that the resultant force of the desired floor reaction force of the node becomes zero for the horizontal component of the moment generated around the target n-th node floor reaction force center point. Will be. Therefore, the moment horizontal component of the desired node floor reaction force is 0 for any node.
- the target floor reaction force of the non-grounded (non-grounded) contact part 10 (the target node floor reaction force of the leaf node corresponding to the contact part 10 that is not contacted) should be zero.
- the weight of the intermediate node having the child node is set to 0 at a time when all the grounding parts belonging to the intermediate node as leaf nodes are not grounded.
- the weight of the intermediate node is determined when any of the contact points belonging to the intermediate node is in contact with the ground (strictly, when a non-zero floor reaction force is acting on any of the contact points). Is not set to 0.
- the target contact area trajectory is determined so that only one of the first contact point 10 and the fourth contact point 10 has a non-contact state, the target contact point trajectory is determined at that time. What is necessary is just to set the weight corresponding to the grounded part 10 to be in the non-grounded state to 0, and to set the weight corresponding to the grounded part 10 to be in the grounded state to 1.
- the weight of the intermediate node Q14 at that time is set to a non-zero value.
- the weight relating to the intermediate node Q23 and the second ground portion 10 and the third ground portion 10 which are the leaf nodes belonging to the intermediate node Q23 are the leaf nodes belonging to the intermediate node Q23.
- the weight of a node having a child node is set to a non-zero value when any of the grounding parts belonging to that node is in the ground state, and all of the grounding parts belonging to that node are set to a non-zero value. Set to 0 when in non-ground state.
- the target node floor reaction force F1423 of the root node (node 1423) matches the target total floor reaction force Ftotalref.
- the weight of the leaf node corresponding to the grounded part 10 in the non-ground state, or the weight of one of the leading nodes of the leaf node is set to zero.
- the target node floor reaction force When the target node floor reaction force is determined, it may be determined based on each target node floor reaction force center point instead of being determined based on the weight as described above. That is, after determining each target node floor reaction force center point so as to satisfy the above conditions A) to C), based on the target node floor reaction force center point and the above equations 1 to 3, The respective weights may be determined, and the target weights of the respective node floors may be determined by Equation 4 using the determined weights.
- the posture deviation calculator 103 calculates and outputs a deviation of the actual body posture from the target body posture at the mouth port 1.
- the posture deviation calculation unit 103 includes, in the vertical direction, an inclination angle (hereinafter, referred to as an actual body posture inclination) of the body 24 detected by the posture sensor 36.
- the target body position / posture determined by the volume generation device 100 (specifically, the inclination angle of the target body posture with respect to the vertical direction; hereinafter, referred to as the target body posture inclination) is input.
- 0 berr actual body posture inclination—target body posture inclination; hereinafter, referred to as body posture inclination deviation 0 berr
- body posture inclination deviation 0 berr is calculated.
- the 0 berr to be calculated is composed of a component around the X axis (portal direction component) ⁇ berrx and a component around the Y axis (pitch direction component) 0 berry.
- the detection value of the posture sensor 36 is calculated as follows. What is necessary is just to output as body posture inclination deviation 0 berr.
- the posture stabilization control calculation unit 104 is configured to detect or estimate the lopot 1 based on information of a sensor provided in the mouth port 1 such as the body posture inclination deviation. Stabilize the posture of robot 1 according to the state of The total floor reaction force, which is the compensation amount of the total floor reaction force (correction amount of the target total floor reaction force), is calculated.
- the translational force required to restore the actual position and orientation of a predetermined part such as the upper body 24 of the mouth pot 1 to the desired position and orientation And moment and it is necessary to additionally generate this using the target center point of the total floor reaction force (target ZMP) as the point of action.
- target ZMP target center point of the total floor reaction force
- These additional translational forces and moments are called compensating total floor reaction forces.
- the moment component of the compensating total floor reaction force is called “compensating total floor reaction force moment Mdmd” (specifically, the compensating total floor reaction force moment Mdmd around the target total floor reaction force center point (target ZMP)).
- the posture stabilization control calculation unit 104 calculates a compensated total floor anti-camo Mdmd so as to restore (close to) the actual body posture inclination to the target body posture inclination.
- the posture stabilization control calculation unit 104 receives the body posture inclination deviation 0 berr ( ⁇ berrx, berry berry) obtained by the posture deviation calculation unit 103.
- the posture stabilization control calculation unit 104 calculates the compensated total floor reaction force moment Mdmd based on the input body posture inclination deviation 0berr.
- the Mdmd to be calculated is composed of a component Mdmdx around the X axis and a component Mdmdy around the Y axis.
- Kthx, Kthy, Kwx and Kwy are predetermined gains.
- D 0 berrx / dt) and (d berry berry / dt) are the time derivative of the body posture inclination deviation 0berrx and 0 berry, respectively.
- the component around the Z-axis (one-way component) Mdmdz of the compensating total floor reaction force moment Mdmd is not used, so the Mdmdz is not determined, but the spin of the mouth pot 1 (around the vertical axis) Mdmdz may be determined in order to prevent slippage.
- Mdmdz's determination method is described in detail in Japanese Patent Application No. 2003-1858561, which was previously proposed by the applicant of the present invention, and Japanese Patent Application No. 2003-18953. Have been.
- the translational force of the compensation total floor reaction force is determined according to the position deviation of the center of gravity. It is also possible.
- the floor reaction force detector 108 is based on the output of the 6-axis force sensor 34 of each leg # 1 to # 4, and the floor reaction force acting on each ground portion 10 of the actual mouth pot 1
- the actual floor reaction force (that is, the actual floor reaction force of the leaf node (real node floor reaction force)) that is the actual value of is detected.
- the floor reaction force detector 108 is connected to each joint # 1 to # 4 of each leg # 1 to # 4, which is detected by a sensor (not shown) such as an encoder provided at each joint 14 and 15 of the mouth port 1.
- the detection value of the 6-axis cassette 34 for each of the legs # 1 to # 4 (this is fixed to the 6-axis force sensor 34, etc.) local
- the detection value of the posture sensor 36 or the target body posture inclination may be used.
- the mouth port 1 of the first reference example since the floor reaction force moment does not act on the center point of the ground contact point 10 as described above, the moment of the actual floor reaction force of each ground contact portion 10 is obtained. There is no need to detect components.
- a 3-axis force sensor is used to detect the translational force component in the 3-axis direction of the actual floor reaction force, or a 1-axis floor reaction force sensor is used. Alternatively, only the translational force vertical component of the actual floor reaction force may be detected.
- the above-mentioned lopot geometric model (inverse kinematics calculation unit) 110 is a final target trajectory of each ground contact position and orientation (this is determined by a hierarchical compliance operation determination unit 114 described later). Based on the target body position and orientation, calculate the joint displacement commands, which are the command values of the displacements (rotation angles) of the joints 14 and 15 of the mouth port 1 that satisfy them by calculating the inverse kinematics I do.
- an equation for the solution of the inverse kinematics calculation is obtained in advance, and each joint displacement command is obtained simply by substituting the target body position / posture and the final target position of each ground contact area into the equation. It was calculated.
- the lopot geometric model 110 is obtained by correcting the target body position / posture trajectory determined by the gait generator 100 and the corrected target landing corrected by the hierarchical compliance operation determination unit 114 as described later.
- the part trajectory (corrected grounding part trajectory with mechanism deformation compensation) is input, and the joint kinematics of each leg # 1 to # 4 are calculated by the inverse kinematics from these input values. Calculate the command.
- the relative position with respect to the upper body such as a hand or a head.
- the displacement of the joints other than the leg joints is determined by calculating the inverse kinematics based on the posture.
- the displacement controller 112 has a function as a joint control means.
- the joint displacement command calculated in 110 is input, and the joint displacement command is set as a target value, and the actuators of the joints 14 and 15 are set so that the actual joint displacement follows the target value. (Not shown) is controlled (feedback control).
- the hierarchical compliance operation determination unit 1 1 4 corrects the target contact area trajectory so that the actual total floor reaction force approaches the resultant force of the target total floor reaction force and the compensation total floor reaction force, and the corrected target contact area This is the output of the corrected target landing part position and orientation trajectory with mechanism deformation compensation, which is the trajectory.
- the corrected target grounding part position and posture trajectory with mechanical deformation compensation is actually the corrected target grounding part position trajectory with mechanical deformation compensation. is there.
- the hierarchical compliance operation determining unit 114 corrects the target contact part trajectory of each contact part 10 so as to satisfy the following three requirements as much as possible.
- Requirement 1 In order to stabilize the position and orientation of robot 1, the total floor reaction force (moment Mdmd) output from posture stabilization control calculation unit 104 and the target total floor reaction follow the resultant force.
- the horizontal component of the actual total floor reaction force moment around the target total floor reaction force center point was compensated for in order to stabilize the inclination of the upper body 24 of the robot 1 (the inclination with respect to the vertical direction).
- the horizontal components Mdmdx and Mdmdy of the total floor reaction force moment M dmd are followed.
- the target total floor reaction force Since the horizontal component of the event is 0, the resultant force of this and Mdmd matches Mdmd.
- the actual floor reaction force is concentrated on some of the grounding parts 10 for a plurality of grounding parts 10 that should be grounded, and the actual floor reaction force on some other grounding parts 10 As much as possible, so that the contact property of the contact area 10 where the actual floor reaction force has decreased is not extremely reduced, so that the actual floor reaction force moment around the target floor reaction force center point of each node that is not a leaf node is as far as possible.
- Requirement 3 In order to secure the contact property of each contact part 10 that should be in contact with the ground, that is, the local contact pressure distribution (distribution of actual floor reaction force) at each contact part 10 is biased, and As much as possible, the absolute value of the actual floor reaction force moment around the desired floor reaction force center point of each ground contact point 10 (each leaf node) is reduced so that the local ground contact property of 10 does not decrease.
- the actual floor reaction force moment around the center point of the desired floor reaction force of each contact point 10 is always 0, so this requirement 3) does not need to be considered. .
- the hierarchical compliance operation determining unit 114 generally satisfies the requirements 1) to 3) or the requirements 1) and 2) as much as possible, and at a certain point of compromise, sets the desired grounding part trajectory of each grounding part 10 Will be corrected.
- the above is the outline of each functional means (functional components) of the control device 50.
- the hierarchical compliance operation determination unit 1 1 4 The stabilization control operation unit 104 and the robot geometric model (inverse kinematics operation unit) 110 correspond to a node operation control unit in the present invention.
- FIG. 9 is a flowchart (structured flowchart) showing the main routine processing of the control device 50. Note that the left end of FIG. 9 shows the components of the control device 50 that performs the corresponding processing.
- control device 50 is initialized in S10
- the process proceeds to S14 via S12, and the arithmetic processing of the control device 50 is performed in each control cycle of the control device 50. It will be in the state of waiting for an interruption in the evening.
- the control cycle is, for example, 5 O ms.
- the process proceeds to S16, where it is determined whether or not the gait is a switch. If the determination result is NO, the process proceeds to S22 described later.
- the process proceeds to S18 to initialize the time t to 0, and then proceeds to S20 to set the gait parameters.
- a target step for a predetermined period from the time when a certain leg (for example, # 1) of robot 1 leaves the floor until the next time it leaves (or from when it lands, until it lands next).
- the gait parameter which is a parameter that defines the desired gait for the given period (parameter used in the algorithm for determining the desired gait), is set in S20. Is done.
- the “gait switching gait” in S 16 is a switching of the target gait for the predetermined period. The switching of the target gait may be determined based on the time, the detected value of the 6-axis sensor 34 of the predetermined leg, and the like.
- the gait parameters set in S 20 define the desired motion trajectory of mouth port 1 (specifically, the desired contact part trajectory and the desired body position / posture trajectory) It consists of the motion parameters overnight and the floor reaction force parameters defining the desired floor reaction force trajectory (specifically, the desired total floor reaction force trajectory and the desired total floor reaction force center point trajectory).
- the floor reaction force parameter overnight may specify only the target total floor reaction force center point trajectory.
- the dynamics of the mouth port 1 are determined.
- the target motion including the target body position and posture of robot 1 is generated.
- the resultant force of the inertial force and the gravity acting on the mouth port 1 is around the target center of the total floor reaction force (target ZMP).
- target ZMP target center of the total floor reaction force
- instantaneous value means a value for each control cycle
- the instantaneous value of the desired gait is the desired body position / posture, the desired contact position (the instantaneous value of the desired contact portion trajectory), the desired total floor reaction force, and It is composed of the instantaneous value of the target total floor reaction force center point position (target ZMP position).
- target ZMP position the instantaneous value of the target posture of each ground contact portion 10 is not determined.
- the gait parameters include a parameter that defines the target posture of each contact area, and the instantaneous value of the target posture of each contact area based on the parameter Should be determined.
- the processes in S14 to S22 are processes executed by the gait generator 100.
- the process proceeds to S26, where the desired node floor reaction force (including at least the desired floor reaction force of each ground contact portion 10 (each leaf node)) is obtained.
- the target node floor reaction force (each target contact portion floor reaction force) of each leaf node is obtained.
- This S26 process is also a process executed by the target floor reaction force distributor 102 as described above. As described above, when a compliance mechanism is provided in addition to the tip of each leg # 1 to # 4, it is better to obtain the target floor reaction force of each intermediate node that is not a leaf node. Supplementally, the moment horizontal component of the desired node floor reaction is zero.
- the process proceeds to S28, where the state of the robot 1 such as the actual body posture inclination is detected from the output of the posture sensor 36 and the like.
- the detection value of the actual body posture inclination detected by the posture sensor 36 is taken in by the posture difference calculation unit 103, and the detected value and the target body posture of the target body position / posture are obtained. From the inclination (the instantaneous value at the current time), the body posture inclination deviation 0 berr is calculated.
- the process proceeds to S30, and a compensation total floor reaction force for stabilizing the posture of the mouth port 1 is obtained from the state of the lopot 1 detected in S28.
- the posture stabilization control calculation unit 104 calculates the compensation total floor reaction force moment Mdmd around the target total floor reaction force center point (target ZMP) from the body posture inclination deviation 0 berr.
- the horizontal components Mdmdx and Mdmdy are calculated in accordance with Equations 5 and 6.
- the process proceeds to S32, where the actual floor reaction force of each ground contact portion 10 is detected.
- This is a process executed by the actual floor reaction force detector 108.
- the actual floor reaction force of each ground contact portion 10 detected by the 6-axis force sensor 34 is supported by the supporting leg coordinates. System (global coordinate system) is required. Or later, The actual floor reaction force of each contact portion 10 may be referred to as an actual contact portion floor reaction force.
- the hierarchical compliance operation deciding unit 114 determines the target node floor of each node excluding leaf nodes based on the target node floor reaction force of each leaf node determined by the target floor reaction force distributor 102.
- the translational force component and the moment component of the reaction force are determined.
- FIG. 10 exemplarily shows a translational force component of the desired floor reaction force (each desired node floor reaction force) of each node in the state of FIG. 3 (b).
- each ground contact portion 10 since each ground contact portion 10 is engaged with the ball joint 12 (free joint) at the tip of each leg # 1 to # 4, each ground contact portion 10 ( Floor reaction force moment (horizontal component and vertical component) cannot be generated at each leaf node. For this reason, in the hierarchical compliance operation deciding unit 1 14, the moment vertical component of the target node floor reaction force of each ground contact portion 10 (each leaf node) is also set to 0.
- the target node floor reaction force moment vertical component of a node that is not a leaf node is determined so as to be dynamically balanced with the target motion of the mouth port 1, it can generally take a value other than 0, but in this reference example, No control is performed on the rotation of the attitude of the mouth port 1 around the vertical axis (rotation in one direction). Therefore, in this reference example, the setting of the vertical component of the moment of the target node floor reaction force of the node that is not a leaf node is omitted. For this reason, the illustration of the moment component of each desired node floor reaction force in the state of FIG. 3 (b) is omitted.
- the target floor anti-camoment vertical component of each node should also be set.
- the translational force component and the moment component of the target node floor reaction force of each node including the leaf node are determined by the target floor reaction force distributor 102. In such a case, the decision need not be made by the hierarchical compliance operation decision section 114.
- the hierarchical compliance operation determination unit 114 also determines the translational force component and the moment component of the real node floor reaction force, which is the actual floor reaction force of each node.
- the translational force component of the actual floor reaction force (actual node floor reaction force) of each node in the state of Fig. 3 (b) is exemplarily shown in Fig. 11.
- the translational force component of the actual floor reaction force of each node that is not a leaf node is the sum of the translational force components of the actual floor reaction forces of all child nodes of that node.
- the translational force components Flact, F2act, F3act, and F4act of the actual floor reaction force of each leaf node are obtained by calculating the actual floor reaction force (actual ground contact portion) of each ground contact portion 10 obtained by the actual floor reaction force detector 108.
- Translational force component The vector shown by the dotted line in FIG. 11 is the translational force component of the desired node floor reaction force shown in FIG.
- the hierarchical compliance operation determination unit 1 14 calculates the translation of the actual node floor reaction force of each node from the actual floor reaction force of each ground contact portion 10 obtained by the actual floor reaction force detector 108 as described above. Determine the force component.
- the moment component of the actual floor reaction force of each node in the state of FIG. 3 (b) is exemplarily shown in FIG.
- Mtotalact the moment component of the resultant force of the actual floor reaction force of all child nodes of that node
- the actual floor reaction force component of a node that is not a leaf node generally does not become zero.
- the translation of the actual floor reaction force around the target 14th node floor reaction force center point Q14 generally occurs at the 1st contact area 10 (1st node) and the 4th contact area 10 (4th node).
- a moment is generated by the horizontal component of the force component.
- the ball joint 12 as a free joint is provided at the tip of the leg, so the component in the same direction as the line segment Q1Q4 of M14act, and the line segment Q2Q3 of M23act The component in the same direction is 0.
- the posture of the lopot should be around the vertical axis. Even when control relating to rotation is not performed, the horizontal component of the desired floor reaction force moment of each ground contact portion is also set as shown in the embodiment of Japanese Patent Application Laid-Open No. H10-2777969 previously proposed by the present applicant.
- the actual floor reaction force moment of each contact area is also detected. Then, the actual floor reaction force moment horizontal component of each ground contact area is made closer to the target floor reaction force moment horizontal component, or the actual floor reaction force moment of each ground contact area is calculated as the target floor reaction camo horizontal component and its ground contact.
- the posture correction of each ground contacting part should be performed so as to approach the sum (vector sum) with the part compensation floor reaction force moment.
- the actual position around the center point of the desired total floor reaction force target ZMP
- the horizontal component of the desired total floor reaction force moment Mtotalref is 0 at the target total floor reaction force center point (target ZMP). Therefore, in order to restore the fore-and-aft and left and right postures (tilts) of the upper body 24 of the robot 1, the horizontal component of the actual total floor reaction force moment around the target total floor reaction force center point (target ZMP) is calculated as M What is necessary is to make it follow the horizontal component (Mdmdx, Mdmdy) of dmd. Further, in this reference example, the actual floor reaction force moment about the desired floor reaction force center point of each contact portion 10 is zero.
- the hierarchical compliance operation determination unit 114 in the first reference example sets each of the grounding portions 100 determined by the gait generator 100 so as to satisfy the requirements 1) and 2) as much as possible. Correct the position (particularly the position in the height direction) of the target touching site of.
- the hierarchical compliance operation determination unit 114 determines a compensation angle.
- This compensation angle is an operation amount (rotation amount) for correcting the relative relationship between the positions of the ground contact portions 10 by a rotation operation around a certain point (in this reference example, correction in the vertical direction).
- the compensation angles include a 14th node compensation angle 014, a 23rd node compensation angle 023, and a 1423th node compensation angle 01423. That is, the compensation angles of nodes other than the leaf nodes.
- the fourteenth node complement angle ⁇ 14 is the angle formed by the line segment Q1Q4 and the line segment Q1'Q4 '
- the 23rd node compensation angle 023 is the line segment Q2Q3 and the line segment.
- Q2'Q3 is the line segment Q2Q3 and the line segment.
- the 1423-th node compensation angle ⁇ 1423 is an angle formed by the line segment Q14Q23 and the line segment Q14′Q23 ′. The method for determining these node compensation angles 014, ⁇ 23, and 01423 will be described later.
- the modification of is performed as follows.
- the target first node floor reaction force center point Q1 (the target floor reaction force center point of the first ground contact portion 10) and the target fourth node floor reaction force center point Q4 (the second ground contact portion) (The target floor reaction force center point of 10) and the normal vector V14 of the plane perpendicular to the horizontal plane.
- the size of V14 shall be 1.
- the coordinates (position) of the target first node floor reaction force center point Q1 are set to the normal vector V14 around the target 14th node floor reaction force center point Q14 (the axis parallel to V14 through Q14).
- the rotational movement is performed by the 14th node compensation angle 0 14.
- the point after the movement of Q1 due to this rotational movement is defined as Q1 '.
- the coordinates (position) of the target fourth node floor reaction force center point Q4 are set to the target fourteenth node floor reaction force center point as the center of rotation and the fourteenth node compensation angle ⁇ 14 around the normal vector V14. Rotate and move. The point after the movement of Q4 due to this rotation is Q4 '.
- Q1 'and Q4' be the end points of the line segment obtained by rotating the line segment Q1Q4 by 0 14 around V14 with the subdivision point Q14 as the center of rotation.
- the 14th node compensation angle 0 14 is obtained by moving the position of the desired floor reaction force center point Q14 of the 14th node without changing the position of the 1st node and the 4th node, which are the child nodes of the 14th node. This is the amount of operation to move the relative relationship between the floor reaction force center points Ql and Q.
- the normal vector V23 of the plane that includes the target second node floor reaction force center point Q2 and the target third node floor reaction force center point Q3 and is perpendicular to the horizontal plane is obtained.
- the size of V23 shall be 1.
- the coordinates (position) of the target second node floor reaction force center point Q2 are set to the normal vector V23 around the target 23rd node floor reaction force center point Q23 (around the axis parallel to V23 through Q23). In addition, it rotates and moves by the 23rd node compensation angle 23. As shown in FIG. 15, the point after the movement of Q2 by this rotational movement is defined as Q2 '.
- the coordinates (position) of the target third ground contact site floor reaction force center point Q3 is set to the 23rd node compensation angle ⁇ 23 around the normal vector V23 with the target 23rd node floor reaction force center point as the rotation center. Just rotate and move.
- the point after the movement of Q3 by this rotational movement is defined as Q3 '.
- Q2 'and Q3' be the end points of the line segment 'Q2Q3' obtained by rotating the segment 'Q2Q3' by 023 around V23 with the subdivision point Q23 as the center of rotation.
- the compensation angle ⁇ 23 of the 23rd node does not move the position of the desired floor reaction force center point Q23 of the 23rd node, and the target angle of each of the 2nd and 3rd nodes which are the child nodes of the 23rd node This is the amount of operation to move the relative position of the floor reaction force center points Q2 and Q3.
- a normal vector V1423 of a plane including the desired 14th node floor reaction force central point Q14 and the desired 23rd node floor reaction force central point Q23 and perpendicular to the horizontal plane is determined.
- the size of V1423 shall be 1.
- the coordinates (position) of the target 14th node floor reaction force center point Q14 are changed to the target total floor reaction force center point P.
- Rotate around the normal vector V1423 (around the axis parallel to V1423 through P) with the 1423th compensation angle 0 1423 around ( Q1423) as the rotation center.
- the point after the movement of Q14 due to this rotational movement is defined as Q14 '.
- the coordinates (position) of the target ground contact point floor reaction force center point Q23 at the target 23rd ground contact point center point P is rotated around the normal vector V1423 by the 1423 compensation angle ⁇ ⁇ ⁇ 1423 around the target total floor reaction force center point P.
- the point after the movement of Q23 due to this rotational movement is defined as Q23 '.
- the 1423th node compensation angle 1423 is set to the target floor of each of the 14th node and the 23rd node, which are the child nodes of the 1423th node, without moving the position of the desired floor reaction force center point P of the 1423th node. This is the amount of operation to move the relative relationship between the positions of the reaction force center points Q14 and Q23.
- a vector whose start point is A and whose end point is B is generally referred to as a vector A_B.
- a point Q1 "obtained by moving Q1 'by the vector Q14-Q14' is obtained.
- a point Q4" obtained by moving Q4 'by the vector Q14-Q14' is obtained.
- find the point Q3" which has moved Q3 'by the vector Q23-Q23'.
- the position of each leaf node is changed to the position of the ground contact portion 10 corresponding to the leaf node.
- the above parallel movement is performed without changing the posture (target posture) of each grounding part.
- the n-th contact point is further rotated around the longitudinal axis (X axis) around Qn "by a certain rotation angle n-x, and around the lateral axis (Y axis).
- the rotation angle 0 n (a two-dimensional quantity consisting of 0 n—x and 0 n—y)
- the ground contact part compensation angle is referred to as 011-X
- the n-th ground contact part compensation angle X component
- 6 »n-y is referred to as the n-th ground contact part compensation angle Y component.
- each of the node compensation angles is defined as the target floor reaction force moment (its horizontal component is 0) and the node compensation floor reaction force moment that should originally occur at the target node floor reaction force center point of the node as the point of action.
- Mn Determined to produce a resultant with dmd.
- the compensating total floor reaction force moment Mdmd which is the basis of the node compensation floor reaction chamfer Mn-dmd, is determined so that the actual posture inclination deviation approaches zero. Therefore, each node compensation angle is set such that the actual posture inclination deviation is reduced to zero while the floor reaction force moment around the target total floor reaction force center point approaches the desired moment (in this case, the compensation total floor reaction force moment).
- it functions as an operation amount for operating the relative positional relationship between the ground contact portions 10 so as to approach.
- the target contact point position of each contact point 10 (for details, The process of correcting the relative relationship between positions is the hierarchical compliance operation in the first reference example.
- the manipulated variable (relative positional relationship) of the relative relationship (relative positional relationship) between the target grounding site positions of each grounding site 10 that is a descendant node of that node Correction amount) is determined according to each compensation angle 014, ⁇ 23, ⁇ 1423, and by synthesizing those operation amounts (correction amount), the mutual relative relationship of the target ground contact position of each ground contact portion 10 is obtained. Will be corrected.
- the corrected target contact part position / posture corrected as described above is referred to as a corrected target contact part position / posture.
- the compensation angle (compensation operation amount) is not excessive, even if the contact pressure distribution of each contact portion 10 changes, the contact region (the region where the contact pressure is positive). Does not change.
- the compliance mechanism 42 attached to each ground contact portion 10 is deformed in proportion to the compensation angle, and the actual floor reaction force of each ground contact portion 10 is generated according to the amount of deformation. I do.
- the relationship between the compensation angle and the amount of change in the actual floor reaction force generated by the compensation angle has the following good characteristic, that is, a linear characteristic.
- FIG. 17 is a block diagram illustrating the function of the hierarchical compliance operation determination unit 114 in the present reference example. Referring to FIG. explain.
- the hierarchical compliance operation determination unit 114 is composed of a compensating total floor reaction force moment distributor 111a, a compensation angle determination unit 114b, 114c, and 114d.
- a ground contact position / posture calculation unit 114 g, a mechanical deformation compensation amount calculation unit 114 n, and a corrected target ground position / posture calculation unit 114 h with mechanism deformation compensation are provided.
- the compensating total floor reaction force moment distributor 111a converts the compensating total floor reaction force moment Mdmd (Mdmdx, Mdmdy) to the 1423th node compensating floor reaction force element M1423dmd and the 14th node compensating floor. It is distributed to the reaction force moment M14dmd and the 23rd node compensation floor reaction force moment M23dmd.
- the component of the 1423th node compensation floor reaction force moment M1423dmd in the vector V1423 direction (component around the axis in the V1423 direction) is described as M1423dmdv.
- the vector V1423 is the vector defined in the overall description of the compliance operation of the hierarchical compliance operation determination unit 114 (see Fig. 16). Assuming that the vector orthogonal to V1423 and perpendicular to the vertical direction is U1423, in this reference example, the component in the U1423 direction of the 1423th node-compensated floor reaction force moment M1423dmd (the component around the axis in the U1423 direction) Minutes) M1423dmdu is set to 0.
- the fourteenth node compensation floor reaction chamoment M14dmd is calculated by calculating the translational force component of the floor reaction force at each of the ground contact points 10 (specifically, the first and fourth ground contact points) generated by operating the fourteenth compensation angle 014. The target value of the moment to be generated around the desired 14th node floor reaction force center point.
- the vector V14 direction component of the 14th node compensation floor anti-chamber M14dmd is described as M14dmdv.
- the vector V14 is the vector defined in the overall description of the compliance operation of the hierarchical compliance operation determination unit 114 (see Fig. 15). Assuming that a vector orthogonal to V14 and also perpendicular to the vertical direction is U14, in this reference example, the U14 direction component M14dmdu of the .14th node-compensated floor reaction force moment M14dmd is set to 0. This is because, in the robot 1 of the present reference example, even if the fourteenth node compensation angle ⁇ 14 is operated, the U14 direction component of the floor reaction force moment cannot be generated.
- the vertical component of M14dmd is also set to zero.
- the 23rd node compensated floor reaction force moment M23dmd is the translation of the floor reaction force of each contact area 10 (specifically, the 2nd and 3rd contact points) generated by operating the 23rd compensation angle 0 23.
- the force component is the desired value of the moment to be generated around the desired 23rd node floor reaction force center point.
- the vector V23 component of the 23rd node compensation floor reaction force moment M23dmd is described as M23dmdv.
- the vector V23 is defined in the overall description of the compliance operation of the hierarchical compliance operation determination unit 114. (See Figure 15). Assuming that a vector orthogonal to V23 and also orthogonal to the vertical direction is U23, in this reference example, the U23 direction component M23dmdu of the 23rd node compensation floor reaction force moment M23dmd is set to 0. This is because, in the mouth port 1 of the present reference example, even if the 23rd node compensation angle 023 is operated, the U23 direction component of the floor reaction force moment cannot be generated. In this reference example, the vertical component of M23dmd is also set to zero.
- the 1423th node-compensated floor reaction force moment M1423dmd, the 14th node-compensated floor reaction force moment M14dmd, and the 23rd node-compensated floor reaction chamoment M23dmd are determined, for example, as follows.
- the corrected target n-th floor reaction force center point position is defined as the corrected target n-th floor reaction force center point position.
- Equation 9 Note that a difference between two points such as (Pmdfd-P) in Equation 7 means a difference between the position vectors of those points. Further, as shown in FIG. 10, Ftotalref, F14ref, and F23ref are translational force components of the target node floor reaction force at the 1423rd node, the 14th node, and the 23rd node, respectively.
- Pmdfd should not be too close to the end point of line segment Q14Q23 from the center point P of the total floor reaction force, and should be on line segment Q14Q23.
- the range where the modified target 1423 node floor reaction force center point (modified target total floor reaction force center point) Pmdfd should exist is the modified target 1423 node floor reaction force center point (modified target total floor reaction force center). Point) is called the allowable range.
- Q14mdfd should not be too close to the end point of line segment Q1Q4 from the target 14th node floor reaction force center point Q14, and should be on line segment Q1Q4.
- the range where the modified target 14th node floor reaction force center point Q14mdfd should exist is called the allowable range of the modified target 14th node floor reaction force center point.
- the resultant force of the ground-compensated floor reaction force moment M1423dmd, the 14th node-compensated floor reaction force moment M14dmd, and the 23rd node-compensated floor reaction chamoment M23dmd should approximately match the compensated total floor reaction force moment Mdmd. That is, the following expression 10 should be substantially satisfied.
- Mdmd M1423dmd + M14dmd + M23dmd ... Equation 10 Therefore, in this reference example, the 1423rd node-compensated floor reaction force moment M1423dmd, the 14th node-compensated floor reaction force moment M14dmd, and the 23rd node-compensated floor reaction force moment M23dmd are ,
- the positions of the corrected target node floor reaction force center points Pradfd, Q14mdfd, Q23mdfd determined by the above formulas 7, 8 and 9 satisfy the corrected node existence position conditions 1), 2) and 3).
- the limit is determined by the following equations 11 to 13.
- M1423dmd Matl423 * Mdmd * V1423 ... Equation 1 1
- M23dmd Mat23 * Mdmd * V23 ... Equation 13
- Matl423, Matl4, and Mat23 are gain matrices (matrix of 1 row and 3 columns where the third element is 0).
- M1423dmd, M14dmd, and M23dmd obtained by Expression 13 are set so as to satisfy Expression 10.
- the gain matrices Matl423, Matl4, and Mat23 are determined so that the simultaneous equations consisting of Equation 10, Equation 11, Equation 12, and Equation 13 are established irrespective of the value of Mdmd. Is done. Since the gain matrix for the above simultaneous equations to be established identically is not uniquely determined, For example, an appropriate gain matrix may be determined depending on which of the modified node existence position conditions 1), 2) and 3) is particularly important. Supplementally, in order to continuously change each compensation angle 01423, ⁇ ⁇ 14, ⁇ 23, it is desirable to change the gain matrix continuously. Further, the setting policy of the gain matrix may be changed depending on whether or not the robot 1 is in the upright state or the moving mode.
- the compensating total floor reaction force moment distributor 1 14a determines the node compensating floor reaction force moments M1423dmd, M14dmd, and M23dmd.
- FIG. 14 shows examples of the node-compensated floor reaction force moments M1423dmd, M14dmd, and M23dmd determined in this manner. Mdmd in the figure is the same as that shown in Fig. 13 above.
- a node-compensated floor reaction force moment is generated at the desired n-th floor reaction force center of the n-th node having child nodes (the desired floor acting on the desired n-th floor reaction force center). Modifying the moment component of the reaction force) is equivalent to modifying the weight of the child node of the nth node.
- the translational force component (Flact + F4act) of the resultant force of the actual 1st node floor reaction force and the actual 4th node floor reaction force acts on the target 14th node floor reaction force center point Q14, and the target 23rd node floor reaction force
- the translational force component (F2act + F3act>) of the resultant force of the actual second-node floor reaction force and the actual third-node floor reaction force acts on the center point Q23
- the moment M1423act generated around the force center point P (target 1423 node floor. Reaction force center point) is calculated by the following equation 14.
- P—Q14 is a vector whose start point is P and an end point is Q14
- P—Q23 is a vector whose start point is P and whose end point is Q23.
- M1423act P_Q l * Flact + P_Q2 * F2act
- the formula is used to calculate the actual total floor anti-chamoment Mtotalact acting around the force center point P.
- Equation 14 is based on the actual total floor reaction force moment Mtotalact acting around the target total floor reaction force center point P, and the actual floor reaction force acting around the target 14th node floor reaction force center point Q14. The moment and the actual floor reaction force moment acting around the desired 23rd node floor reaction force center point Q23 are reduced.
- the actual n-th node floor reaction force moment Mn-act of an arbitrary n-th node that is a leaf node is the actual floor reaction force moment of the n-th contact portion.
- the floor reaction force of all the child nodes (the floor reaction force of the child node is strictly the target floor reaction force of the child node)
- the moment that the floor reaction force acting on the force center point) acts on the desired n-th node floor reaction force center point is called the actual n-th node floor reaction force moment Mn-act.
- the actual n-th node floor reaction force moment may be defined with or without the actual floor reaction force moment of the child node.
- the actual floor reaction force moment Mm_act of the m-th node which is a leaf node, is the actual floor reaction force moment of each ground contact point detected by the actual floor reaction force detector.
- the 1423th node compensation angle 0 1423 is the M1423act obtained as described above and the 1423th node compensation floor reaction force previously obtained by the compensating total floor reaction force moment distributor 114a.
- the deviation from the moment M1423dmd may be determined by a feedback control rule or the like so as to approach zero.
- 0 1423 may be obtained by multiplying the deviation by a predetermined gain matrix (third-order diagonal matrix).
- the 1423th node compensation angle 0 1423 around the axis in the direction of the vector V1423 may be determined, the component M1423actv of M1423act in the direction of the vector V1423 and the component M1423actv of the vector V1423 in the direction of the vector V1423 are used.
- 0 1423 may be determined according to the deviation from the component M1423dmdv. In this case, in this reference example, in order to improve the responsiveness and stability of the control of the floor reaction force, After passing M1423actv and M1423dmdv through the field, it was decided to determine 0 1423. according to their deviation.
- the component M1423actv in the direction of the vector V1423 of the M1423act obtained as described above is extracted. This is obtained by the following equation 18 using the vector inner product operation “ ⁇ ”.
- M1423actv M1423act ⁇ V1423 Equation 18
- the process of calculating M1423actv as described above is executed by the arithmetic unit denoted by reference numeral 114k in FIG.
- M1423actvfilt is passed through a low-pass filter 114i to obtain M1423actvfilt.
- component M1423dmdv in the V1423 direction of the 1423th node compensation floor reaction force moment M1423dmd is passed through the compensation filter 114j to obtain M1423dmdvfilt.
- M1423dmdv is obtained by calculating the inner product of M1423dmd and V1423, as in Equation 18. Then, a value obtained by subtracting M1423dmdvfilt from M1423actvfilt is obtained as a deviation moment V1423 direction component M1423errv.
- the compensation filter 114j improves the frequency response characteristic of the transfer function from M1423dmdv to the actual total floor reaction force moment in the control system.
- the 1423th node compensation angle ⁇ 1423 is obtained by the operation of the feedback control law (here, the proportional control law) of the following equation 19.
- K1423 is the control gain, which is usually set to a positive value.
- the target first node floor reaction force center point Q1 is set to the actual first node
- the translational force component Flact of the floor reaction force (actual floor reaction force of the first ground contact area 10) acts, and the actual fourth node floor reaction force (the fourth ground contact area 1) is applied to the target fourth node floor reaction force center point Q4.
- Actual floor reaction force of 0 the translational force component F4act, and the translational force component, the moment M14act generated around the target 14th node floor reaction force center point Q14 is represented by the general formula It is calculated using Equation 16.
- Q14_Q1 is a vector with a starting point of Q14 and an ending point of Q1
- Q14-1 is a vector with a starting point of Q14 and an ending point of Q4.
- Equation 2 1 Mlact is the actual first-node floor reaction force moment and M4act is the actual fourth-node floor reaction force moment.
- Mlact and M4act are 0 because a free joint (ball joint 12) is provided at the tip of each leg # 1 to # 4.
- Equation 21 is an equation for calculating the moment in which the resultant of the actual floor reaction forces of all the leaf nodes of the 14th node acts around the target 14th node floor reaction force center point.
- Equation 20 gives the actual first-node floor reaction force moment from the moment in which the resultant force of the actual floor reaction forces of all leaf nodes of the 14th node acts around the target 14th floor reaction force center point. The fourth node floor reaction force moment is reduced.
- the 14th node compensation angle 0 14 is generally calculated as M14act obtained as described above and the 14th node compensation floor reaction force moment obtained previously with the compensating total floor reaction force moment distributor 1 14a.
- the deviation from Ml423dmd may be determined by a feedback control law or the like so as to approach zero.
- M14actv is passed through a low-pass filter 114i to obtain M14actvfilt.
- the component M14dmdv of the fourteenth node compensation floor reaction force moment M14dmd in the V14 direction is passed through the compensation filter 114j '.
- M14dmdvfilt is obtained by calculating the inner product of M14dmd and V14.
- a value obtained by subtracting M14dmdvfilt from M14actvfilt is obtained as a deviation moment V14 direction component M14errv.
- the compensation filter 1 1 4 j ' improves the frequency response characteristics of the transfer function from M14dmdv to the actual total floor reaction force moment in the control system.
- the 14th node compensation angle 0 14 is obtained by the operation of the feedback control law (here, the proportional control law) of the following equation 23.
- K14 is the control gain, usually set to a positive value.
- ⁇ 14 K14 * M14errv... Equation 2 3
- Compensation angle determination unit ( ⁇ 23 determination unit) in Fig. 17 ( ⁇ 23 determination unit) The processing of 114d is the same as that of the 14th node compensation angle Since this is the same, a detailed description is omitted here. The outline of the process is as follows.
- the 23rd node compensation angle 0 23 is calculated from the V23 direction component M23errv by a feed-pack control law ′ (proportional control law).
- a node is set so that the horizontal component of the actual moment Mact acting on the target total floor reaction force center point P approaches the compensated total floor reaction chamoment Mdmd.
- the set of compensation angles 0 1423, ⁇ 14, 0 23 will be determined. Note that, in this reference example, 0 1423 is the above formula
- the sum of the moments and M1423dmd may be determined in accordance with the deviation between the ones that were passed through the fill.
- the node-compensated floor reaction force moment was determined using the Qn as the action point without changing the target node floor reaction force center point Qn of each node. Then, the node floor reaction force compensation moment (more precisely, the resultant force of the node compensation floor reaction force moment and the moment component of the target node floor reaction force having Qn as an action point) and a real node having Qn as an action point The deviation from the floor reaction force moment was used as the control amount, and the node compensation angle was determined so that this control amount approached zero. Instead of determining the node compensation angle in this manner, the node compensation angles 01423, ⁇ 14, ⁇ 23 may be determined as follows.
- the real node floor reaction force of that n-th node (the real node floor of all child nodes of the n-th node)
- the center point of the floor reaction force where the horizontal component of the momentum of the reaction force is zero is determined as the actual n-th node floor reaction force center point.
- the real node floor reaction force of each child node is set to the target node floor reaction force center point of the child node.
- the center point of the floor reaction force such that the horizontal component of the moment obtained by subtracting the acting moment becomes zero as the actual n-th node floor reaction force center point.
- the actual 14th node floor reaction force center point on the 14th node is obtained by dividing the horizontal component of M14act obtained by the above equation 16 or 17 into the resultant force of Flact and F4act (the actual 14th node floor reaction force).
- the target 14th node floor reaction force center point is calculated as the point shifted on the line segment Q1Q4 by the value divided by the vertical component of the force translational force component). Node floor reaction force at the 23rd and 1423rd nodes. The same applies to the center point.
- the corrected target contact area position and orientation calculation unit 114g in Fig. 17 In accordance with the method of correcting the target contact position and orientation of the compliance operation (the method described with reference to FIGS. 15 and 16), the target contact position and orientation of each contact portion 10 are modified, Obtain the corrected target contact area position and orientation. However, in this reference example, there is a free joint (ball joint 12) at the tip of each leg # 1 to # 4, and it is not possible to intentionally change the posture of each ground contact part 10. The contact part position / posture actually means the corrected target contact part position.
- 21 is a functional block diagram showing the processing of the mechanism deformation compensation amount calculator 114n of FIG. As shown in FIG. 21, the mechanism deformation compensation amount calculation unit 11.4n is configured to correct the corrected target ground contact floor of each ground contact 10 output from the compensating total floor reaction force moment distributor 111a.
- the corrected target ground contact position / posture calculation unit 114h with mechanism deformation compensation shown in FIG. 17 calculates the corrected target ground contact position / posture (see above) of each ground contact part 10 so as to cancel out the calculated mechanical deformation En ⁇ mdfd.
- the position and orientation calculated by the corrected target contact part position / posture calculation unit 114g is further corrected to obtain a corrected target contact part position / posture with mechanism deformation compensation for each contact part 10.
- the corrected target ground contact portion position and orientation with mechanism deformation compensation is determined by adding the corresponding mechanism deformation compensation amount En-cmpn to the corrected target ground contact portion position and posture of each ground contact portion 10.
- the target position of the contact point 10 is determined.
- Correction The floor reaction force at the target contact area is modified to lower by z. That is, the position and orientation when the contact surface (bottom surface) of the contact portion 10 after mechanical deformation compensation is deformed by receiving the ground contact force of the target contact portion is determined by the target position and orientation of the contact surface of the contact portion before mechanical deformation compensation.
- Calculate the corrected target contact position and orientation with mechanical deformation compensation so that The detailed description of this is described in detail in Japanese Patent Application Laid-Open No. H10-27969.
- the corrected target grounding part position / posture calculation unit with mechanical deformation compensation 114h that is actually corrected is Correction of site 10 It is the target touching site position.
- the mechanism deformation compensation as described above This is a control to cancel the deviation of the position and orientation of the actual ground contact area caused by the feed forward in a feed forward manner. Can be.
- FIG. 22 is a flowchart showing a generalization of the subroutine of the compensation angle determination process.
- the actual floor reaction force of each ground contact portion 10 (the actual floor reaction force obtained by the actual floor reaction force detector 108) is used to determine the actual floor reaction force.
- Vn can be in any direction as long as it does not change rapidly over time.
- the orientation may be determined appropriately, for example, according to the direction of the X axis of the support leg coordinate system or the orientation of the upper body of the mouth pot. Un needs only to be orthogonal to V n.
- the n-th node compensation floor reaction force moment Mn—Un direction component Mn of dmd Set dmdu to 0. Or you don't need to find Mn-dmdu.
- the process proceeds to S114, where the difference between the value obtained by filtering Mn-actu through a filter and the value obtained by filtering Mn_dmdu is multiplied by a gain Kn (more generally, the difference is used as a feedback control law).
- the Un component of the nth node compensation angle 6> n is determined. However, when the number of child nodes of an arbitrary n-th node that is not a leaf node is 2 or less as in the first reference example, the n-th node compensation angle U component is set to 0. Alternatively, there is no need to execute the processing of S114.
- the processing of S106 to S114 is based on the fact that the actual n-th floor reaction force acting on the target n-th floor reaction force center point is the n-th node compensation floor reaction force moment (more precisely Is the process of determining the n-th node compensation angle so as to converge to (the resultant force of the n-th node compensation floor reaction force moment and the target node floor reaction force moment acting on the desired n-th node floor reaction force center point). .
- the target contact position and orientation is corrected according to the compensation angle obtained in S 34, and further corrected according to the mechanism deformation compensation amount obtained in S 36, whereby Obtain the corrected target landing part position and orientation of the ground contact part 10 with mechanical deformation compensation.
- a corrected target contact position of each contact portion 10 is obtained.
- the processing of S32 to S38 in FIG. 9 described above is the processing of the hierarchical compliance operation determination unit 114.
- the process proceeds to S40, in which the joint displacement command of the lopot 1 is calculated from the target body position / posture and the corrected ground contact position / posture with mechanism deformation compensation (in the first reference example, the corrected ground contact position with mechanism deformation compensation).
- This processing is executed by the robot geometric model 110 as described above.
- the control of the floor reaction of each node hardly interferes with each other even in the moving port having three or more grounding points.
- the node floor reaction force can be easily and appropriately controlled. 'Therefore, there is no control interference, and the actual floor reaction force of each node does not deviate from the desired value or oscillate. For this reason, even if there is an unexpected floor shape change including local irregularities and slopes as well as global undulations and slopes on the floor, the leg-type moving port The acting floor reaction force can be appropriately controlled.
- control for stabilizing the posture of the mobile robot can be easily realized, and The landing impact received by the robot can be reduced, the contact property of the moving robot can be improved, and slip and spin during moving can be prevented. Furthermore, the load on the mobile locomotive during the night can be reduced. Therefore, it is possible to appropriately control the floor reaction force at each ground contact portion and obtain high posture stability.
- the tilt angle deviation 0 berr (0) when the entire mouth port is tilted from the state where the lopot is walking as expected on the floor surface It is desirable that the relationship between berrx, berry berry) and the increase ⁇ ⁇ of the horizontal moment component around the center point of the desired total floor reaction force generated in response to this be in a proportional relationship. Even if this is not the case, it is desirable that the following equation 24 holds for a certain rotation matrix T and a certain diagonal matrix diag (a, b). Note that T and diag (a, b) are quadratic square matrices.
- T * AM diag (a, b) * ⁇ * ⁇ hevr... Eq. 2 4 If these relationships are not satisfied, when the robot posture returns from the inclined state, the inclination angle deviation is linearly 0 berr May not converge to 0, causing miso grinding motion.
- the overturning force in the lateral direction acts extra, and the inclination angle deviation 0 berr is linearly reduced to 0.
- the restoring force acts in the lateral direction behind, and the tilt angle deviation 0 berr converges to 0 in a spiral.
- the relative height between the respective touching portions 10 was corrected from the relative height between the target touching portion positions.
- the position of the target ground contact portion may be moved only in the vertical direction, and only the height of each ground contact portion 10 may be corrected.
- the target contact position is corrected by the following procedure.
- the vertical position correction amount Z14 of the target 14th node floor reaction force center point and the vertical position correction amount Z23 of the target 23rd node floor reaction force center point are calculated by the following equations 26 and 27.
- the corrected target contact position is obtained by adding Zl, Z2, Z3, and Z4 obtained as described above to the target contact position in the vertical direction.
- the grounding portion 10 is hierarchized as shown in FIG. 6, but the hierarchical structure does not necessarily need to be determined in advance into one hierarchical structure.
- the hierarchical structure may be changed according to the mode of movement of the mouth port 1 (eg, the form of movement of the legs during movement), such as trot and gallop.
- the grounding portions 10 may be hierarchized. FIG.
- the mouth pot 1 of the second reference example is a six-leg mouth port.
- the fifth leg # 5 extends from the right side of the upper body 24 of the mouth pot 1 behind the third leg # 3, and the sixth leg # 6 extends to the rear of the fourth leg # 4.
- G 1 extends from the left side of the upper body 24.
- the other mechanical structure of the mouth port 1 is the same as that of the first embodiment, and therefore, the same reference numerals as those of the first embodiment are given the same reference numerals and the description is omitted.
- the basic concept of the hierarchical compliance control method of the robot 1 (six-leg port) of the second reference example is the same as that of the first reference example.
- the hierarchical compliance control of the second reference example differs from that of the first reference example in that there is a node with three child nodes and the control processing is extended correspondingly. Are different.
- FIG. 24 is a diagram for explaining the hierarchical structure in the second reference example, and is a diagram corresponding to FIG. 3 (b) in the first reference example.
- each of the six grounding parts 10 is a leaf node (first to sixth nodes), and the set of all six grounding parts 10 is the root node. (No. 145236 node) and the first, fourth, and fifth grounding parts 10 that are the grounding parts of the first leg # 1, the fourth leg # 4, and the fifth leg # 5 are referred to as the 145th node.
- the set of the second, third, and sixth grounding parts 10 that are the grounding parts of the node, the second leg # 2, the third leg # 3, and the sixth leg # 6 are referred to as the 236th node.
- the 145th node is an intermediate node having the first, fourth, and fifth nodes (three leaf nodes) as child nodes
- the 236th node is the second, third, and sixth nodes (three leaf nodes). Node) as a child node.
- Q145, and Q236 are the 145th node, the target floor reaction force center point of the 236th node (target node floor reaction force center point)
- P is the target floor reaction force center of the root node (145th node 145236 node).
- control device 50 in the second reference example is the same as that in FIG. 2 described with respect to the first reference example.
- the gait generator 100 in the second reference example is similar to the gait generator in the first reference example in that the target motion trajectory of the mouth port 1 (the desired contact part trajectory, the desired body position / posture trajectory)
- the floor reaction force trajectory (target total floor reaction force center point trajectory, target total floor reaction force trajectory) is determined and output.
- the target contact part trajectory is the trajectory of each of the six contact parts 10 at the target contact part position. If each grounding part is provided so that its attitude can be controlled, The trajectory of the target touching part posture is also included in the target touching part trajectory.
- the desired total floor reaction force center point trajectory is set within the range where ZMP can exist, in accordance with the movement pattern of legs # 1 to # 6 in the second reference example (particularly the planned landing position of the supporting leg). It is determined to move continuously while being at a position that is not too close to the boundary (for example, near the center of the possible range of ZMP).
- the target node floor reaction force center point is set so as to satisfy the following conditions A ′) to F ′). Determine the weight of each node and the desired node floor reaction force.
- the inner node of the triangle (including points at the boundary of the triangle), and the target node floor reaction force center point Q236 of the 236th node is the 2nd, 3rd, and 6th node that is its child node (leaf node)
- the inner node of the triangle whose vertex is the center point Q2, Q3, or Q6 of the desired node floor reaction force is included (including the boundary point of the triangle).
- the target node floor reaction force center point Q145236 of the 145236 node (root node) is the target node floor reaction force of the 145th and 236th nodes that are its child nodes (intermediate nodes). This is a line segment connecting the center points Q145 and Q236.
- the target node floor reaction force F145236 at the root node (the 145236th node) matches the target total floor reaction force Ftotalref.
- the weight of the leaf node corresponding to the non-ground contact part 10 is set to zero, or the weight of one of the ancestor nodes of the leaf node is set to zero.
- weight of the root node was set to “1” for convenience, as in the first reference example.
- the processing of the attitude deviation calculation unit 103 and the attitude stabilization control calculation unit 104 in the second reference example is the same as that of the first reference example, and the compensation total floor reaction force moment Mdmd (Mdmdx, Mdmdy) is the first It is determined as described in the reference example.
- the actual floor reaction force detector 108 in the second reference example is similar to that of the first reference example in that the actual floor reaction force detector
- the floor reaction force is detected from the output of the 6-axis force sensor 34 provided for each leg # 1 to # 6 and expressed in the supporting leg coordinate system (global coordinate system shown in Fig. 1 fixed to the floor). It is converted into the actual floor reaction force.
- the lopot geometric model (inverse kinematics calculation unit) 110 in the second reference example is the final target trajectory and target body position / posture of each ground contact position, as in the first reference example. Based on the above, the joint displacement commands of the robot 1 that satisfies them are calculated by the inverse kinematics calculation.
- the displacement controller 112 in the second reference example includes the joints 14, 15 of the mouth port 1 so that the actual joint displacement follows the respective joint displacement commands. Control (not shown).
- the hierarchical compliance operation determination unit 114 in the second reference example sets the target grounding part of each grounding part 10 so as to satisfy the requirements 1) and 2) as much as possible. Modify the trajectory.
- the specific processing of the hierarchical compliance operation determining unit 114 is slightly more complicated than that of the first embodiment.
- the hierarchical compliance operation determining unit 114 sets the grounding part 10 so that the above requirement 3) is satisfied as much as possible.
- the target contact area trajectory should be modified.
- FIG. 25 is a block diagram illustrating the function of the hierarchical compliance operation determination unit 114 of the second reference example, and corresponds to FIG. 17 of the first reference example.
- the hierarchical compliance operation determination unit 111 of the second reference example also has a compensating total floor reaction force moment distributor 1 14a and a compensation angle determination, as in the first reference example.
- a ground contact position / posture determination unit 114 h is provided as a component (functional means).
- the compensation angle is determined by the 145236th node, the 145th node, and the 236th node.
- the hierarchical compliance operation determination unit 114 determines the target node floor of each node based on the output of the target floor reaction force distributor 102, etc.
- the translational force component and the moment component of the reaction force are determined, and the translational force component and the moment component of the actual node floor reaction force of each node are determined based on the output of the actual floor reaction force detector 108.
- the translational force component of the target node floor reaction force of the root node, F145236ref is the same as the translational force component of the target node floor reaction force determined in step 2.
- the desired total floor reaction force determined by the gait generator 1.00 Is the same as the translational force component of Ftotalref.
- F145ref Flref + F4ref + F5ref
- F236ref F2ref + F3ref + F6ref
- FIG. 26 illustrates the translational force component Fn-ref of the target node floor reaction force of each node in a state where all the ground portions 10 of the robot 1 of the second reference example are grounded. .
- Fig. 30 shows the actual node floor of each node in the state where all the grounding parts 10 of the lopot 1 of the second reference example are grounded. It illustrates the translational force component Fn-act of force.
- Component is set to 0.
- the resultant force of the node floor reaction force is determined as a moment component acting on the target node floor reaction force center point of the n-th node (this generally does not become zero).
- the compensating total floor reaction force moment distributor 1 14 a converts the compensating total floor reaction force moment Mdmd to the compensating total floor reaction force moment Mdmd (Mdmdx, Mdmdy), and a It is distributed to the floor reaction force moment M145236dmd, the 145th node compensation floor reaction force moment M145dmd, and the 236th node compensation floor reaction force moment M236dmd.
- the translational force component of the floor reaction force generated at each contact point 10 generated by the target total floor reaction force central point P (Target ZMP) This is the target value of the moment to be generated around.
- the first, fourth and fifth grounding portions 10 belonging to the 145th node can be set to the target 145th node by operating the 145th compensation angle 145145.
- the center component of the floor reaction force ⁇ By rotating by 0 145 around 145 145) The translational force component of the floor reaction force at each of the contact points 10 (specifically, the first, fourth, and fifth contact points) generated The target value of the moment to be generated around the center point of the 145th node floor reaction force.
- the 236th compensation angle ⁇ 236, the 2nd, 3rd, and 6th grounding points 10 belonging to the 236th node can be set to the target 236th node floor.
- the translational force component of the floor reaction force at each of the contact points 10 (specifically, the second, third, and sixth contact points) generated by rotating the reaction force center point Q236 by 0 236 is calculated as follows. This is the target value of the moment to be generated around the node floor reaction force center point.
- M145236dmd , M145dmd, and M236dmd are the moments (horizontal vectors) in which the component around the vertical axis is 0, and the compensation angles 0 145236 and ⁇ 145, 0236 are the rotation angles around the horizontal axis.
- M145236dmd is the moment about the horizontal axis perpendicular to the line Q145Q236.
- M236dmd (Q236mdfd-Q236) * F236ref ... Equation 9a
- the possible range of Q145mdfd, Q236mdfd Pmdfd is, for example, when all the grounding parts 10 of the robot 1 of the second reference example are grounded.
- the allowable range of the existence of Q145mdfd is the area on the bold triangle in the figure (the side and interior area of the triangle), which is the center of the target node floor reaction force of the child node of the 145th node. This is an area set so as not to be too close to the boundary of the triangle Q1Q4Q4 inside the triangle that vertices of the points Q1, Q4, Q5.
- the allowable range of Q236mdfd is the area above the bold line in the figure. This is the line connecting the target floor reaction force center points Q145 and Q236 of the child node of the 145236th node (root node). This area is set on Q145Q236 so as not to be too close to the end point of the line segment Q145Q236.
- Mdmd M145236dmd + M145dmd + M236dmd is almost satisfied.
- M145236dmd has a line segment Q145Q236 similar to each .node compensation floor reaction force moment in the first reference example. Is limited to vectors in the same direction as the horizontal unit vector (represented by V145236) that is orthogonal to Therefore, in this embodiment, M145236dmd, Ml45dmd, and M236dmd are determined so as to satisfy the following condition 13).
- M145236dmd + M145dmd + M236dmd vector V145236 component should be as close as possible to the Mdmd vector V145236 component.
- M145236dmd, M145dmd and M236dmd that satisfy these conditions 11) to 13) are determined, for example, as follows. First, M145236dmd is determined as a component of Mdmd in the V145236 direction. However, if the corrected target node floor reaction force central point Pmdfd determined by the equation 7a does not fall within the existence allowable range, M145236dmd is corrected so that Pmdfd is a point on the boundary of the existence allowable range.
- Mdmdl45 and Mdmd236 are determined so as to satisfy the condition 11). In this case, Mdmdl45 and Mdmd236 are vectors parallel to each other.
- M145236dmd An example of M145236dmd, M145dmd, and M236dmd determined in this way is shown in Fig. 29 (b). To add, M145236dmd is This is a horizontal vector perpendicular to the line segment Q145Q236.
- the vertical components of M145236dmd, M145dmd, and M236dmd may be determined.
- the node compensation angles 0 145236 and ⁇ 145, 0 236 are determined so that the deviation approaches 0. I do.
- Figures 30 and 31 show examples.
- 0 145 is the rotation angle around the axis passing through the target 145th node floor reaction force center point Q145 in the same direction as the deviation M145act-M145dmd, as shown in Fig. 30.
- deviation M236act is the rotation angle about the axis passing through the center point Q236 of the floor reaction force at the 236th node in the same direction as M236actd.
- 145236 is the rotation angle around the axis passing through the target total floor reaction force central point P in the same direction as the deviation M145236act-M145236dmd (horizontal direction perpendicular to the line segment Q145Q236), as shown in FIG.
- the node-compensated floor reaction force moment of the n-th node (n 145236, 145,236) passed through the filter and the actual node floor reaction force moment
- the node compensation angles ⁇ 145236 and ⁇ 145, 0 236 are determined according to the deviation from the one that passed through the filter.
- FIG. 32 is a block diagram showing the function of the compensation angle determining unit 1 14 b ( ⁇ 145236 determining unit) for determining the node compensation angle ⁇ 145236 as described above
- FIG. FIG. 9 is a block diagram showing the function of a compensation angle determining unit 1 1 4 c (0 145 determining unit).
- the compensation angle determination unit 1 1 4 d The process of ( ⁇ 236 determining unit) is the same as the process of ⁇ 145 determining unit 114 b, and therefore detailed description and illustration are omitted.
- the compensation angle determination unit (0 145236 determination unit) 1 1 4b first, the translational force component of the resultant force of the first, fourth, and fifth node floor reaction forces at the target 145th node floor reaction force center point Q145 ( Flact + F4act + F5act) acts, and the translational force component (F2act + F3act + F6act) of the resultant force of the second, third and sixth node floor reaction forces at the target 236th node floor reaction force center point Q236. ) Is applied, the moment M145236act generated around the desired total floor reaction force center point P (the desired 145236 node floor reaction force center point) is obtained based on the above equation (16) or (17).
- the component M145236actv of the obtained M145236act in the direction of the vector V145236 is obtained by inner product calculation.
- the vector V145236 is a unit vector perpendicular and horizontal to the line segment Q145Q236.
- the position of the target floor reaction force center point of the child node (the 145th node and the 236th node) cannot be operated around the axis in the direction of the unit vector U145236, which is vertical and horizontal to the V145236. Therefore, it is not necessary to find the vector component of M145236act in the U145236 direction.
- the M145236actvfilt obtained by passing this M145236actv through a low-pass filter and the vector V component M145236dmdv of the 145236th node-compensated floor reaction force moment M145236dmd are compensated for by the filter filter.
- the target first, fourth, and fifth nodes are set to the actual first, fourth, and fifth nodes at the floor reaction force center points Q1, Q4, and Q5, respectively.
- the calculated M145act is composed of components in the respective directions of vectors V145 and U145, which are horizontal unit vectors orthogonal to each other. The orientation of vector V145 or U145 is arbitrary.
- the node is set so that the horizontal component of the actual moment Mact acting on the target total floor reaction force center point P approaches the compensation total floor reaction force moment Mdmd.
- a set of compensation angles 0 145236, ⁇ 145, 0 236 will be determined.
- the real node floor reaction force of each child node is calculated as the target node of the child node. Acts on the center point of the floor reaction force The center point of the floor reaction force where the horizontal component of the moment resulting from the subtraction of the moment is zero is calculated as the actual n-th node floor reaction force center point.
- the corrected target contact part position / posture calculation unit 114 g in the second reference example shown in FIG. 25 calculates the target contact part position / posture of each contact part 10 (actually in the Is corrected, and the corrected target ground contact position and orientation are obtained. That is, referring to FIG. 30 and FIG. 31, the target floor reaction force center points Ql, Q4, and Q5 of the first, fourth, and fifth nodes, which are the child nodes of the 145th node, are respectively determined by the target of the 145th node. Rotate around the floor reaction force center point Q 145 by the 145th node compensation angle ⁇ 145 (horizontal vector). Ql, Q4, and Q5 after this rotational movement are ⁇ 3 ⁇ 41 ', Q4', and Q5 ', respectively.
- the 145th node compensation angle 145 145 does not move the position of the desired floor reaction force central point Q145 of the 145th node, but changes the position of each of the 1st, 4th, and 5th nodes that are child nodes of the 145th node. It is an operation amount for moving the relative relationship between the positions of the desired floor reaction force center points Ql, Q4, Q4.
- the target floor reaction force center points Q2, Q3, and ⁇ 3 ⁇ 46 of the second, third, and sixth nodes, which are the child nodes of the 236th node, are set to the target floor reaction force center point Q236 of the 236th node, respectively.
- the rotation center it rotates and moves by the 236th node compensation angle 0 236 (horizontal vector).
- Q2, Q3, and Q6 after this rotational movement be Q2 ', Q3', and Q6 ', respectively. Therefore, the 236th node compensation angle 0 236 becomes the 236th node without moving the position of the desired floor reaction force center point Q236 of the 236th node. This is the amount of operation to move the relative position of the target floor reaction center points Q2, Q3, and Q6 of the second, third, and sixth nodes, which are child nodes of the node.
- FIG. 30 shows these rotational movements visually.
- the target floor reaction force center points Q145 and Q236 of the 145th and 236th nodes which are child nodes of the 145236th node, are respectively set as the target floor reaction force center point P (the target total floor reaction force center point of the 145236th node).
- P the target total floor reaction force center point of the 145236th node.
- Q145 and Q236 after this rotation are Q145 'and Q236', respectively, as shown in Fig. 31.
- the 145236th node compensation angle 0 145236 can be obtained by moving the position of the desired floor reaction force center point P of the 145236th node (root node) without moving the position of the 145th and 236th child nodes of the 145236th node. It is the amount of operation to move the relative relationship between the positions of the desired floor reaction force center points Q145 and Q236 of each node. .
- the target node floor reaction force center points Ql ′, Q4 ′, and Q5 ′ after the previous rotational movement are translated by the vector Q145—Q145 ′.
- the target contact position of each contact part 10 (more precisely, the relative relationship between the target contact part positions of each contact part 10) is corrected. That is, for each node that has child nodes, each ground part that is a descendant node of that node W
- the operation amount (correction amount) of the relative relationship (relative positional relationship) between the target contact point positions of 10 is determined according to each compensation angle 0 145, ⁇ 236, 0 145 236, and the operation amount By synthesizing the (correction amount), the mutual relative relationship between the target grounding site positions of the grounding sites 10 is corrected.
- the target ground contact area floor reaction force center point (target The rotation of the foot posture around the node floor reaction force center point may be performed by the method disclosed in Japanese Patent Application Laid-Open No. H10-2776969 (Composite Compliance Control). That is, as described in the supplementary explanation regarding the first reference example, the target attitude of the n-th ground-contact portion may be corrected with the center of Qn ′′ after the above-described parallel movement of the ⁇ -th ground contact portion.
- the mechanism deformation compensation amount calculation unit 114n in the second reference example shown in FIG. 25 is similar to that of the first reference example, and the deformation of the compliance mechanism 42 of each leg # 1 to # 6 is similar to that of the first reference example.
- the corrected target ground contact position / posture calculation unit 114h with mechanical deformation compensation in the second reference example shown in FIG. 25 is similar to that of the first reference example.
- the compensation corrected target contact part position / posture is the mechanism corresponding to the corrected target contact part position / posture of each contact part 10 (the position / posture obtained by the corrected target contact part position / posture calculation unit 114 g). It is determined by adding the deformation compensation amount En-1 cmpn.
- control device 50 The arithmetic processing of the control device 50 other than that described above is the same as that of the first reference example.
- the hierarchical structure in the second reference example may be changed according to the operation mode (movement mode) of the robot 1 as in the first reference example.
- a hierarchical structure may be set as shown in FIG.
- the twelfth node having the first grounding portion and the second grounding portion as child nodes (leaf nodes) and the 34th node having the third grounding portion and the fourth grounding portion as child nodes (leaf nodes) are shown.
- the mechanical configuration of the lopot 1 in this reference example is the same as that shown in Fig. 1 described in the first or second reference example (however, the mouth port 1 having six legs # 1 to # 6). It is. Therefore, the description of the mechanical configuration of the robot 1 is omitted.
- the functional configuration of the control device 50 provided in the mouth port 1 in the present reference example is also the same as that shown in FIG. However, in this reference example, a new function is added to the hierarchical compliance operation determination unit 114 in FIG. 2, which is different from that of the second reference example.
- the processing of the constituent elements of the control device 50 other than the hierarchical compliance operation determining unit 111 is the same as that of the second reference example. Therefore, in the description of the present reference example, the processing of the hierarchical compliance operation determining unit 114 will be mainly described, and the other processing of the control device 50 will not be described in detail.
- FIG. 35 is a block diagram showing the processing function of the hierarchical compliance operation determination unit 114 in the present reference example. Among them, the functions different from those in the second reference example will be described.
- the hierarchical compliance operation determination unit 114 is newly provided with a floor shape estimator 130 as floor shape estimation means.
- the output of the adder 1 32 is input to the corrected target ground contact position / posture calculation unit 114 h instead of the corrected target ground contact position / posture instead of the corrected target ground contact position / posture.
- the processing of the other components of the hierarchical compliance operation determining unit 114 is the same as that of the second embodiment.
- FIG. 36 is a flowchart showing the main routine control process of the control device 50 in the present reference example.
- a process of estimating the floor shape deviation in S37 (the process of the floor shape estimator 130) is newly added after S36.
- S 38 ′ the position and orientation of each target contact part is corrected according to the compensation angles ⁇ 145 236, ⁇ 145, 0 236 described in the second reference example and the floor shape deviation estimated in S 37.
- the corrected target contact part position and orientation after the correction is further corrected according to the mechanism deformation compensation amount, thereby obtaining a corrected target contact part position and posture with mechanical deformation compensation, which is the final target contact part position and posture.
- the corrected target contact area position and orientation after calculating the corrected target contact area position and orientation in the same manner as in the second reference example according to each compensation angle 0 145236, ⁇ 145, 236 236, the corrected target contact area position and Is corrected in accordance with ⁇ , and further corrected in accordance with the amount of mechanism deformation compensation, thereby obtaining a corrected target contact position and orientation with mechanism deformation compensation. Except for the matters described above, the processing is the same as that in FIG.
- the concepts and terms used in the estimation by the floor shape estimator 130 are defined as follows.
- the explanation here is not limited to the six-legged port 1 of the present embodiment, but is made using a simplified diagram of a general robot.
- FIG. 37 shows the four-legged mouthpot described in the first reference example
- FIGS. 38 and 39 show two-legged lopots, which will be described below.
- the meaning of the term is the same for any multi-legged lopot including the six-legged mouth port 1 in this reference example.
- the target n-th ground contact area floor reaction force center point Qn defined in the hierarchical compliance control described in the first and second reference examples was a point set at the center point of the n-th ground contact part.
- the center point Qn of the floor reaction force may be set on the ground contact surface (bottom surface) of the second contact portion.
- a point on the assumed floor that is assumed to be in contact with the desired n-th ground contact point floor reaction force center point Qn is referred to as an "assumed n-th floor contact Dn".
- the target n-th ground contact point floor reaction force center point Qn and the assumed n-th floor contact point D n The coordinates are the same when viewed from the supporting leg coordinate system (global coordinate system).
- the mouth port 1 when the mouth port 1 is actually moving, the point on the bottom surface of the actual n-th ground contact area that corresponds to the target n-th ground contact area floor reaction force center point Qn contacts the actual floor. The point is called the “actual nth floor contact D nact”.
- FIGS. 37, 38 and 39 Examples showing the relationship between these points are shown in FIGS. 37, 38 and 39.
- Fig. 37 the four-legged robot is moved from the normal direction of the vertical plane passing through the target first ground contact area floor reaction force center point Q1 and the target second ground contact area floor reaction force center point Q2 (that is, almost Fig. 38 shows the two-legged robot that is moving (walking) as the target first ground contact area floor reaction force center point Q1 and the target second ground contact area floor reaction force center point Q2.
- Figure 39 shows a biped robot in a nearly upright posture, with the target ground contact point at the target first ground contact point Q 1 and the target second ground contact area viewed from the normal direction of the vertical plane passing through It is the figure seen from the normal direction of the vertical plane which passes through the floor reaction force center point Q2 (that is, almost from the back).
- the cross section of the assumed floor on the vertical plane is indicated by a thin line
- the cross section of the actual floor on the vertical plane is indicated by a thick line.
- the target posture of the mouth pot (the overall posture of the robot at the instantaneous value of the desired gait) and the actual posture are indicated by broken lines and solid lines, respectively.
- the robot's target posture target gait 9
- the position and posture of the actual contact area are indicated by thin and thick lines, respectively.
- the actual n-th floor contact point in these situations is a point on the actual floor surface, and is at the position shown in Fig. 37, Fig. 38 and Fig. 39.
- the shape deviation of the actual floor surface from the assumed floor surface is called a floor shape deviation.
- a floor shape deviation As an index for quantitatively expressing the floor shape deviation, an n-th floor height deviation and an n-th floor inclination deviation are defined as follows.
- the height of the floor surface at the n-th floor contact point is referred to as the “n-th ground part floor height”.
- the difference between the actual n-th ground part floor height and the assumed n-th ground part floor height is calculated as the “n-th ground part floor height deviation” or “n-th node floor height deviation”.
- the inclination of the floor at the n-th floor contact point is referred to as the “n-th ground contact area floor inclination”.
- the target j-th grounding position and the height and inclination of the assumed j-th floor (for details, the height and inclination of the assumed floor at the assumed j-th floor contact point) )
- the corrected target j-th ground contact position and orientation corrected by the compliance operation using the set of node compensation angles, and the height and inclination of the actual j-th floor is called the “node floor inclination deviation (set)”
- the node floor inclination deviation corresponding to the nth node compensation angle Is called the “n-th node floor inclination deviation”.
- the set of node floor inclination deviations is necessary to make all the ground contact points of the robot moving according to the target gait from the state parallel to the target floor to the actual floor. This corresponds to a large amount of compensation.
- the actual floor reaction moment of each node will walk on the assumed floor even if there is a floor shape deviation. Is the same as when Naturally, the actual floor reaction force moment of the contact part, which is the actual floor reaction camo of the leaf node, also matches the desired ground reaction part floor reaction force moment.
- the floor shape may be expressed using the “n-th node floor inclination deviation” defined as above, but a node has three child nodes and the desired floor reaction force center of the three child nodes. When points are aligned on the same line, or when a node has four or more child nodes, it becomes difficult to represent the floor shape.
- the weight used for obtaining the predetermined weighted average in the following definition is the same as the above-mentioned weight determined by the target floor reaction force distributor 102 as described above. Definition:
- the heights and inclinations of all target contact points are made to correspond to the heights and inclinations of the corresponding actual floor surfaces, respectively, and the desired floor reaction force center point of any node is set to the target of all child nodes.
- the target floor reaction force center point of the nth node When expressed as a predetermined weighted average of the floor reaction force center points (that is, an internal division point at a predetermined internal division ratio), for any nth node, the target floor reaction force center point of the nth node The height obtained by subtracting the height (vertical position) of the desired floor reaction force center point of the parent node of the nth node from the height (vertical position) It is called "the actual nth node relative floor height".
- the heights and inclinations of all target contact points are made to correspond to the heights and inclinations of the corresponding assumed floors, respectively, and the desired floor reaction force center point of any node is set to the desired floor reaction force of all child nodes.
- the height of the desired floor reaction force center point of the nth node (vertical The height obtained by subtracting the height (vertical position) of the target floor reaction force center point of the parent node of the nth node from the (direction position) is called the “assumed nth node relative floor height”.
- nth node relative floor height deviation The height obtained by subtracting the assumed nth node relative floor height from the actual nth node relative floor height is called the “nth node relative floor height deviation”.
- the n-th node relative floor height difference has the same value even if it is defined as follows. Definition:
- the heights and postures of all target contact points are made to correspond to the corresponding contact point floor height deviation and contact point floor inclination deviation, respectively, and the target floor reaction force center point of any node
- the target floor reaction force center point of any node When expressed as a predetermined weighted average of the target floor reaction force center points of the nodes (that is, the subdivision points by the predetermined internal division ratio), for any nth node, the target floor reaction force center of the nth node
- the height obtained by subtracting the target floor reaction force center point height of the parent node of the nth node from the point height is called the “nth node relative floor height deviation”.
- the n-th node relative floor height deviation of all the child nodes is calculated as the floor height deviation It indicates the relative relationship.
- the weighted average of all child nodes is zero.
- the difference between the actual floor surface and the assumed floor surface on the target gait (that is, floor shape deviation) is compensated, and the grounding part 10 to be grounded is properly realized. Correct the target position and orientation of each ground contact area 10 so that it touches the floor.
- the n-th node relative floor height deviation defined as above is used as a floor shape parameter representing the floor shape deviation, and based on this, each n-th ground contact portion floor height deviation ( (Floor shape deviation). Then, the target position of the n-th ground contact portion 10 is corrected according to each estimated n-th ground contact portion floor height deviation (hereinafter, sometimes simply referred to as the n-th floor height deviation).
- the moment component of the actual floor reaction force of the n-th landing part of the actual floor reaction force is 0, and therefore, it is necessary to input this to the floor shape estimator 130 as well.
- the floor reaction force at the n-th ground contact part also includes the moment component of the actual floor reaction force at the n-th ground contact part.
- the total number of grounding parts is often referred to as the “last leaf node number” so that this reference example can be easily extended when the number of grounding parts is other than four or six. Represent. For example, in the six-legged mouth port 1 in FIG. 1, the last leaf node number is “6”.
- FIG. 40 is a block diagram showing the processing functions of the floor shape estimator 130.
- the floor shape estimator 130 includes a mechanism compliance model 134.
- correction target with deformation compensation In addition to the position and orientation of the ground contact area, the estimated value of the position and orientation of the n-th contact area (each ground contact area) after the mechanism deformation (more specifically, the actual body posture matches the target body posture
- the estimated n-th contact position and orientation (n l, 2, ..., last leaf node number), which is the estimated value of the n-th contact position and orientation when assuming that
- the corrected target contact point position and orientation with mechanism deformation compensation is the value obtained in the previous control cycle. And past values.
- the position / posture of the corrected target contact area with mechanism deformation compensation and the position / posture that passes through the low-pass filter corresponding to the tracking delay may be used.
- the actual ground contact position when there is no mechanical deformation via the lopot geometric model similar to the lopot geometric model 110 in Fig. 2
- the posture, which is the actual ground contact position without mechanical deformation, is calculated, and the obtained value may be used instead of the corrected target ground contact position with mechanical deformation compensation.
- a weighted average of the actual ground contact portion position and orientation without mechanical deformation and the correction target ground contact position posture with the mechanical deformation is obtained, and is corrected with the mechanical deformation compensation. It may be used instead of the target contact position position.
- the mechanism compliance model 13 4 is described in detail in Japanese Patent Application Laid-Open No. H10-2777969, which was previously proposed by the present applicant, and further description is omitted here. I do.
- the corrected target ground contact position and posture without the mechanical deformation compensation (the corrected target ground contact position and posture calculation described above).
- the corrected target contact position and orientation without the deformation compensation of the mechanism are used as the mechanism of the floor shape estimator 130. Enter it in the compliance model 1 3 4.
- a value obtained by subtracting the assumed nth floor contact position Dn from the instantaneous estimated nth floor contact position Qn-estm ' is obtained as a bias-containing momentary nth ground contact portion floor height deviation Zfn_with-bias'.
- This Zfn-with-bias' is equivalent to an instantaneous estimate of the floor height deviation of the n-th contact area.
- the bias is generally biased. Contains errors. Therefore, Zfn-with-bias' is called the floor height deviation of the n-th ground contact point at the moment when the pipes are contained.
- the assumed n-th floor contact D n is defined as At the same time as the target nth ground contact area floor reaction force center point Qn.
- the position of the target n-th ground contact portion floor reaction force center point Q n assumed at the time of the next touch is defined as the assumed n-th floor contact point D n.
- the position of the target n-th contact portion floor reaction force center point Qn assumed at the time of leaving the bed is assumed to be the assumed n-th floor contact point Dn.
- Hierarchical relativization is generally defined as the process of determining the output values of all nodes for a set of input values (values of a certain type of state quantity) for all leaf nodes. . More specifically, in the hierarchical relative processing, the weighted average of output values corresponding to all child nodes of any node other than a leaf node is 0, and the input value (state quantity) of any leaf node is This is the process of determining the output value of each node so that it matches the sum of the output value of that node and the output values of all preceding nodes of that node.
- obtaining the value of a certain type of output ⁇ from a certain type of input (state quantity) ⁇ ⁇ ⁇ ⁇ for a leaf node by hierarchical correlation processing is referred to as “calculating ⁇ by hierarchically resolving ⁇ ”.
- the “last node number” means the highest number among all node numbers.
- the “n-th contact part height” is a generic term for the input of the hierarchical relativization process such as the n-th contact part floor height or the n-th contact part floor height deviation.
- the “n-th node relative height” is a name that generically represents the output of the hierarchical relativization processing, such as the relative floor height deviation of the n-th contact portion described later.
- the bias-containing n-th node height Zn—with—bias is obtained by the following equation 32. If the nth node is a leaf node,
- nth node is not a leaf node
- ⁇ is; ( ⁇ set of child node numbers of the eleventh node ⁇ ; sum of j.
- the n th node relative height Zn rel is obtained from the following equation 33 J.
- the h-th node is the parent node of the n-th node.
- Zn_rei Zn_witli_bias- Zh_with_bias... Equation 3 ⁇ ⁇ ⁇ ⁇ Obtain the node relative floor height Zn_rel (n is the number of each node) for all nodes according to the above rules. However, the relative height Zk-rel (k is the number of the root node) with respect to the root node is 0.
- Fig. 42 shows an example of calculating the node relative height of the four-legged lopot shown in the first reference example
- Fig. 43 shows an example of calculating the node relative height of the six-legged port in this reference example.
- the bias-containing n-th node height Zn-rel-with-bias may be obtained by the following method that can obtain the same result.
- the n-th node is a leaf node (that is, a ground part)
- the value of the n-th ground part height Zfn is substituted for the n-th node height with a bias including Zn-with-bias.
- the nth node is not a leaf node (that is, a ground contact)
- a weighted average of the biased heights of the leaf nodes of all descendants of the nth node is obtained, and this is used to calculate the biased nth node height Zn1 with— bias.
- the weight Wj ′ for each leaf node; j is the weight Wj determined by the desired floor reaction force distributor 102 for the node; j and the destination node of the node j and The product of the weights determined by the desired floor reaction force distributor 102 with respect to all the nodes that are descendant nodes of the nth node. That is, the bias-containing n-th node height Zn—with one bias is obtained by the following equation 34. If the nth node is a leaf node,
- Zn_with_bias ⁇ ( ⁇ ] ⁇ —with— bias * Wj ')
- ⁇ is a set of leaf node numbers of descendants of node n ⁇ ;
- the weight Wj 'in this case is obtained by dividing the desired floor reaction force of each leaf node by the desired j-node floor reaction force if the desired j-th node floor reaction force is not 0. Matches the value.
- the floor height deviation of the n-th contact portion is used as an input of the hierarchy relativization process, and the output is the n-th node relative floor height deviation.
- the same reference numerals as those shown in the above equations 32 to 34 are used as reference signs for these inputs and outputs.
- the estimated ⁇ contact area floor height deviation which is an estimated value of the ⁇ contact area floor height deviation obtained in the previous control cycle of the controller 50 (hereinafter, this is referred to as the previously estimated ⁇
- the current weight the weight determined in the current control cycle
- the previous weight the weight determined in the previous control cycle
- Zn_inc_cand Means a provisional value of the correction amount of the n-th node relative floor height deviation when the deviation is updated in the current control cycle.
- the n-th node relative floor height deviation correction amount candidate value Zn— inc— cand is, as shown in the following equation 35, the instantaneous n-th node relative floor height deviation Zn—rel ′ and the previously estimated n-th node
- the relative floor height deviation is set to the product of the difference between Zn_re and estm-p and a predetermined coefficient ( ⁇ TV (Testm + ⁇ )).
- Zn_mc_cand (Zn_rel' ⁇ Zn_rel_estm_p
- Testm in Equation 35 is a time constant (first-order time constant) in estimating (updating) the nth node floor height deviation, and ⁇ is a control cycle of the controller 50.
- a node request mode (n-th request mode mdn_dmd), which is a request value of the mode of each node, is determined according to the time of the desired gait.
- the ONZOFF in the first (top) and second stage timing charts in Figure 44 is The state where the grounding part is grounded corresponds to ON, and the state where it is not grounded corresponds to OFF.
- the applicant of the present invention has a footpot as a ground contact portion and is capable of estimating a floor inclination deviation at the contact portion.
- the request mode corresponding to the estimation of the floor inclination deviation of the contact area should also be set as described in the publication.
- the mode of each node includes a ready mode, a hold mode, and a reset mode.
- the preparation completion mode is a mode for estimating the floor shape.
- the hold mode is a mode that holds the estimated value of the floor shape (estimated n-th contact area floor height deviation) (maintains the previous value). Hold mode is based on floor shape It exists at a time when the constant value may diverge and at a time when the accuracy of the floor shape estimation value may decrease.
- the reset mode is a mode in which the floor shape estimated value is shifted to a predetermined initial value before the estimation of the next floor shape is started (start of the next ready mode).
- the n-th node request mode is set to ready mode. After that, if all the grounding sections belonging to the nth node on the target gait have left the floor, the nth node request mode is set to hold until immediately thereafter.
- the n-th node request mode may be set to the hold mode immediately before all the grounding portions belonging to the n-th node leave the floor. Then, shortly thereafter, the nth node request mode is set to the reset mode. Further, the n-th node request mode is set to the ready mode immediately before at least one ground portion belonging to the [!] Node on the target gait is grounded.
- the mode of each node is finally determined. decide.
- the mode of each node to be determined is any of the ready mode, the hold mode, and the reset node.
- the node request mode was determined in accordance with the grounding and non-grounding of each grounding part on the target gait. Thus, the mode of each node is determined.
- the presumed permission condition is to satisfy one of the following equations 36 and 37. In this case, when neither of Equations 36 and 37 is satisfied, it is assumed that the estimation permission condition is not satisfied.
- the estimation permission condition is a condition in which even if the ⁇ -th node relative floor height deviation is estimated (even if the floor shape deviation is estimated), the estimated value does not diverge.
- the divergence is corrected so as to cancel the effect of the actual n-th floor height deviation using the estimated ⁇ -th floor height deviation Zfn-estm (estimated value of the floor shape deviation) estimated as described later.
- the estimated nth floor height deviation Zfn-estm continues to increase, and the nth contact area moves away from the floor (further floats from the floor) Means the situation.
- the predetermined allowable value Fn_min may be 0, but in actuality, a detection error of Fn-act occurs, which may cause the estimation value to diverge. .
- Fn-min is set to a value sufficiently larger than the detection error of Fn_act.
- the estimated permission condition is a condition under which the divergence described above does not occur.
- the estimation permission condition may be a condition that can secure a required estimation accuracy of the floor shape. Therefore, instead of the translational vertical component of the actual n-th floor contact reaction force F n__act, the assumed floor (or the estimated floor ( A component perpendicular to the actual floor surface)) may be used.
- the mode of each node is determined based on the result of determining whether or not the estimation permission condition is satisfied and the node request mode. If the n-th node request mode is the ready mode and the estimation permission condition is satisfied, the n-th node mode is set to the ready mode.
- the nth node request mode is the ready mode and does not satisfy the estimation permission condition, the nth node mode is set to the hold mode.
- the n-th node request mode is the hold mode
- the n-th node mode is set to the hold mode.
- the nth node request mode is the reset mode
- the nth node mode is set to the reset mode. Therefore, the mode of the n-th node is finally determined to be the ready mode only when the request mode is the ready mode and the estimated permission condition is satisfied.
- S62 the number of child nodes of the n-th node is determined. At this time, if the number of child nodes (the number of child nodes) is two, the floor shape estimation process for two child nodes, which is the process of estimating the floor shape deviation corresponding to the number, is performed in S64. You. If the number of child nodes is three, a floor shape estimation process for three child nodes, which is a process of estimating a floor shape deviation corresponding to the number, is performed in S66. If the number of child nodes is 0, it is determined in S68 whether or not the ground contact portion of the nth node can control the floor reaction force moment.
- the processing when the number of child nodes is 0 will be further described.
- the nth node is a leaf node, and the nth node corresponds to a ground part.
- the n-th contact portion can control the floor reaction force moment.
- the floor should be grounded at the grounding part. A reaction force moment can be generated.
- a floor inclination deviation estimating process for the ground contact portion is performed.
- This process is a process of estimating a floor inclination deviation at each ground contact portion.
- This processing is based on the foot floor reaction force center point in the floor inclination estimation processing in Japanese Patent Application Laid-Open No. 10-2777969 previously proposed by the applicant of the present invention. This is the processing replaced with the desired floor reaction force center point. Therefore, further detailed description is omitted in this specification.
- FIG. 45 is a flowchart showing the subroutine processing of the floor shape estimation processing for two children
- FIGS. 46 and 47 show the subroutine processing of S640 and S640 in FIG. 45, respectively
- FIG. 48 is a flowchart showing the subroutine processing of S640 and S640 in FIG.
- the mode of all the child nodes of the nth node having two child nodes is set. (The mode determined in S58 of FIG. 41) is determined. The results are divided into three categories: "all ready”, “reset all”, and "else”. In the following description, the two child nodes of the n-th node will be referred to as an i-th node and a j-th node.
- Fn-z is, in other words, the translational force vertical component of the resultant force of the actual floor reaction forces of all the ground contact points belonging to the nth node.
- S6404 If the determination result of S6402 is YES, in S6404, all the estimations in the group for the node having two child nodes (the two estimation processes of the nth node The process of substantially estimating the relative floor height deviation of each child node) is performed. In this process, according to the formula shown in the flowchart of FIG. 46, the estimated node relative floor height deviation Zi reestm of each of the inode and the jth node, which are the two child nodes of the nth node , Zj—re-estm required (updated).
- the value of the Zi_rel-estm in the previous control cycle Zi_rel_estm_p is replaced by the candidate of the second node relative floor height deviation correction amount obtained in S54.
- the value Zi_inc_cand By adding the value Zi_inc_cand, a new estimated j-th node relative floor height deviation Zi—re-estm is obtained. The same applies to the j-th node.
- the resultant force Fn-z of the floor reaction force of the two child nodes of the n-th node is smaller than a predetermined value Fn_min2 (if the determination result of S6402 is NO)
- the floor shape Since the estimation accuracy of the deviation is too low, the substantive estimation process is not performed, and in S6406, all hold processes in the group for the node having two child nodes (the nth node has The process of holding the estimated node relative floor height deviation of each of the two child nodes without updating them is performed.
- the hold processing as shown by the equation in the flowchart of FIG. 48, the values of the estimated node relative floor height deviations Zi—re estm and Zi—re The value in the previous control cycle is maintained at Zi-re-estm_p and Zi-rel-estm-p.
- the node having two child nodes is determined in S640. All reset processing within the service group (processing to reset the estimated node relative floor height deviation of each of the two child nodes of the nth node) is performed. The reset processing is performed according to the equation in the flowchart of FIG. 47. Estimated node relative floor height deviations Zi—reestm and Zi_rel_estm of i-th and j-th nodes are updated so that they gradually approach zero. The meanings of ⁇ and Testm in the above equation are the same as those in the equation 35.
- the node relative floor height deviation of the two child nodes is set to the hold value. Is done.
- the real node floor reaction forces of the two child nodes are both 0, that is, the actual floor reaction forces are In the inoperative situation, the node relative floor height deviations of the two child nodes will be reset gradually to zero.
- FIG. 49 is a flowchart showing the subroutine processing of the floor shape estimation processing for a three-node
- FIGS. 50 and 51 are subroutine processing of S6604 and S6608 in FIG. 49, respectively.
- FIG. 52 is a flowchart showing the subroutine processing of S 666, S 666 and S 666 of FIG. 49
- FIGS. 53 and 54 are S flowcharts of FIG. 49 respectively.
- 6 is a flowchart showing the subroutine processing of 612 and S66616.
- each intermediate node (the 145th node and the 236th node) Not only when all of the grounding parts 10 belonging to the same node touch and release the floor at the same time, but also so that one of the grounding parts of each intermediate node touches the ground and the other grounding parts leave the floor.
- the mode of the three child nodes is “ready only two child nodes ready”, “hold only one child node and reset the rest”, or The case of “hold only two child nodes and reset the rest” must also be considered. Note that in the following description, three Are the i-th node, the j-th node, and the k-th node.
- Fn-z is, in other words, the translational vertical component of the resultant force of the actual floor reaction forces of all the ground contact points belonging to the nth node.
- the estimated node relative floor height deviation of each of the i-th node, the j-th node, and the k-th node The values of Zi—re-estm, Zj_rel—estm, and Zk—re-estm are maintained at the values Zi—rel_estm—p, Zj—rel—estm—p, and Zk—rel—estm in the previous control cycle.
- the real node of the child node of the ⁇ -th node It is determined in S6660 whether or not the translational force vertical component Fn-— of the total floor reaction force of all the ground contact portions 10 belonging to the ⁇ node is greater than a predetermined value Fn-min2.
- in-group partial estimation processing for nodes with three child nodes (node relative floor height deviation of each of the three child nodes of the nth node) Process for estimating Is performed. This process is executed as shown in the flowchart of FIG. Here, it is assumed that the i-th node is not in the preparation completion mode, and the j-th node and the k-th node are in the preparation completion mode.
- the mode of the i-th node is determined. If the result of this determination is the hold mode, the new i-th node relative floor height deviation correction amount candidate value Zi—inc—cand ′ is determined to be 0 in S66612, and reset. If the mode is the default mode, a new inode relative floor height deviation correction amount candidate value Zi_inc—cand 'is determined in S6661 24 by the equation in the figure. Zi_inc_cand 'determined in S6661 24 is a candidate value of the inode relative floor height deviation correction amount for making Zi_rel_estm_p gradually approach zero. The meanings of ⁇ and Testm in the expression of S66624 are the same as those in the expression 35. Supplementally, when determining Zi-inc_cand 'in S66614, the finite settling function generator (JP-A-5-324115) may be used.
- the relative floor heights of the i-th node, the j-th node, and the j-th node are respectively determined by Zi—inc—cand ′, 3 ⁇ 4—inc—cand, Zk_inc—cand ′ determined as described above.
- the value of the deviation in the previous control cycle Zi-rel_estm—p, Zj—re-estm—p, Zk_reJ_estm_p — Rel— estm, Zk— rel— estm is determined.
- Zi—rel—estm has been zero. Therefore, to hold the value of Zi-rel_estm of the inode means to keep the value at zero. Therefore, in the processing of Fig. 54, the value of Zi_rel-estm is determined to be 0.
- the finite settling function generator Japanese Patent Laid-Open No. 5-324115 may be used.
- Zk—rel—estm is 0 by the time the k-th mode enters the reset mode.
- the finite integer A constant function generator Japanese Unexamined Patent Application Publication No. 5-324111 may be used.
- the mechanism deformation compensated It is input to the corrected target contact part position / posture calculation unit 114h.
- the estimated n-th floor height is obtained.
- the deviation Zfn-estm converges to the actual n-th floor height deviation.
- the position and orientation of each target contact area is corrected according to the estimated n-th floor height deviation Zfn_estm corresponding to the contact area, thereby absorbing the effect of the actual n-th floor height deviation on the actual floor reaction force.
- the ground portion 10 of the lopot 1 oscillates or vibrates violently.
- the total in-group estimation processing for a node having two child nodes the total in-group estimation processing for a node having three child nodes, and the partial in-group estimation processing for a node having three child nodes, Relative floor
- the transfer function from the height deviation Zn_rel 'to the estimated n-th node relative floor height deviation Zn—reestm is a low-pass filter with a first-order delay. That is, the estimated n-th node relative floor height deviation Zn-rel-estm is obtained by passing the instantaneous n-th node relative floor height deviation Zn-rel 'through a mouth-to-mouth filter.
- the estimated n-th floor height deviation Zfn.estm obtained based on the estimated n-th node relative floor height deviation Zn-rel-1 estm is added to the corrected target contact part position / posture as shown in Fig. 35.
- oscillation and vibration of each ground portion 10 are hardly generated. Thereby, oscillation and vibration of each ground portion 10 can be prevented.
- the time constant of the low-pass filter is Testm.
- the processing of the floor shape estimator 130 described in this reference example from the instantaneous n-th node relative floor height deviation Zn—rel ′ to the estimated n-th node relative floor height deviation Zn—reestm It is possible to configure so that the transfer function of is a one-pass filter. Next, the features of the floor shape estimator 130 in this embodiment will be described.
- each node compensation angle is changed and the final target contact area is the corrected target contact point with mechanical deformation compensation, which is the position and orientation. Even if the position and orientation are changed, as long as each ground contact part 10 is actually grounded, it corresponds to the target nth ground contact part floor reaction force center point Qn on the actual ground surface of the nth ground contact part 10 The point does not move while being in agreement with the actual n-th floor contact D nact. Instead, the compliance mechanism 42 of each leg is deformed, and the position of the upper body 24 changes.
- the floor shape estimation process does not receive interference from the robot 1 compliance control and attitude control. Therefore, even if the estimated n-th floor height deviation Zfn-estm is added to the corrected target contact part position / posture as shown in Fig. 35, the stability margin of the control system of mouth port 1 (difficulty of oscillation) Hardly drops. That is, even if the compliance control, the posture control, and the floor shape estimation process are performed simultaneously with the target gait correction operation of Lopot 1 using the estimated value of the floor shape deviation, the respective controls and processes interfere with each other. There is almost no oscillation.
- the estimated n-th floor height deviation Zfn-estm of each contact area 10 is added to the corrected target contact area position and orientation as shown in Fig. 35, the n-th floor height deviation actually exists. However, since the effect can be canceled, the actual total floor reaction force is constantly the same as when mouth port 1 is moving on the assumed floor. Moreover, the estimation of the estimated n-th floor height deviation Zfn-estm and the modification of the corrected target ground contact portion position and orientation using the estimated n-th floor height deviation Zfn-estm are the control cycles.
- the floor shape estimator 130 includes the mouth-to-pass fill as described above, immediately after each grounding site 10 touches down or when the floor shape changes halfway, the actual The total floor reaction force is affected by the floor shape deviation. However, after that, the effect is attenuated by the time constant Testm.
- Estimated n-th floor height deviation at the landing stage one step before the robot moves (when a certain ground contact point 10 comes into contact with the ground) and the deviation at the next landing period after the landing stage one step before the robot If there is no correlation between the estimated n-th floor height deviation and the estimated n-th floor height deviation, it is better to forcibly converge the estimated n-th floor height deviation gradually to zero as shown in this embodiment. However, for example, if it is known that the undulation of the actual floor surface that is not taken into account in the assumed floor is slow, there is a certain degree of correlation in the above relationship. In this case, the estimated n-th floor height deviation at the current landing period is the value obtained by forcibly gradually multiplying the estimated n-th floor height deviation at the landing period one step before by a positive constant smaller than 1. To converge on Is also good.
- the estimated n-th floor height at the current landing period A deviation convergence target value may be determined. Also, the convergence target value may be determined using the estimated n-th node floor height deviation and the estimated n-th node floor inclination deviation of the other nodes at the current, current, previous or multiple steps before landing. Since this reference example (third reference example) was configured as described above, even in a mouth port having many grounding points, which was difficult with the conventional technology, the floor shape could be estimated, specifically, each grounding point. The floor height deviation corresponding to ⁇ can be estimated with high accuracy at the same time, in other words, multiple times.
- the posture of the contact point of the mouth pot is provided so that its posture can be controlled, and not only the floor height deviation but also the floor inclination deviation is estimated in the floor shape estimation process, the floor inclination deviation is also included at the same time. It can be estimated with high accuracy.
- the steady-state deviation of the actual floor reaction force from the control target value which could not be completely eliminated by the hierarchical compliance control without correction based on the estimated value of the floor shape deviation, can be made as close to zero as possible.
- the steady-state deviation of the floor reaction force caused by the deviation of the floor shape can be eliminated.
- the floor shape estimation is configured to be interrupted in situations where the estimation accuracy of the floor shape may be reduced or the estimated value may diverge, so that the estimated value is It will not be inappropriate.
- the robot floor shape estimating device 130 according to this reference example only needs to estimate the floor shape by the above-described method, and it is not indispensable to correct the motion based on the estimated value.
- a mobile robot control device (special floor shape estimation device) according to a fourth reference example of the present invention will be described.
- the block diagram of the floor shape estimator 130 shown in FIG. 40 of the third reference example is equivalently transformed. That is, the estimated value of the floor shape estimated immediately before (the previous value of the estimated value such as the estimated value in the previous control cycle) and the target gait finally corrected and determined (specifically, the mechanism including the compliance operation)
- the floor reaction force of each node is estimated based on the corrected target ground contact position and orientation with deformation compensation (or actual joint displacement) and the actual body posture inclination deviation 0 berr, and the estimated value and the actual value of each node are estimated.
- a correction amount candidate value for the estimated value of the floor shape is determined so that the difference approaches zero, and if it is determined that the estimation of the floor shape does not diverge, the floor shape is estimated.
- the estimated value of the floor shape estimated immediately before is corrected.
- This processing is assumed around the center point of the floor reaction force of the foot of each leg of the two-foot moving port in Japanese Patent Application Laid-Open No. H10-2777969 previously proposed by the present applicant.
- a means for estimating the floor inclination of each foot so that the difference between the moment and the actual moment approaches 0, and the difference between the assumed moment and the actual moment around the center point of the total floor reaction force becomes 0. It is a means of estimating the interference angle between both legs so that they approach each other.
- FIG. 57 is a block diagram showing functional means of the floor shape estimator 130 in the present reference example.
- the floor shape estimator 130 in the present embodiment will be described below with reference to FIG.
- the assumed ⁇ floor contact position Dn (n l , 2, ..., the last leaf node number) to obtain the n-th ground contact area interference height Zn_int.
- the mechanism compliance model (inverse model) provided in the floor shape estimator 130 the estimated n-th ground contact area floor reaction force, which is the estimated value of the floor reaction force of each ground contact area 10 is obtained. .
- the mechanism compliance model here calculates the relative relationship between the estimated ground contact force and the floor reaction force in accordance with the relative relationship between the interference heights at each contact portion, and the absolute value has no meaning. . If the detected value of the actual floor reaction force Fn-act of the n-th ground contact portion is smaller than a certain threshold value Fn-min3, it is assumed that the n-th ground contact portion is not grounded in the above mechanism compliance model. .
- the nth node relative floor height is obtained.
- the subroutine processing for estimating the floor height deviation here is from S56 to S72 in Fig. 41. The processing is the same as
- a robot having a foot capable of controlling the posture as a ground contact portion and capable of estimating a floor inclination deviation at the ground contact portion.
- the third reference example and the fourth reference example (this reference example) will be compared.
- the fourth reference example is simply equivalently transformed from the block diagram of the floor shape estimator 130 of the third reference example. Therefore, the effects of the fourth reference example are the same as those of the third reference example. Also, as in the third reference example, it is not essential to correct the motion based on the estimated value of the floor shape.
- a distributed pressure sensor may be used as the floor reaction force sensor. 6-axis force sensor.Distributed pressure sensor can more accurately estimate the deformation of the ground contact area due to the actual floor reaction force than a force sensor such as 34, so the accuracy of floor shape estimation can be improved. it can.
- a plurality of contact sensors may be arranged on the grounding part (for example, arranged at the four corners of the grounding part), and it may be determined in which direction the grounding part is likely to float based on the output signal. Then, the estimation of the floor shape in the direction in which the contact sensors that are not touching the ground are more and more floating may be interrupted, or the estimation of the floor shape may be interrupted even when all the contact sensors are floating.
- the concept can be extended to any of target value, actual value, and deviation.
- r be the number of child nodes of the nth node.
- UWn be the column vector having the weight of the j-th child node of the n-th node as the j-th element. That is, UWn is defined as in the following equation 38.
- T means transpose, and the transpose of the vector is used to represent the column vector.
- UWn (Wal, Wa2,-, War) T... Eq.3 8 r—l mutually independent vectors orthogonal to the vector UWn (that is, the inner product with the vector UWn is 0) are R (l) , R (2), '", R (r-1).
- 2, ⁇ , r-1) is defined as Hn, where Hn is a matrix with r rows and r columns.
- the nth node !
- Fn_rel-c is defined by the following equation 39.
- Fn—rel—c is an r-by-1 column vector.
- the column vector Mn_exp that satisfies the following equation 40 is called the n-th node expanded floor anti-camo.
- Mn—exp is an r by 1 by 1 column vector.
- the j-th element (element on the j-th row) of the n-th node expanded floor reaction force moment Mn_exp is called the n-th node expanded floor reaction force moment j-th component.
- the desired nth node expanded floor reaction force moment is usually set to zero vector.
- Relative height of the jth child node of the nth node Zaj—rel is the jth element 2 9
- Zn-rel-c is defined by the following equation 41.
- Equation 4 The column vector 0 n _exp that satisfies the following equation 42 is called the n-th node expanded floor reaction force inclination angle.
- ⁇ n_exp is r—a 1-by-1 column vector.
- the predetermined independent vector R (j) (j l, 2, to, r-1) orthogonal to the vector (Wal, Wa2, '", War) T having the node weight as an element
- a vector having a coefficient of a linear combination represented by a linear combination of as an element as an element is referred to as an n-th node extended inclination angle 0 ⁇ .
- the functional configuration of the robot control device is the same as that shown in FIG.
- the hierarchical compliance operation determination unit has been described with reference to FIG. 35 above except for the compensation total floor reaction force moment distributor, the compensation angle determination unit, and the floor shape estimator. It may be the same as the one.
- the processing of the compensating total floor reaction force moment distributor in the hierarchical compliance operation determination unit is extended as follows.
- the expanded floor reaction force that should be additionally generated at the target n-th node expanded floor reaction force moment Mn—exp_rel (usually 0) is calculated as the n-th node compensated expanded floor reaction force. Mention Mn—called exp_dmd.
- Cn-mech is a predetermined coefficient matrix (a 2-by-1 matrix) determined by the floor reaction force center point of each target node and the compliance characteristics of the mouth pot mechanism.
- Equation 44 Cn_mech * Mn— exp— dmd “′ Equation 4 3
- Equation 44 is obtained.
- Mdmd ⁇ Mn_dmd (Equation 4 4) where ⁇ means the sum of all n-th nodes.
- the n-th node compensation floor reaction force moment Mn-dmd should be determined.
- the processing of the compensation angle determination unit of each n-th node in the fifth reference example is, for example, the processing up to obtaining M145act in the processing of the 145145 determination unit (see FIGS. 25 and 33) of the third reference example. Then, based on the actual floor reaction force of each ground contact point, the above-mentioned processing for obtaining the actual n-th node expanded floor reaction force moment Mn-exp-act is replaced by replacing 145 with n, and the compensation filter in FIG.
- the dimensions of the low-pass filter and the gain Kn should be extended to the number obtained by subtracting 1 from the number of child nodes of the n-th node.
- the compensation angle ⁇ n of the n-th node can be obtained by the above-described replacement processing.
- a method using the concept of the extended floor reaction force moment may be incorporated in a part of the processing of the floor shape estimator.
- the floor shape deviation is estimated by using the process shown in the block diagram of FIG. 57 instead of the process shown in FIG. 56 of the floor shape estimator described in the fourth reference example.
- the predetermined coefficient matrix Kn—cmpl is multiplied by the estimated error Mn—exp—estm—err of the n-th node expanded floor reaction force moment to obtain the correction amount of the n-th node expanded inclination angle.
- Kn_cmpl is not necessarily a diagonal matrix.
- n-th node relative floor height deviation correction amount candidate value Zn_ spainc_cand which is a candidate value of the n-th node relative floor height deviation correction amount, is set.
- Zn_inc—cand is obtained by the following equation 46.
- Zn_inc_cand Hn * ⁇ n_mc_cand... Equation 4 o
- the ⁇ -th node floor reaction force estimation error Fn-estm-err is used to determine the n-th node relative floor height deviation correction candidate value Zn-inc-cand
- the process up to Fig. 56 can be replaced with the process in Fig. 57.
- the arithmetic processing in FIG. 57 other than the above is the same as the arithmetic processing in FIG.
- processing when the number of child nodes of the nth node is 4 or more is required.
- This process is an extension of the floor shape estimation process for three child nodes (see FIG. 41), and, like the floor shape estimation process for three child nodes, the ground contact portion corresponding to any one of the child nodes] 'floats.
- the estimated node relative floor height deviation Zk—rel—estm of the other child nodes is calculated as the predetermined bias in the sum of the previous estimated kth node relative floor height deviation Zk—rel-1 estm—p and Znjnc—cand. Decide so that it approaches the value obtained by adding the value c. However, The bias value c is determined so that the weighted average of the estimated node relative floor height deviations of all child nodes of the nth node becomes zero.
- the floor shape estimation process can be extended even when there is a node having four or more child nodes.
- it is easier to perform arithmetic processing if the hierarchical structure is determined so that it does not have four or more child nodes.
- FIGS. 58 and 59 show a situation in which a leg-type mobile robot 51 according to the first embodiment (a bipedal mobile robot in this embodiment) has a knee joint 56 described later attached to the floor. (Kneeling situation) is shown in the side view.
- the mouth port 51 is schematically shown as a connected body of linear links.
- the purpose of the invention according to the present embodiment is that an object such as a knee, an elbow, a torso, etc. other than a leg or an end of an arm of a mouth pot is fixed to a floor or a floor. It is to stably control the posture of the mouth pot by manipulating the reaction force (external force) received from the floor containing the target object in the state of contact with the target object.
- an object of the present invention is to enable posture control in a state where a lopot is kneeling or sitting on a chair. .
- Conventionally known humanoid mouth pots do not include a sensor for detecting a floor reaction force on the knee, and cannot control the floor reaction force acting on the knee.
- a conventional humanoid mouth pot In a state where the lopot is kneeling, the floor reaction force acting on the left and right knees depends on (dominates) the unevenness of the floor, and the joint angle of the leg can be adjusted according to the unevenness of the floor. Had not been done. For this reason, the grounding state of the grounding part may become unstable, for example, due to the unevenness of the floor, and the grounding part of the mouth pot shaking with the floor. In such a state, there were cases where the posture of the robot was unstable when trying to move or operate the mouth pot.
- the position of the center of gravity of the mouth pot is appropriately controlled.
- the lopot would fall down because the mouth pot would tend to stand up with the posture of the upper body tilted.
- the posture of the mouth pot can be restored to an appropriate posture when standing up from the chair or sitting in the chair. Therefore, it is desirable that not only the floor reaction force acting on the foot of each leg of the lopot but also the reaction force acting on the buttocks of the lopot from the chair can be appropriately controlled.
- reaction force can be said to be a floor reaction force in a broad sense.
- the first embodiment solves the above problems, and the parts other than the tip of the legs and arms, such as the knees, elbows, torso, and 'buttocks' of the mobile robot, are removed.
- the reaction force acting on the tip of the leg or arm of the mouth pot while using the above-mentioned hierarchical compliance control in a state where the reaction force comes into contact with the floor or an object considered to be an extension of the floor.
- it also appropriately controls the reaction force acting on parts other than the tips of the legs and arms, making it possible to maintain a stable posture of the moving port.
- the first embodiment will be described more specifically by taking the mouth pot (two-legged mouth pot) 51 shown in FIGS. 58 and 59 as an example.
- each of the legs 52 is provided at the base end on the side of the upper body 53 (where it is connected to the upper body 53), in the middle, and at the distal end, respectively, with an electric motor or similar.
- a knee joint 56 and an ankle joint 57 are provided, and a foot 58 is connected to the tip of each leg 52 via the ankle joint 57.
- each arm 54 is actuated by an actuator such as an electric motor at each of the upper end of the upper body 53 (the connection point with the upper body 53), the middle part, and the tip.
- shoulder joint 5 9, elbow joints 6 0 comprises a wrist joint 61, in b this example the hand 6 2 via a wrist joint 61 is connected to the distal end of each arm 5 4, of each leg 2
- Each joint 5 5, 5 6, 5 7 is a joint having, for example, 3 degrees of freedom, 1 degree of freedom, 2 degrees of freedom, and the foot 5 8 has 6 degrees of freedom with respect to the upper body 5 3 .
- the shoulder joint 59, elbow joint 60, and wrist joint 61 of each arm 54 have their respective degrees of freedom, and the hand 62 has more than six degrees of freedom with respect to the upper body 53. It is configured.
- the upper body 53 of the mouth pot 51 is equipped with a control device 50 similar to that of the first reference example.
- a head 63 is also provided at the upper end of the upper body 53. .
- the floor reaction force sensor 90 is composed of a main body (sensor section) 92 and a flexible member (elastic body) 94 such as a sponge.
- the main body 92 is fixed to a knee (link of a leg).
- the outside of 2 is covered with a flexible member (elastic body) 94.
- the foot 58 and the ankle joint 57 are connected via a floor reaction force sensor such as a 6-axis force sensor and a compression mechanism.
- the hand 62 and the wrist joint 61 are connected via a floor reaction force sensor such as a six-axis force sensor (not shown) and a compliance mechanism.
- Known connection structures may be used.
- any of the following may be used as the floor reaction force sensor 90 at the ground contact portion of the knee joint.
- a sensor that detects not only the translational force in the direction perpendicular to the contact surface (ground contact surface) of the ground contacting part with the floor, but also the translational force in directions other than the direction perpendicular to the contact surface.
- a sensor that detects a moment in addition to the translational force for example, a 6-axis force sensor.
- a displacement sensor that detects the deformation (strain) of the flexible member 94 may be used without directly detecting the load. May be.
- the sensor of the above item 2) is used as the floor reaction force sensor 90.
- the sensor of the above 3) or 4) may be used as the floor reaction force sensor 90.
- the knee has a protective pad with a spring (a pad for protecting the knee). D), a floor reaction force sensor may be added.
- external force detecting means such as a six-axis sensor is provided at the tip of each leg 52 and each arm 54.
- a hierarchical structure is set as shown in FIG. 61 for the mouth port 51 kneeling as described above. That is, the right foot 58, the left foot 5.8, the right knee, the left knee, the right hand 62, and the left hand 62 as the ground contact portions are the first, second, and third nodes, which are leaf nodes, respectively. Correspond to the fourth, fifth, and sixth nodes.
- the first and second nodes having the first and second nodes as child nodes, the third and fourth nodes having the third and fourth nodes as child nodes, and the fifth and sixth nodes as child nodes.
- the 5th and 6th nodes and the 2nd and 3rd nodes with the 12th and 34th nodes as child nodes were set as intermediate nodes.
- the first 2344 node having the first 234 node and the fifth node as child nodes was set as a root node.
- the target floor reaction force center point Q123456 of the 123456th node, which is the root node, is the same as the target total floor reaction force center point P.
- control device 50 has the same functional configuration as that shown in FIG.
- the target gait output by the gait generator 100 in this embodiment is The target contact part trajectory of the target motion of the target is composed of the target position / posture trajectory of each hand 62, the target position / posture trajectory of each foot 58, and the target position trajectory of each knee.
- the gait generator 100 sets the target foot position position (the target first position) such that the foot 58, the hand 62, and the knee touch the ground as required for the gait on the assumed floor surface.
- 2 Contact position and posture target hand position and posture (5th and 6th contact position and posture), and knee position (3rd and 4th contact position) are prioritized.
- the central point of the total floor reaction force is determined within the supporting polygon which is the minimum convex polygon including the target contact point (or target contact line or target contact surface) of each contact part, and then the target body position and posture are determined.
- the target foot position / posture, the target hand position / posture, the target knee position, and the target ZMP are satisfied.
- the target position / posture trajectory of the part 6.3 is included in the target motion.
- the arithmetic processing of the robot geometric model (inverse kinematics arithmetic operation unit) 110 in FIG. 2 is different from the first to third reference examples in the present embodiment, as described later.
- the hierarchical compliance operation determining unit 114 differs from the first to third embodiments in a part of the processing method.
- FIG. 62 shows a functional configuration of the hierarchical compliance operation determination unit 114 of the present embodiment.
- the compensating total floor reaction force moment distributor 114a generates a node compensation floor reaction force moment around the target floor reaction force center point of each corresponding node.
- the estimation of the floor inclination deviation 6 fn of the ground contact portion is performed by the same processing as the processing for estimating the foot floor inclination of the floor shape estimator disclosed in Japanese Patent Laid-Open Publication No. 10-2777969.
- the processing method of the functional configuration other than the above of the hierarchical compliance operation determination unit 114 of the present embodiment is the same as that of the third reference example.
- control device 50 in the present embodiment is the same as in the first to third reference examples.
- the height of the left and right knees is maintained strictly while maintaining the target of the body position and posture, foot position and posture, the horizontal position of the left and right knees, and the difference between the heights of the left and right knees.
- You cannot just change the sum of In other words, forcibly trying to change only the sum of the heights of the left and right knees does not cause any prying or slipping between the ground contact area (that is, the knee and foot) and the floor, but the upper body position is an eye. Deviates from the target position. As a result, the position of the center of gravity of the entire mouth port 51 and the inertia force deviate from the target values, and the stability of the robot 51 decreases.
- the corrected target contact position and orientation with mechanical deformation compensation and the target body position and orientation determined by the hierarchical compliance operation determining unit 114 cannot be strictly satisfied at the same time.
- prying or sliding occurs between the foot 58 or the knee of the lopot 51 and the floor, and the position of the center of gravity of the robot 51 and the inertia.
- the force deviates from the target value, and the stability of the robot 51 decreases.
- the hand 62 of the ground contact portion has more than six degrees of freedom with respect to the upper body 53, the robot should be in a posture that touches the floor with a portion other than the hand 62 of the arm 54. There will be no prying or other slippage between the hand 6 2 and the floor unless the 5 1 is used.
- the prying or sliding does not occur as much as possible between the knee and the foot 58 and the floor among the contact portions of the mouth pot 51 ′, and the center of gravity of the upper body 53 (particularly horizontal position)
- the position of the upper body 53, or the posture and the position, should be corrected in accordance with a change in the height difference between the left and right knees while keeping.
- FIGS. 63 (a) and (b) show examples of the correcting operation of the posture of the upper body 53. Fig. 6.3 (c) will be described later. In FIGS. 63 (a), (b), and (c), the arm 54 and the head 63 are not shown.
- Fig. 63 (a) One of the correcting actions of the posture of the upper body 53 is, as shown in Fig. 63 (a), from the state in which the robot 51 is kneeling, according to the change in the height difference between the left and right knees by the compliance control.
- Figure 63 (b) This is an operation of rotating the upper body 53 around the trunk axis passing through the center of gravity G of the body 53 (rotating as shown by the arrow yl).
- the difference in height between the left and right feet 58, 58 causes the difference in height between the left and right knees to be approximately It changes by half of the change in height difference between the feet 58 and 58. Therefore, the posture control of the upper body 53 according to the change in the height difference between the left and right knees according to the change in the height difference between the left and right foot 58, 58 by the compliance control, as well as Perform the above operation only half the amount of the change in the height difference between the left and right foot.
- FIG. 64 visually shows the operation of correcting the position and posture of the upper body 53 according to the change in the sum of the heights of the left and right knees.
- the lower part of the upper body 53 (or the lower back) is moved from the posture of the mouth port 51 shown by the dotted line to the posture of the robot 51 shown by the solid line as the knees are lowered by the compliance control.
- Part) is shifted forward as shown by arrow y3
- the inclination of upper body 53 is shifted backward (in the upright direction of upper body 5.3) as shown by arrow y2. That is, the body 53 is tilted backward while maintaining the position of the center of gravity G of the body 53 (or the position of a predetermined representative point of the body 53), particularly its horizontal position.
- the upper body 53 is inclined backward while maintaining the inclination of the line connecting the center of gravity G and the desired total floor reaction force central point P.
- the lower end of the upper body 53 (or Shift the waist) backwards and tilt the upper body forward. That is, the upper body 53 is tilted forward while maintaining the upper body warehouse G position (or the position of the predetermined representative point of the J body), particularly its horizontal position.
- the body 53 is tilted backward while maintaining the inclination of the line connecting the center of gravity G and the desired total floor reaction force central point P.
- Ql "and Q3" are the center point of the desired floor reaction force of the foot 58 and the center point of the desired floor reaction force of the knee, respectively, after correcting the position and posture of the upper body 53 as described above.
- Q1 "is the same as the desired floor anti-gas center point Q1 of the foot 58 before correction.
- the processing function of the mouth-port geometric model (inverse kinematics calculation unit) 110 in this embodiment is shown in the block diagram of FIG.
- the following formulas 4 7, 4 8, and 49 give the correction amount Zkneediffmdfd for the difference between the left and right knee heights, the correction amount Zkneesummdfd for the sum of the left and right knee heights, and the height of the left and right foot. Calculate the amount of correction Zfootdiff dfd. .. Zkneediffmdfd
- Equation 49 The “part position” in Equations 47 to 49 is more precisely the height component (vertical component) of the “part position”.
- the correction amount of the sum of the left and right knee heights Zkneesummdfd and the correction amount of the difference between the heights of the left and right feet Zfootdiffmdfd Find the position and orientation correction amount.
- Body position / posture correction amount Knee height difference body position correction amount XbkneediffmdfcU Knee height difference body posture correction amount 0 bkneediffmdfd, .Knee height sum body position correction amount Xbkneesummdfd, Knee height sum Body posture correction amount 0 bkneesummdfd It consists of the body position correction amount Xbfootdiffmdfd for the foot height difference and the body posture correction amount 0 bfootdiffmdfd for the foot height difference. Specifically, these values are obtained as follows. '
- Body position correction amount Xbkneediffmdfd and knee height difference body posture correction amount Xbkneediffmdfd, left and right knee height difference correction amount Zkneediffmdfd and target posture of lopot 51 at that moment (current time) (Target motion) is obtained by geometrical operation.
- Xbkneediffmdfd and 0bkneediffmdfd are obtained by the following equation 50.
- Kxkneediff and Kthkneediff are proportional coefficients according to the target attitude of the robot 51.
- the correction amount of the difference between the heights of the left and right knees with respect to the target posture of some representative robots 51 in advance (or the 34th node compensation angle 34) And the correction amount of the body position / posture are obtained, and this is stored as a map or a function. Is also good.
- the body 53 is rotated around its trunk axis to correct the body posture with respect to the correction amount of the difference in height between the left and right knees.
- the position correction amount Xbkneediffmdfd may be 0.
- the correction amount of the body posture for the difference ⁇ bfootdiffmdfd is calculated based on the correction amount Zfootdiffmdfd of the difference between the heights of the right and left feet and the target posture (target movement) of the mouth port 51 at that moment (current time). Is obtained by a geometric operation.
- Xbfootdiffmdfd and 0 bfootdiffmdfd are obtained by the following equation 51.
- Kxfootdiff t Kthfootdiff is a proportional coefficient according to the target attitude of the robot 51.
- the effect of the difference in height of the feet 58 is almost half the effect of the difference in knee height, so Kxfootdiff and Kthfootdiff are respectively one-half of Kxkneediff and Kthkneediff. .
- ⁇ bfootdiffmdfd Kthfootdiff * Zfootdiffmdfd
- the body 53.sub.3 is rotated about its trunk axis to adjust the body posture with respect to the correction amount of the difference in height between the left and right feet 58, 58. Since it is corrected, the body position correction amount Xbfootdiffmdfd for foot bulkiness difference may be 0.
- the relationship between the correction amount of the sum of the heights of the left and right knees and the correction amount of the body posture is determined in advance, and this Xbsummdfd and 0bsummdfd may be stored as a function and based on this and the correction amount Zsmnmdfd of the sum of the heights of the left and right knees.
- the correction amount of the body position / posture may be determined as follows. In other words, the difference between the heights of the left and right knees is converted into a .34th node compensation angle 34 that generates ⁇ , and the sum of the left and right knee heights is calculated as the 1234th node that generates the sum. The difference between the heights of the right and left feet is converted to the twelfth node compensation angle 012 which generates the difference. Then, based on these converted compensation angles, the body position / posture correction amount may be determined by a geometric operation. Alternatively, the relationship between the converted compensation angle and the amount of correction of the body position / posture is calculated in advance for the target postures of some representative mouth ports 51 and stored as a map or a function. The correction amount of the body position / posture may be determined based on this and the converted compensation angle.
- the target body position / posture is moved by the body position / posture correction amount (rotational movement and parallel movement) to obtain a target body position / posture with twist correction.
- the target body position / posture around the trunk axis or a predetermined rotation axis (rotation axis almost in the vertical plane)) is used for the knee height difference and the body posture correction amount and the foot height difference.
- Rotate and move by the sum of the body posture correction amount (0 bkneediffmdfd + 0 bfootdiffmdfd) is used for the knee height difference and the body posture correction amount and the foot height difference.
- the sum of the body position correction amount for the knee height difference, the body position correction amount for the knee height sum, and the body position correction amount for the foot height difference (Xbkneediffmdfd + Xbkneesummdfd + Xbfootdiffmdfd) Find body position and posture.
- the processing of the inverse kinematics operation unit 110 is executed. That is, in the first embodiment, when the degree of freedom is insufficient geometrically due to the operation of correcting the position and orientation of the grounding part of the robot 51, the target grounding is performed by the hierarchical compliance operation.
- the position of the body position (the representative point of the body) or the weighted average position of multiple parts including the body (the weight in this case is the mass ratio of each part) It is desirable to maintain the horizontal position of the point (such as the overall center of gravity), or the angle of ⁇ connecting the point and the desired center point of the total floor reaction force (the desired ZMP).
- the target body position and posture were also corrected so that the angle in the desired gait was maintained as much as possible.
- the actual floor reaction force moment generated around the target total floor reaction force center point is also considered.
- the relative height or inclination of a given contact area A here, a knee
- the relative height or inclination of a node that has a given contact area A as a descendant node Means for determining at least one of a compensation height and a compensation angle as an operation amount of the angle, and a body position or an upper body in accordance with at least one of the compensation height and the compensation angle Means for determining a correction amount of at least one of the posture and the position of the body while holding the weighted average positions of the plurality of parts including the body substantially at the position in the desired gait;
- Prescribed area excluding ground part A At least one of the position and posture of the touching part B (here, the foot) and the upper body position corrected by the correction amount
- the vertical axis is used as the rotation axis.
- the upper body 53 may be rotated around the waist of the robot 51 (the lower end of the upper body 53).
- the body posture may be rotated with an axis intermediate the trunk axis and the vertical axis of the body 53 as a rotation axis.
- the position and posture of the upper body 53 may be corrected simultaneously in accordance with the correction amount of the difference between the heights of both knees and the correction amount of the difference between the heights of both feet 58, 58. Also, instead of keeping the position of the center of gravity G of the body 53 unchanged, change the position and posture of the body 53 so that the position of the center of gravity of the rod 51 or the representative point of the body 53 does not change. May be modified.
- At least one of the position and the posture of the upper body 53 may be corrected from the position and the posture of the desired gait. Further, instead of correcting at least one of the position and the posture of the upper body 53, at least one of the position and the posture of a predetermined portion other than the upper body 53 is corrected. May be.
- slippage such as twisting of the ground contact portion is prevented, and In order to keep the overall center of gravity position of the CI port 51 and the inertial force from shifting as little as possible, the body position and posture were corrected.
- slippage such as prying of the ground contact portion is allowed to some extent, and the position of the overall center of gravity of the mouth pod 51 and the inertia force are preferentially kept from shifting.
- the joint displacement displacement of the hip joint 55 and the knee joint 56) or the position and posture of the contact area are corrected.
- the inverse kinematics calculation unit 110 performs the processing shown in the block diagram of FIG. 66 instead of the processing of FIG. 65 described in the first embodiment. Except for this difference, the present embodiment is the same as the first embodiment.
- the correction amount .Zfootdiffmdf d is calculated, and the difference between the heights of the left and right knees is converted into the third-fourth node compensation angle ⁇ 34 that causes the difference.
- the sum of the heights of the left and right knees is converted to the 1234th node compensation angle 0 1234 that generates the sum, and the difference between the heights of the left and right feet is calculated as the 12th sword compensation angle that generates the difference. Convert to 0 12. .
- sensitivity LnJ LnJ.
- ⁇ node Sensitivity of the j-th joint displacement to the compensation angle
- Ln— knee_l is the left knee joint displacement to the n-th node compensation angle.
- the sensitivity Lnjiip-r
- Ln_hip-1 is the sensitivity of the left hip pitch joint displacement to the n-th node compensation angle.
- each sensitivity is set as in the following expression 52.
- al2 and a34 are predetermined constants. :
- ⁇ knee_r is the right knee joint displacement correction amount
- 0 knee—1 is the left knee joint displacement correction amount
- ⁇ hip_r is the right hip joint displacement correction amount (more specifically, the right hip joint pitch direction joint displacement correction amount)
- 0 hipJL is the left hip joint displacement correction amount (more specifically, the right hip joint pitch displacement correction amount).
- ⁇ knee_r L1234_knee_r * ⁇ 1234+ L12_knee_r * ⁇ 12
- ⁇ knee_l L1234_knee_l * ⁇ 1234 + L12_knee_l * ⁇ 12
- ⁇ hip_r Ll234_hip_r * ⁇ 1234 + L12_hip_r * ⁇ 12
- ⁇ hip_l L1234_hip_l * ⁇ 1234 + L12_hip_l * ⁇ 12
- the displacement (angle) of the right hip joint 55 in the pitch direction is corrected in proportion to 034, and the displacement (angle) of the left hip joint 55 in the pitch direction is corrected.
- the correction amount of the displacement of the right hip joint 5 in the pitch direction was corrected by multiplying it by -1. That is, the displacement (angle) of the right hip joint 55 in the pitch direction is corrected as shown in FIG. 68, and the displacement (angle) of the left hip joint 55 in the pitch direction is corrected in reverse.
- Ql and Q1 in Fig. 67 denote the center point of the desired floor reaction force of foot 58 before correction of joint displacement as described above, and the center point of the desired floor reaction force of foot 58 after correction, respectively.
- ⁇ 6 8 ⁇ Q3,. Q3 "indicates the target floor reaction force center point of the knee before correction of the joint displacement as described above and the target floor reaction force center point of the knee after correction, respectively. .
- the actual floor reaction force is faithfully controlled, and the posture stability and the contact property of the mouth port 51 are improved.
- the position and orientation are preferentially corrected in order to generate the same target joint displacement, but the ground contact part (specifically, the foot
- the inverse kinematics calculation is performed based on the determined priority correction target contact area position and orientation.
- the joint displacement command may be determined based on this.
- joint kinematics cannot be determined by inverse kinematics calculation to satisfy the target body position and orientation and all corrected target contact area positions and orientations because of the lack of joint degrees of freedom. Perform the operation In this case, a part of the corrected target's grounding part position and orientation of all the correction target's grounding part position and posture is used. This part of the corrected target contact portion position and orientation is referred to as the priority corrected target contact portion position and orientation.
- the position obtained by rotating the target foot position around the knee may be determined as the priority corrected target foot position.
- FIG. 70 shows a configuration of a main part of the mouth port of the present embodiment.
- the robot 71 includes floor reaction sensors 73 and 73 (load sensors, for example, six-axis force sensors) for detecting floor reaction forces on the right and left sides of the bottom of the buttocks 72, respectively.
- floor reaction sensors 73 and 73 load sensors, for example, six-axis force sensors
- one floor reaction force sensor for detecting the resultant force of the forces applied to the right and left of the bottom of the buttocks 72 may be provided.
- the outside of the floor reaction force sensor 73, 73 is covered with a flexible member (elastic body) 74, such as a sponge, as shown in the figure.
- a flexible member (elastic body) 74 such as a sponge
- the surface (contact surface) of the flexible member (elastic body) 74 as shown in FIG. It is desirable to form it.
- the detection position (position of the sensor body) of the floor reaction force sensors 73, 73 and the above members 74 It is desirable to provide the member 74 so that the vertex of the convex surface is aligned with the horizontal position. By doing so, the non-linearity in the relationship between the repair operation of the position of the contact portion of the mouth port 71 and the floor reaction force and the floor reaction force is reduced, so that compliance control of the robot 71 can be performed. The control characteristics are improved.
- legs (link mechanism) 52, 55 extend from the right and left sides of the buttocks 72.
- the structure of the legs 55, 55 is the same as that of the first embodiment, including, for example, its joints. Therefore, the same reference numerals as in the first embodiment for the legs 5, 55 are used, and description thereof will be omitted.
- the knee of the leg 55 may not be provided with the floor reaction force sensor.
- a torso (upper body) 77 serving as a base is provided on the upper side of the buttocks 72.
- Shoulder joints 78 and 82 are provided from both sides of the upper part of the torso 77.
- Arms 79 and 79 are extended through 7.8.
- the arm 79 may have the same structure as that of the robot 51 of the second embodiment.
- the torso 77 is connected to the hip 72 through a joint 8 CT.
- the joint 80 is a torso turning joint 7 to the buttocks 7 2 7 7.
- the torso turning joint 80 a and the torso 7 7 is a fore and aft and right and left directions to the buttocks 0.72.
- a torso bending joint 80b Each joint provided on the mouth pot 71 as described above is an actuation (not shown)! Operated by AYU.
- a control device 50 similar to that of the first embodiment is mounted on the buttocks 72 or the torso 77.
- An external force detecting means such as a six-axis force sensor is provided at the end of each leg 55 and each arm 79.
- a hierarchical structure may be set as shown in FIG. 70 for the lopot 71 sitting on a chair or the like via the buttocks 72. That is, the right foot 58, left foot 58, and buttocks 72 as righting parts
- the left side of the bottom part of the buttocks 72 (the part where the left floor reaction force sensor 73 is attached) is the first node and the second node, which are leaf nodes. , The third node and the fourth node.
- the first and second nodes having the first and second nodes as child nodes, the third and fourth nodes having the third and fourth nodes as child nodes are set as intermediate nodes, and the twelfth node is set.
- the 1234th node having the 1st node and the 34th node as child nodes was set as the root node.
- the desired floor reaction force center point Q1234 of the 1234th node, which is the root node is the same as the desired total floor reaction force center point P.
- the wholesaler 50 has the same mechanical configuration as that shown in FIG.
- the target contact portion trajectory of the target motion in the target gait output by the gait generator 100 in the present embodiment is the target position and orientation of each foot 58 and the target position of the buttocks 72. And orbit.
- the body position / posture trajectory of the target motion refers to the position / posture trajectory of the body 77.
- the target motion also includes the position and orientation trajectory of the tip of each arm 79.
- the target total floor reaction force center point ⁇ is not on the actual floor, but on the virtual plane in the air.
- the hierarchical compliance operation determining unit 1.14 has the same functional components as those of the second embodiment (see FIG. 62).
- the compensating total floor reaction force momentum small distributor includes the node compensating floor reaction chamoment of each intermediate node and the root node in the hierarchical structure shown in FIG. Is determined and output as the node compensation floor reaction force moment of the leaf node corresponding to.
- the compensation angle determination unit The node compensation angle of each intermediate node and the root node in the hierarchical structure shown in FIG. 0 and the node compensation angle of the leaf node corresponding to each foot 58 are determined and output.
- the basic method for determining the node compensation floor reaction force moment and the node compensation angle may be the same as the method described in the first to third reference examples and the first embodiment.
- the mouth pot geometric model (inverse kinematics calculation unit), which is a functional component of the control device 50, is basically constructed by the same method as in the first embodiment. Based on the corrected target contact area position and orientation with deformation compensation and the target body position and orientation, the buttock 72 and the foot 58 (ground contact) should be used to prevent slippage such as forcing. Correct the position and attitude of the ground contact area, and correct the position and attitude of the torso (torso).
- control device 50 other than those described above may be the same as in the second embodiment.
- the actual node floor reaction force that cannot be directly detected by the floor reaction force sensor is as follows:
- the camouflage value of the acceleration sensor It may be estimated by an observer using detected values or the like, or by a simple algebraic relationship.
- the hierarchical compliance operation is a rotation-type compliance operation that rotates the contact point around the center point of the desired total floor reaction force. Therefore, even if the compliance operation is performed, the vertical acceleration of the overall center of gravity of the mouth pot is maintained.
- the vertical acceleration (or the acceleration of the center of gravity) in the target gait (target movement) of the mouth pot Is almost the same as the acceleration component in the direction of the line segment connecting the desired total floor reaction force center point and the overall center of gravity. Therefore, the sum of the vertical components of the floor reaction force at the actual ground contact point is obtained by multiplying the sum of the vertical acceleration of the overall center of gravity and the gravitational acceleration in the desired gait (target movement) of the mouth pot by the total mass of the mouth port. It almost matches the value.
- the actual n-th node floor reaction force cannot be directly detected, first, the actual floor reaction force of all leaf nodes that do not have the ⁇ -th node as the ancestor node and that are not the ⁇ -th node itself (The sum of the actual ground contact floor reaction force (hereinafter referred to as the actual ⁇ -node outer floor reaction force) is calculated.
- the estimated ⁇ -th node floor reaction force which is the estimated value of the actual ⁇ -th node floor reaction force, is obtained by the following equation 57.
- Equation 5 9 Furthermore, the estimated 34th node floor reaction force is used in place of the actual 34th node floor reaction force, the 1234th node compensation angle 0 1234 is determined by the compliance operation processing, and the estimated 1234 Node relative floor height deviation Z1234rel—estimates estm.
- the 34th node compensation angle 0 34 it is assumed that the vehicle is on the assumed floor, and it is estimated that the corrected target third grounding part position and orientation with mechanical deformation compensation and the modified target fourth grounding part position and attitude with mechanical deformation compensation are corrected.
- the estimated 3rd node floor reaction force which is the estimated value of the actual 3 'node floor reaction force
- the estimated 4th node floor-reaction force the estimated 4th node floor, which is a variety Seeking reaction force.
- the estimated third and third node floor reaction forces and the estimated fourth node floor reaction force are used in place of the actual third node floor reaction force and the actual fourth node floor reaction force. Determine the node compensation angle ⁇ 34.
- the modified desired node floor around the target node floor reaction force center point is equivalent to adding the required restoration moment as described above. Instead of determining the reaction moment, it is based on the required moment for restoration (compensated total floor reaction moment). Then, the corrected target node floor reaction force.
- the center point may be determined by correcting the target node floor reaction force center point. In this case, the target node floor reaction force moment about the target node floor reaction force center point is left at 0 without correction.
- the target of the nth node's parent node is determined according to this component. You may correct the floor reaction force. That is, the value of the difference between the actual n-th node floor reaction force and the target n-th floor reaction force in the previous control cycle or the value obtained by passing the difference through a low-pass fill is added to the target floor reaction force of the n-th node. May be added.
- a tree structure different from the tree structure for compliance control may be set.
- the tree structure may be a two-layer structure consisting of a root node and leaf nodes.
- the weight of each node may be different from that for compliance control. If the weight of the node is 0 at the time when the node floor reaction force becomes zero (when all the grounding parts belonging to the some node or the grounding parts corresponding to that node move in the air) Good.
- the weight of each corrected node is determined based on the corrected target node floor reaction force center point described above, and a vector having the determined weight is used as the floor shape estimation weight. You may use as.
- a deformation amount detector for detecting a deformation amount such as a compliance mechanism may be provided, and a detection value of the deformation amount detector and a detection value of the attitude sensor may be used.
- a detection value of the deformation amount detector and a detection value of the attitude sensor may be used.
- Detector for detecting height body height estimating device using acceleration sensor (for example, estimating device described in PCTZJP 03/054448 by the present applicant)) or an external sensor such as a visual sensor Etc.).
- the joint displacement actual joint displacement or target joint displacement
- the detected value of the actual body posture inclination and the detected value of the actual floor reaction force
- the gross of the estimated floor height deviation is calculated. Find the value in a one-bar coordinate system. Therefore, the estimated floor height deviation of the root node has a meaning as a weighted average value of the global estimated floor height deviations of all ground contact points.
- each corrected node weight (with the weight value of each node corrected) is determined based on the corrected target node floor reaction force center point described above. May be used as the weight used to define the cold n-th node relative floor height in floor shape estimation. Also, when estimating the floor shape, Therefore, the weight used to define the actual n-th node relative floor height and the like need not necessarily be the same as the above-mentioned weight determined by the target floor reaction force distributor.
- the weights for defining the actual n-th node relative floor height etc. do not necessarily have to match the weights determined by the target floor reaction force distributor, but if they do, then ( In this case, automatically, the target floor reaction force center point of the root node coincides with the target total floor reaction force center point.)
- the floor reaction force is appropriately controlled even in a situation where a portion other than the tip of the leg of the leg-type moving port is grounded, and a highly stable and smooth operation is possible. This is useful as it can provide a leg-type moving port.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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EP04819493A EP1695799B1 (en) | 2003-11-27 | 2004-11-29 | Control device for mobile body |
JP2005515858A JP4684892B2 (ja) | 2003-11-27 | 2004-11-29 | 2足移動ロボットの制御装置 |
US10/596,051 US7541764B2 (en) | 2003-11-27 | 2004-11-29 | Control system for mobile body |
KR1020067011628A KR101112500B1 (ko) | 2003-11-27 | 2004-11-29 | 이동 로봇의 제어장치 |
Applications Claiming Priority (2)
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JP2003-398171 | 2003-11-27 | ||
JP2003398171 | 2003-11-27 |
Publications (1)
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WO2005051612A1 true WO2005051612A1 (ja) | 2005-06-09 |
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ID=34631559
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PCT/JP2004/018089 WO2005051611A1 (ja) | 2003-11-27 | 2004-11-29 | 移動体の制御装置 |
PCT/JP2004/018096 WO2005051612A1 (ja) | 2003-11-27 | 2004-11-29 | 移動ロボットの制御装置 |
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PCT/JP2004/018089 WO2005051611A1 (ja) | 2003-11-27 | 2004-11-29 | 移動体の制御装置 |
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US (3) | US7603199B2 (ja) |
EP (3) | EP1698440B1 (ja) |
JP (3) | JP4684892B2 (ja) |
KR (3) | KR101112499B1 (ja) |
DE (1) | DE602004032467D1 (ja) |
WO (2) | WO2005051611A1 (ja) |
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WO2005051608A2 (ja) | 2005-06-09 |
KR20060126649A (ko) | 2006-12-08 |
US20070152620A1 (en) | 2007-07-05 |
US20070126387A1 (en) | 2007-06-07 |
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EP1695799A1 (en) | 2006-08-30 |
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WO2005051611A1 (ja) | 2005-06-09 |
EP1698439A4 (en) | 2009-11-11 |
EP1695799B1 (en) | 2011-10-12 |
JPWO2005051612A1 (ja) | 2007-06-21 |
KR20060126647A (ko) | 2006-12-08 |
JPWO2005051611A1 (ja) | 2007-06-21 |
KR101112500B1 (ko) | 2012-04-13 |
JPWO2005051608A1 (ja) | 2007-06-21 |
DE602004032467D1 (de) | 2011-06-09 |
KR101112501B1 (ko) | 2012-04-12 |
US20070013506A1 (en) | 2007-01-18 |
US7606634B2 (en) | 2009-10-20 |
US7603199B2 (en) | 2009-10-13 |
EP1698439B1 (en) | 2011-04-27 |
JP4684892B2 (ja) | 2011-05-18 |
JP4126063B2 (ja) | 2008-07-30 |
KR20060126650A (ko) | 2006-12-08 |
EP1698440B1 (en) | 2011-10-12 |
EP1698439A2 (en) | 2006-09-06 |
KR101112499B1 (ko) | 2012-04-12 |
JP4126064B2 (ja) | 2008-07-30 |
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