WO2008053658A1 - Dispositif de test de performance de déplacement - Google Patents
Dispositif de test de performance de déplacement Download PDFInfo
- Publication number
- WO2008053658A1 WO2008053658A1 PCT/JP2007/069255 JP2007069255W WO2008053658A1 WO 2008053658 A1 WO2008053658 A1 WO 2008053658A1 JP 2007069255 W JP2007069255 W JP 2007069255W WO 2008053658 A1 WO2008053658 A1 WO 2008053658A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- deviation
- movement
- target object
- motors
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
Definitions
- the present invention relates to an apparatus for testing the movement performance of a target object, such as a robot that can be moved by the movement of each of a plurality of legs that are accompanied by getting off and landing.
- an object of the present invention is to provide an apparatus that can test the movement performance of a target object while maintaining the position of the target object at an appropriate position on a treadmill.
- the movement performance test device of the first invention is a device for testing the movement performance of a target object that can be moved by movement of a plurality of parts, and rotates a plurality of endless belts and the plurality of endless belts.
- the direction deviation of the target object from the second direction or the position deviation of the target object from the first target position in the first direction different from the second direction is the first deviation.
- First processing means for measuring the operation of each of the plurality of motors so as to eliminate the first deviation measured by the first processing means.
- a motor control unit for controlling.
- the movement performance of the target object can be tested by moving a plurality of parts to the target object on the plurality of endless belts that are independently rotationally driven. Is done.
- the movement direction of the target object deviates from the second direction (for example, the forward direction) due to factors such as the balance of movement of multiple parts being lost during the test, or a different direction from the second direction.
- the operation of the plurality of motors is controlled so that the deviation (first deviation) is eliminated.
- the unbalance of the movement of the plurality of parts is compensated by the movement differentiation of the plurality of endless belts. Then, the moving performance test of the target object can be performed so that the direction of the target object matches the second direction or the position of the target object matches the first target position in the first direction.
- the mobility performance test apparatus is the mobility performance test apparatus according to the first invention, wherein the first deviation measured by the motor processing unit by the first processing means is out of a first allowable range. In this case, the operation of each of the plurality of motors is controlled in a manner different from normal.
- the target object comes off from the top of the endless belt by an unusual measure such as stopping the operation of the motor. Therefore, it is possible to avoid a situation in which an object around the apparatus comes into contact.
- the movement performance test apparatus is the movement performance test apparatus according to the first aspect, wherein the target object is located on the plurality of endless belts that are rotationally driven by the plurality of motors.
- the position of the target object in the second direction can be determined by a change in the tempo of movement of the plurality of parts.
- the operation of multiple motors is controlled so that the deviation (second deviation) is eliminated.
- the movement performance test of the target object can be performed while maintaining the position of the target object at the target position in the second direction.
- the mobility performance test apparatus is the mobility performance test apparatus according to the third aspect, wherein the second deviation measured by the second processing means by the motor control unit is out of a second allowable range. In this case, the operation of each of the plurality of motors is controlled in a manner different from normal.
- the target object is detached from above the endless belt by an unusual measure such as motor operation stop. Therefore, it is possible to avoid a situation in which an object around the apparatus comes into contact.
- a mobility performance test apparatus is the mobility performance test apparatus according to the first aspect of the present invention, further comprising a drive mechanism for lifting the target object so that the plurality of parts are separated from the plurality of endless belts.
- the posture of the target object may be collapsed. Such a fear can be eliminated by lifting the.
- a movement performance test apparatus is the movement performance test apparatus according to the first aspect, wherein the plurality of endless belts are a plurality of legs as the plurality of portions of the robot as the target object. It is arranged according to arrangement
- a plurality of robots are arranged so that the orientation of the robot coincides with the second direction or so that the position of the robot coincides with the first target position in the first direction.
- a walking or running performance test based on the movement of the legs can be performed.
- a movement performance test apparatus is an apparatus for testing the movement performance of a robot that can be moved by the movement of each of a plurality of legs that accompanies getting off and landing, comprising: one endless belt; A plurality of motors that rotationally drive one endless belt, and the robot powers the plurality of legs so that the robot is directed in a second direction on the endless belt that is rotationally driven by the motors. In a first direction that is different from the second direction. A first processing means for measuring the position deviation of the robot from the first target position as a first deviation, and an operation of the motor so as to eliminate the first deviation measured by the first processing means. And a motor control unit for controlling.
- the position of the robot in the first direction is the first due to a change in the tempo of movement of the plurality of legs during the robot test.
- the operation of one motor is controlled so that the deviation (first deviation) is eliminated.
- changes in the tempo of the movement of multiple legs, etc. are appropriately compensated by the movement of one endless belt, and the movement performance test of the target object is performed so that the position of the robot matches the first target position in the first direction.
- FIG. 1 is a diagram illustrating the configuration of a mobile performance test apparatus according to the present invention
- FIG. 2 is an explanatory diagram of the configuration of the mobility performance test apparatus of the present invention.
- the movement performance test apparatus 1 is for testing the movement performance of the robot 2, etc., and includes a treadmill 10, a monitor for displaying the movement performance of the robot 2, and other measuring devices 16 (see Fig. 2), A motor control unit 100.
- the treadmill 10 includes a pair of endless belts 11L and 11R arranged in parallel and two motors 12L and 12 that rotate and drive the pair of endless belts 11L and 11R, respectively.
- Each of the endless belts 11L and 11R is stretched around the pair of rollers 102L and 104L and the pair of rollers 102R and 104R.
- each of the endless belts 11L and 11R is rotationally driven.
- Each of the motors 12L and 12R includes an encoder (not shown) that outputs a signal corresponding to the driving speed.
- a side-by-side light-receiving element array (first sensor) 112 that detects light emitted from the side-by-side light-emitting element array 111 disposed at the front of the treadmill 10 is provided. ing.
- the output state of the first sensor 112, that is, whether the light receiving state or the non-light receiving state of each light receiving element constituting the first sensor 112 varies depending on the standing position of the robot 2 in the lateral direction (first direction).
- On the front left and right of the treadmill 10 light is emitted toward the reflectors 113L and 113R arranged on the rear left and right of the treadmill 10, and the reflected light from each of the reflectors 113L and 113R is detected.
- 1 Limit sensors 114L and 114R are arranged! Each of the first limit sensors 114L and 114R outputs a signal according to whether or not a part of the robot 2 protrudes from the allowable area in the treadmill 10 to the left and right.
- the front part of the treadmill 10 is irradiated with a laser beam on the robot 2, and based on the reflected light from the robot 2 of this laser beam, depending on the standing position of the robot 2 in the front-rear direction (second direction)
- a second sensor 122 that outputs the received signal is disposed.
- Second limit sensors 1241 and 1242 are arranged on the front left and right and rear left and right of the treadmill 10, respectively. The second limit sensors 1241 and 1242 each output a signal depending on whether a part of the robot 2 protrudes from the permissible area in the treadmill 10 before or after it.
- the motor control unit 100 includes a CPU, a ROM, a RAM, an I / O, and the like, and includes a first processing unit 110 and a second processing unit 120.
- the motor control unit 100 separately controls the operations of the motors 12L and 12R so that the first deviation measured by the first processing unit 110 and the second deviation measured by the second processing unit 120 are eliminated.
- the first processing unit 121 determines the deviation of the position of the robot 2 from the first target position in the first direction (lateral direction of the treadmill 10) as "first deviation”. Measure as
- the second processing unit 122 calculates the deviation of the position of the robot 2 from the second target position in the second direction orthogonal to the first direction (the longitudinal direction of the treadmill 10). First Measured as 2 deviations.
- the robot 2 includes a base body (torso) 20, a pair of arm bodies 21 extending left and right from the top of the base body 20, a pair of left and right legs 22 extending from the bottom of the base body 20, and the base body 20 And a robot control unit 200 for controlling the movement of the leg body 22 and the like.
- Robot 2 has the function of walking or running by the movement of the left and right legs 22 with their leaving and landing.
- the robot 2 is powered and lifted by the lifter 14, and is moved to its initial position so that the left and right legs 22L and 22R are attached to the stationary endless belts 11L and 11R, respectively. Placed.
- each of the motors 12L and 12R starts to move accordingly, and each of the endless belts 11L and 11R starts to rotate at the same speed.
- the start of movement of the robot 2 is detected by the motor control unit 100 based on the output of the second sensor 122, for example.
- the movement start of the robot 2 may be detected by the motor control unit 100 through communication with the robot control unit 200 of the robot 2! /.
- the movement performance of the robot 2 is tested in a state where the robot 2 can be lifted by the lifter 14 via belts attached to the left and right shoulders of the robot 2. .
- the movement performance of the robot 2 may be tested while the robot 2 is released from the lifter 14.
- the index k representing the control cycle is set to 1 (Fig. 3 / S001). Also, the first deviation ⁇ (k
- the second deviation ⁇ (k) is measured by the second processing unit 120 (FIG. 3 / S002).
- the first deviation ⁇ (k) is positive when the robot 2 is shifted to the right from the first target position, and the first target
- the second deviation ⁇ (k) is defined to be positive when the robot 2 is shifted forward from the second target position and negative when the robot 2 is shifted backward from the second target position.
- the first coefficient a (k) is indicated by the hatched arrow in Fig. 4 (a).
- the left and right sides of the robot 2 are aligned with the first target position (the intermediate position between the left and right endless belts 11L and 11R). Specifies the magnitude of the difference between the speeds V and V of the beltless belt 11L and 11R.
- the first coefficient a (k) is 0 when the first deviation ⁇ (k) is 0, and the first deviation
- the first deviation ⁇ (k) is positive when the robot 2 also shifts the first target position force to the right side.
- the first coefficient a (k) is determined by the robot 2 from the first target position.
- the first processing unit 121 has a deviation angle of the traveling direction of the robot 2 from the front direction of the treadmill 10 by analyzing the image obtained through a camera (not shown) installed above the robot 2. May be measured as the first deviation ⁇ (k). In this case, the first deviation ⁇ (k) is
- the first coefficient a (k) is the first deviation.
- the first coefficient a (k) is negative when the direction of the robot 2 is shifted from the front to the left.
- the first coefficient a (k) is the hatched arrow in Fig. 4 (b).
- the second coefficient ⁇ (k) is set (FIG. 3 / S012).
- the second coefficient a (k) is determined by the left and right endless belts 11L and 11R to match the position of the robot 2 with the second target position in the second direction as indicated by the hatched arrows in FIG. 4 (c).
- the respective speeds V and V are specified. Also, R
- the second coefficient a (k) is a function with the second deviation ⁇ (k) as a variable.It is 0 when the second deviation ⁇ (k) is 0, and the second deviation ⁇ (k) is continuous. Defined as a periodic or intermittent increase function! Further, as described above, the second deviation ⁇ (k) is defined to be positive when the robot 2 is shifted forward from the second target position, and is negative when the robot 2 is shifted backward from the second target position. It is. For this reason, the second coefficient a (k) becomes positive when the robot 2 is shifted forward from the second target position, and increases as the shift toward the front increases.
- the second coefficient a (k) is negative when the robot 2 is shifted rearward from the second target position, and decreases as the shift toward the rear increases.
- the robot 2 gradually approaches the second target position from the initial position, and approaches the second target position relatively quickly near the second target position. Can be made.
- V (k) (l + a (k)) (1+ a (k)) v (k_l)--(1)
- V (k) (l- a (k)) (1+ a (k)) v (k- 1)
- the standing position of the direction is shifted forward from the second target position, the standing position is corrected backward as indicated by the hatched arrow.
- the standing position of the robot 2 in the front-rear direction is shifted backward from the second target position, the standing position is corrected forward.
- motor control unit 100 gradually stops motor 12L and 12R operations (Fig. 3 / S020)
- the robot (target object) 2 is legged on the two endless belts 1 1L and 1 1R that are independently driven to rotate!
- the movement performance of the robot 2 is tested by moving the bodies 22L and 22R.
- the position of the robot 2 in the first direction is the first target position (the endless belts 1 1L and 1 1R So that the deviation (first deviation ⁇ ) is eliminated when it deviates from the intermediate position.
- the position of robot 2 is changed so as to approach the first target position as shown by the hatched arrow in Fig. 4 (a), and the unbalance of the movements of the legs 22L and 22R is the endless belt 1 1 L And 1 can be compensated by 1R motion. Then, the movement performance test of the robot 2 can be performed so that the position of the robot 2 matches the first target position in the first direction.
- the robot 2 can be tested while maintaining the orientation of the robot 2 in the forward direction.
- the driving speed force S of the left endless belt 1 1L and the driving speed of the right endless belt 1 1R are adjusted to be higher than the driving speed of the right end belt 1 1R.
- the difference in speed between the endless belts 1 1L and 1 1R may be limited according to the turning performance of the robot 2.
- Unusual “first abnormality processing” such as lifting and stopping the motor 12 is performed (Fig. 3 / S004 'NO, S008). If the second deviation ⁇ force S deviates from the “second allowable range”, unusual “second abnormality processing” such as lifting the robot 2 by the lifter 14 and stopping the operation of the motor 12 is performed ( Fig. 3 / S010 'NO, S014). As a result, a situation in which the robot 2 comes off from the endless belt 11 and comes into contact with objects around the treadmill 10 can be avoided.
- the movement performance of the robot 2 is tested.
- the robot 2 is moved by a pair of left and right tires that may be subjected to a walking or running test of animals such as humans and horses.
- the device's mobility performance may be tested.
- the movement performance of a mobile device having three or more legs and tires may be tested using a treadmill having a plurality of endless belts corresponding to one leg or one leg group, respectively. .
- the movement performance of the robot may be tested.
- the movement performance of the robot 2 may be tested while the front-rear position of the robot 2 is adjusted by the movement of one endless belt.
- the load applied to the lifter 14 or its variation is measured by the motor control unit 100, and when the load or the variation exceeds the allowable range, the robot 2 is lifted by the lifter 14 or the operation of the motor 12 is stopped.
- the process at the time of abnormalities, such as, may be implemented. As a result, it is possible to avoid the movement performance test being continued with a high probability that Robot 2 is out of balance.
- the force by which the front / rear / right / left standing positions of the robot 2 are measured by the first sensor 112 configured by the light receiving element and the second sensor 122 using the laser beam is a scanning type wide area as another embodiment.
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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KR1020097003920A KR101085383B1 (ko) | 2006-11-01 | 2007-10-02 | 이동성능 시험 장치 |
EP07828995A EP2075099A4 (en) | 2006-11-01 | 2007-10-02 | TRAVEL PERFORMANCE TEST DEVICE |
US12/376,192 US8588971B2 (en) | 2006-11-01 | 2007-10-02 | Locomotive performance testing apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006298178A JP4823858B2 (ja) | 2006-11-01 | 2006-11-01 | 移動性能試験装置 |
JP2006-298178 | 2006-11-01 |
Publications (1)
Publication Number | Publication Date |
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WO2008053658A1 true WO2008053658A1 (fr) | 2008-05-08 |
Family
ID=39344007
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2007/069255 WO2008053658A1 (fr) | 2006-11-01 | 2007-10-02 | Dispositif de test de performance de déplacement |
Country Status (5)
Country | Link |
---|---|
US (1) | US8588971B2 (ja) |
EP (1) | EP2075099A4 (ja) |
JP (1) | JP4823858B2 (ja) |
KR (1) | KR101085383B1 (ja) |
WO (1) | WO2008053658A1 (ja) |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN106840724A (zh) * | 2017-01-19 | 2017-06-13 | 浙江大学 | 一种平面双足机器人运动测试平台 |
CN106840724B (zh) * | 2017-01-19 | 2018-10-19 | 浙江大学 | 一种平面双足机器人运动测试平台 |
CN111002347A (zh) * | 2019-12-20 | 2020-04-14 | 上海有个机器人有限公司 | 一种机器人场景测试方法、介质、终端和装置 |
Also Published As
Publication number | Publication date |
---|---|
EP2075099A4 (en) | 2010-05-05 |
JP2008114315A (ja) | 2008-05-22 |
KR101085383B1 (ko) | 2011-11-21 |
EP2075099A1 (en) | 2009-07-01 |
US20100010668A1 (en) | 2010-01-14 |
KR20090035013A (ko) | 2009-04-08 |
US8588971B2 (en) | 2013-11-19 |
JP4823858B2 (ja) | 2011-11-24 |
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