WO2022176751A1 - 情報処理装置、情報処理方法及びプログラム - Google Patents
情報処理装置、情報処理方法及びプログラム Download PDFInfo
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- WO2022176751A1 WO2022176751A1 PCT/JP2022/005232 JP2022005232W WO2022176751A1 WO 2022176751 A1 WO2022176751 A1 WO 2022176751A1 JP 2022005232 W JP2022005232 W JP 2022005232W WO 2022176751 A1 WO2022176751 A1 WO 2022176751A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
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- 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
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- G05—CONTROLLING; REGULATING
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- G05D1/49—Control of attitude, i.e. control of roll, pitch or yaw
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- G05D2109/10—Land vehicles
- G05D2109/12—Land vehicles with legs
Definitions
- the present disclosure relates to an information processing device, an information processing method, and a program.
- legged robot devices robot devices with legs
- a legged robot device can move freely even in an environment including steps, stairs, and rough terrain, in which it is difficult for a wheeled robot device to move. Therefore, the legged robot device is expected to be a mobile body that can replace the transportation of luggage on mountain trails, etc., which has been done by humans.
- Patent Literature 1 discloses a technique for stabilizing the posture and walking of a bipedal walking robot by controlling the stance leg or swing leg so as to return the upper body of the bipedal walking robot to its original position after being rotated by a disturbance. is disclosed.
- Patent Document 2 a control task (low cycle) for disturbance stabilization and control for executing a planned task operate in parallel, and when a disturbance enters, the process is switched to achieve 2 Techniques for stabilizing the posture and walking of a legged robot have been disclosed.
- the conventional technology described above cannot always improve the stability performance of the legged robot against unknown disturbances.
- the prior art described in Patent Document 1 above only controls the stance or swing legs so as to restore the upper body of a biped robot that has been rotated by a disturbance, and the balance of the center of gravity of the robot as a whole is taken into consideration. Therefore, it may not be said that the disturbance resistance is high.
- the control task (low cycle) for disturbance stabilization and the control for executing the planned task operate in parallel, and when disturbance enters, the process is performed. However, there is a delay before the control switching timing, so it may not be possible to immediately respond to the disturbance.
- the present disclosure proposes an information processing device, an information processing method, and a program capable of improving the stability performance of a legged robot device against unknown disturbances.
- a landing point change amount from a planned landing point position of a landing point position at which a current free leg of a robot device including one or more legs lands next, and a current landing point position of the robot device a calculation unit for calculating a pressure center point change amount from a target pressure center point position of the pressure center position to be generated by the grounding leg, and the landing point change amount or the pressure center point change calculated by the calculation unit and a drive control unit that controls the posture and movement of the robot device based on at least one of the quantities.
- the amount of change in the landing point from the planned landing point position of the next landing point of the current free leg of the robot device having one or more legs is calculated by the arithmetic processing unit. , or calculating a pressure center point change amount from a target pressure center point position of the pressure center point position to be generated by the current grounding leg of the robot device, and calculating the landing point change amount or the pressure center point and controlling the attitude and movement of the robotic device based on at least one of the amount of change.
- the computer calculates the amount of change in landing point from the planned landing point position of the landing point position at which the current free leg of a robotic device having one or more legs will land next, or a calculation unit for calculating a pressure center point change amount from a target pressure center point position to a pressure center point position to be generated by the current grounding leg of the robot device; and the landing point change amount calculated by the calculation unit or A program that functions as a drive control unit that controls the posture and movement of the robot device based on at least one of the pressure center point change amounts is provided.
- the pressure center position to be generated by the current grounding leg and the landing point position to which the current free leg is to land next in a robot apparatus having one or more legs can be simultaneously and in real time. Therefore, it is possible to improve the stability performance of the legged robot against unknown disturbances.
- FIG. 4 is a diagram for explaining an overview of control processing of a robot device by an information processing device according to an embodiment of the present disclosure; It is a figure which shows the generation example of the gait of the robot apparatus which concerns on the same embodiment. It is a figure for demonstrating the control model of the robot apparatus which concerns on the same embodiment.
- FIG. 4 is a diagram showing an output image of the center-of-gravity horizontal stabilizer according to the same embodiment and a relationship between floor reaction force and joint torque; 2 is a block diagram showing the functional configuration of a robot device including the information processing device according to the same embodiment;
- FIG. FIG. 4 is a diagram showing a center-of-gravity-center-of-pressure model of the robot apparatus according to the same embodiment;
- FIG. 10 is a diagram showing a stepped center-of-gravity-center-of-pressure model according to the same embodiment;
- FIG. 10 is a diagram showing a center-of-gravity-center-of-pressure model when a support point is changed according to the same embodiment;
- FIG. 10 is a diagram for explaining an equation of motion of the center of gravity t seconds after the N-th step lands on the floor according to the same embodiment;
- FIG. 4 is a diagram for explaining an equation of motion that satisfies a stabilization condition (capture point) according to the same embodiment;
- FIG. 4 is a diagram showing a configuration example of an output selection matrix used for stabilization according to the embodiment; It is a figure for demonstrating the relationship between the trajectory energy and walking motion which concern on the same embodiment.
- FIG. 4 is a diagram for explaining an equation of motion that satisfies a stabilization condition (Limit Cycle) according to the same embodiment;
- 1 is a hardware configuration diagram showing an example of a computer that implements functions of an information processing apparatus;
- FIG. 1 is a diagram for explaining an overview of control processing of a robot device 1 by an information processing device 100 according to an embodiment of the present disclosure.
- the robot apparatus 1 is a legged robot apparatus 1 having four legs as shown in FIG. 1
- the center-of-gravity horizontal stabilizer is the block according to the present invention.
- the information processing device 100 includes a walking command generator.
- the walking command generator generates a walking command for the robot device 1 based on the target translational velocity, the target turning angular velocity, and the walking style (gait) of the robot device 1 received from the user.
- the walking command will be described in detail later with reference to FIG.
- the information processing apparatus 100 also includes a gait generator.
- the gait generator generates a chart (hereinafter also referred to as a gait chart) showing the walking pattern of the robot apparatus 1 as shown in FIG. 2, which will be described later, based on the walking commands generated by the walking command generator.
- the gait generator generates a gait chart and also generates landing point coordinates indicating a planned landing point position of the next landing point position of the current free leg of the robot device 1 .
- the information processing device 100 also includes a future support point predictor.
- the future support point predictor uses the gait chart generated by the gait generator to generate ground contact points indicating the planned contact point positions of the ground contact legs of the robot apparatus 1 in each step up to N steps ahead (N is a natural number).
- An array of supporting point coordinates (hereinafter also referred to as a supporting point array) indicating planned supporting point positions (hereinafter also referred to as planned supporting point positions in each step up to N steps ahead) is generated by averaging the coordinates.
- the information processing device 100 also includes a posture estimator.
- the posture estimator estimates the posture angle and posture angular velocity of the robot device 1 based on the acceleration and angular velocity of the robot device 1 detected by an inertial measurement unit (IMU) mounted on the robot device 1 .
- IMU inertial measurement unit
- the information processing device 100 also includes a self-position estimator.
- the self-position estimator determines the position of the robot based on the motor angles of the joints of the robot apparatus 1 detected by encoders mounted on the joints of the robot apparatus 1 and the posture angle and posture angular velocity of the robot apparatus 1 estimated by the posture estimator.
- a basic position and attitude of the device 1, basic joint angles and basic joint angular velocities are estimated.
- the information processing apparatus 100 also includes a center-of-gravity estimator.
- the center-of-gravity estimator calculates the reaction force that each leg receives from the ground plane based on the torque applied to each joint of the leg of the robot device 1 .
- the center-of-gravity estimator estimates the current planar position of the center-of-gravity of the robot device 1 based on the magnitude of the reaction force that each of the legs receives from the ground plane.
- the center-of-gravity estimator estimates the current plane velocity of the center of gravity of the robot device 1 based on the plane position of the center of gravity of the robot device 1 .
- the center-of-gravity estimator estimates the current vertical position of the center of gravity of the robot device 1 by performing geometric calculations using the plane positions of the center of gravity of the robot device 1 in a plurality of postures. Also, the center-of-gravity estimator estimates the current vertical velocity of the center-of-gravity of the robot device 1 based on the vertical position of the center-of-gravity of the robot device 1 .
- the information processing device 100 also includes a center-of-gravity vertical stabilizer.
- the center of gravity vertical stabilizer is the reference vertical position of the center of gravity of the robot device 1, the current vertical position and vertical velocity of the center of gravity of the robot device 1 estimated by the center of gravity estimator, and the future support point predictor generated by the Based on the support point array up to N steps ahead, the vertical position (also referred to as vertical trajectory) of the center of gravity of the robot device 1 in each step up to N steps ahead and the target resultant force or target position are calculated.
- the information processing device 100 also includes a center-of-gravity horizontal stabilizer. Inside the center of gravity horizontal stabilizer, the planned support point is treated as the target pressure center point.
- the center-of-gravity horizontal stabilizer stores the current center-of-gravity plane position and plane velocity of the robot device 1, the planned support point position (target pressure center point position) of the robot device 1 at each step up to N steps ahead, and the center-of-gravity vertical stabilization. Based on the vertical position of the center of gravity of the robot device 1 in each step up to N steps ahead calculated by the device, the next landing point position of the current free leg of the robot device 1 is calculated from the planned landing point position. and a pressure center point change amount from the target pressure center point position of the pressure center point position to be generated by the current leg of the robot device 1 on the ground.
- the center of pressure (CoP) may be simply referred to as CoP.
- the information processing device 100 also includes a foot trajectory generator.
- the foot trajectory generator generates the current swing leg of the robot apparatus 1 based on the planned floor landing point position generated by the gait generator and the amount of change in the landing point calculated by the horizontal center of gravity stabilizer.
- a target foot position which is a landing point position for landing, is calculated.
- the information processing device 100 calculates the center of pressure position (calculated by the horizontal center-of-gravity stabilizer) and the target toe position (calculated by the toe trajectory generator) for realizing stabilization of the robot device 1. is realized in an actual robot device 1 by whole-body cooperative control using generalized inverse dynamics (GID).
- GID generalized inverse dynamics
- FIG. 3 is a diagram for explaining a control model of the robot device 1 according to the embodiment.
- the control model of the robot device 1 having one or more legs is defined by the center of gravity of the robot device 1 and the center of pressure (CoP) to be generated by the ground leg of the robot device 1. ) as a center-of-pressure model.
- a center-of-pressure-center-of-pressure model such as a stilt model consisting of the center of gravity of the robot device 1 and the center of pressure (CoP) of the robot device 1 is simplified.
- the current state of the center of gravity is input, and the pressure center position that stabilizes several steps ahead (for example, N steps ahead) and the landing point from the planned landing point position Find the amount of change.
- the reason why the distance is several steps ahead is to suppress occurrence of an excessive stride change amount when a large disturbance such as the robot device 1 is pushed or when a user command is changed.
- This center-of-gravity-center-of-pressure model does not depend on the number of legs of the robot device 1 and the ground contact (landing) pattern, so it is a model with high generality. Moreover, since it is a simple model, it is highly real-time.
- the information processing apparatus 100 sets the control model of the robot apparatus 1 as a center-of-pressure-center-of-pressure model consisting of the center of gravity and the center-of-pressure (CoP) of the robot apparatus 1.
- the equation of motion of the center of gravity of the robot apparatus 1 in each step up to N steps ahead is calculated using the amount of change in the landing point and the amount of change in the pressure center point as unknown parameters.
- the information processing apparatus 100 controls the attitude and movement of the robot apparatus 1 so as to realize the landing point position based on the calculated landing point change amount and the pressure center point based on the pressure center point change amount. Thereby, the information processing apparatus 100 can stabilize the robot apparatus 1 so that the robot apparatus 1 does not fall over N steps ahead (for example, several steps ahead).
- FIG. 4 is a diagram showing an output image of the horizontal center-of-gravity stabilizer and the relationship between the floor reaction force and the joint torque according to the embodiment.
- the left side of FIG. 4 shows the output image of the center-of-gravity horizontal stabilizer.
- the center-of-gravity horizontal stabilizer controls the amount of change in the landing point (future ) is calculated.
- the future landing point change amount is the minimum position where the leg should land on from the planned leg trajectory for the robot device 1 to achieve a desired motion in order to prevent the robot device 1 from falling. means the amount of change in the landing point of
- the information processing apparatus 100 calculates a future landing point change amount every tick, thereby realizing a desired movement instructed by the user as much as possible and landing at a position where the robot apparatus 1 does not fall down. change the point.
- the center-of-gravity horizontal stabilizer calculates the amount of change in the pressure center point from the target pressure center point position to the pressure center point position to be generated by the current grounded leg of the robot device 1.
- the pressure center point is the force center point on a polygon (also called a support polygon) formed by connecting the grounding positions of the grounding legs of the robot device 1 .
- the pressure center point is calculated from the force with which the ground leg of the robot device 1 presses the ground and the ground contact position of the ground leg of the robot device 1 on the ground.
- the right side of FIG. 4 shows the relationship between the floor reaction force and the joint torque.
- the force of the grounded leg of the robot device 1 pushing the ground is transmitted to the robot device 1 as an external force as a reaction force (floor reaction force). Further, the magnitude of the force with which the grounded leg of the robot device 1 presses the ground is determined from the geometric relationship between the torque generated by each joint of the leg of the robot device 1 and the robot device 1 . That is, the center of pressure can be controlled by controlling the torque of the motors of the joints of the legs of the robot device 1 .
- the information processing apparatus 100 controls both or only one of the future floor landing point operation of the free leg of the robot apparatus 1 and the pressure center point operation to be generated by the current grounding leg of the robot apparatus 1. , the desired movement of the robot device 1 and the stabilization of the robot device 1 can be realized at the same time.
- FIG. 5 is a block diagram showing the functional configuration of the robot device 1 including the information processing device according to the embodiment.
- the information processing device 100 may be provided in the main body of the robot device 1, for example.
- the robot apparatus 1 includes an input unit 11, a drive unit 12, a torque detection unit 13, and an information processing device 100.
- the input unit 11 includes an input device that allows the user to input information to the robot device 1 .
- the input unit 11 may include an input device such as a touch panel, a button, a microphone, a switch, or a lever to which information is input, and an input control circuit that generates an input signal based on the input information. good.
- the drive unit 12 generates torque for rotating the joints provided in each of the legs based on a control command or the like from the drive control unit 114 .
- the drive unit 12 is, for example, an electric motor that performs rotational motion using electrical energy, and may be provided for each joint of the leg.
- Each of the legs is bent or extended by rotating the joints of the legs by the drive unit 12 .
- the torque detection unit 13 detects the magnitude of the torque applied from the driving unit 12 to the joint in each leg.
- the torque detection unit 13 may include a magnetostrictive, strain gauge, piezoelectric, optical, spring, or capacitance torque sensor, and may directly detect the torque applied to the joint.
- the torque detection unit 13 includes a voltmeter or an ammeter that detects the magnitude of the voltage or current applied to the drive unit 12, and based on the magnitude of the voltage or current applied to the drive unit 12, the joint torque is detected. may be calculated.
- the magnitude of the torque detected by the torque detection unit 13 is used, together with the length of the link that constitutes each leg, to calculate the reaction force that each leg receives from the contact surface.
- the information processing device 100 includes a control unit 110 .
- the control unit 110 is a controller, and for example, the information processing apparatus 100 is controlled by a CPU (Central Processing Unit), MPU (Micro Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), etc.
- Various programs (corresponding to an example of an information processing program) stored in the internal storage device are executed by using a storage area such as a RAM as a work area.
- the controller 110 includes a generator 111 , an estimator 112 , a calculator 113 , and a drive controller 114 .
- the generation unit 111 performs the function of the walking command generator shown in FIG. Specifically, the generating unit 111 acquires the target translational velocity, the target turning angular velocity, and the walking manner (gait) of the robot apparatus 1 received from the user by the input unit 11 . Next, the generation unit 111 generates a walking command for the robot device 1 based on the target translational velocity and the target turning angular velocity of the robot device 1 and the instruction of the walking manner (gait) of the robot device 1 . The generator 111 generates walking commands corresponding to various walking styles such as crawl, walk, trot, and gallop. Instructions on how to walk (gait) of the robot device 1 can be rephrased as instructions on how to make each of the four legs of the robot device 1 touch the ground.
- a trot is a walking style in which two pairs of legs (front right leg and rear left leg, front left leg and right rear leg) are alternately moved out of the four legs of the robot device 1 .
- FIG. 2 is a diagram showing an example of gait generation of the robot apparatus 1 according to the embodiment.
- Figure 2 shows gait charts corresponding to four types of walking: crawl, walk, trot without a jumping period, and trot with a jumping period, from the top to the bottom.
- the jumping period refers to a period during which none of the four legs of the robot device 1 are in contact with the ground (floating in the air).
- each gait chart shown in FIG. 2 indicates time.
- the vertical axis of each gait chart indicates the left front leg (FL), right front leg (FR), left rear leg (RL) of the four legs of the robot device 1. ), indicating whether or not the right rear leg (RR) is in contact with the ground at the corresponding time.
- the leg that is in contact with the ground is referred to as a ground leg or a supporting leg.
- the legs that are not in contact with the ground that is, the legs that float in the air
- free legs are called free legs.
- the coordinates indicating the positions of the toes of the four legs of the robot apparatus 1 in each gait are determined from the relative positional relationships of the four legs of the robot apparatus 1 in each gait.
- gray-filled periods indicate swing periods in which the corresponding leg is a swing leg.
- the period not filled with gray indicates the grounding period in which the corresponding leg is the grounding leg.
- the period during which the grounding pattern of the legs of the robot apparatus 1 is constant is regarded as one step.
- the robot device 1 lands three steps ahead.
- the robot device 1 lands on the floor four steps ahead.
- the generation unit 111 performs the function of the future support point predictor shown in FIG. Specifically, the generating unit 111 calculates the planned grounding point of the grounding leg of the robot apparatus 1 in each step up to N steps ahead (N is a natural number) from the gait chart generated (by the gait generator). Generating an array of supporting point coordinates (hereinafter also referred to as supporting point array) indicating planned supporting point positions (hereinafter also referred to as planned supporting point positions in each step up to N steps ahead) by averaging grounding point coordinates indicating positions. .
- supporting point array an array of supporting point coordinates (hereinafter also referred to as supporting point array) indicating planned supporting point positions (hereinafter also referred to as planned supporting point positions in each step up to N steps ahead) by averaging grounding point coordinates indicating positions. .
- the support point array generated by the generation unit 111 will be specifically described by taking the crawl gait chart shown in the upper part of FIG. 2 as an example.
- the left front leg (FL) of the robot apparatus 1 is a free leg
- the leg (RR) is the ground leg. Therefore, the generation unit 111 generates grounding point coordinates indicating the planned grounding point positions of the right front leg (FR), left rear leg (RL), and right rear leg (RR), which are the grounding legs of the robot apparatus 1 one step ahead. are averaged to calculate the support point coordinates indicating the plan support point position one step ahead.
- the generating unit 111 generates grounding point coordinates indicating planned grounding point positions of the left front leg (FL), the right front leg (FR), and the left rear leg (RL), which are the grounding legs of the robot apparatus 1 two steps ahead.
- the coordinates of the supporting point indicating the planned supporting point position two steps ahead are calculated on average.
- the generation unit 111 generates contact point coordinates indicating planned contact point positions of the left front leg (FL), the left rear leg (RL), and the right rear leg (RR), which are the contact legs of the robot apparatus 1 three steps ahead. is averaged to calculate the support point coordinates indicating the planned support point position three steps ahead.
- the left hind leg (RL) of the robot apparatus 1 is a free leg, and the left front leg (FL) and right front leg (FR) are swinging. and the right hind leg (RR) is the ground leg. Therefore, the generating unit 111 generates grounding point coordinates indicating planned grounding point positions of the left front leg (FL), the right front leg (FR), and the right rear leg (RR), which are the grounding legs of the robot apparatus 1 four steps ahead. The coordinates of the support point indicating the planned position of the support point four steps ahead on average are calculated. Similarly, for subsequent times, the generation unit 111 calculates the coordinates of the supporting points indicating the planned supporting point positions up to N steps ahead.
- the generation unit 111 generates a support point array up to N steps ahead (one step Support point coordinates for the second step, support point coordinates for the third step, . . . , support point coordinates for the Nth step).
- the ⁇ point array (where ⁇ is the name of the point) refers to the coordinates of N ⁇ points indicating the positions of ⁇ points in each step from the first step to the Nth step of the robot device 1. It refers to the arranged columns.
- the estimation unit 112 performs the function of the posture estimator shown in FIG. Specifically, the estimation unit 112 estimates the posture angle and posture angular velocity of the robot device 1 based on the acceleration and angular velocity of the robot device 1 detected by an inertial measurement unit (IMU) mounted on the robot device 1. .
- IMU inertial measurement unit
- the estimation unit 112 performs the function of the self-position estimator shown in FIG. Specifically, the estimation unit 112 calculates the motor angles of the joints of the robot apparatus 1 detected by encoders mounted on the joints of the robot apparatus 1 and the posture angle and posture of the robot apparatus 1 estimated (by the posture estimator). Based on the angular velocities, the basic position, basic posture, basic joint angles and basic joint angular velocities of the robot device 1 are estimated.
- the estimation unit 112 performs the function of the center-of-gravity estimator shown in FIG. Specifically, the estimating unit 112 calculates the reaction force that each leg receives from the ground surface based on the torque applied to each joint of the leg of the robot device 1 . The estimation unit 112 estimates the current planar position of the center of gravity of the robot device 1 based on the magnitude of the reaction force that each leg receives from the ground surface. The estimation unit 112 also estimates the current planar velocity of the center of gravity of the robot device 1 based on the planar position of the center of gravity of the robot device 1 .
- the estimation unit 112 also estimates the current vertical position of the center of gravity of the robot apparatus 1 by performing geometric calculations using the plane positions of the center of gravity of the robot apparatus 1 in a plurality of postures.
- the estimation unit 112 also estimates the current vertical velocity of the center of gravity of the robot device 1 based on the vertical position of the center of gravity of the robot device 1 .
- the calculation unit 113 performs the function of the center-of-gravity vertical stabilizer shown in FIG. Specifically, the estimation unit 112 generates the reference vertical position of the center of gravity of the robot device 1 , the current vertical position and vertical velocity of the center of gravity of the robot device 1 estimated (by the center of gravity estimator), and the Based on the generated support point array up to N steps ahead, the vertical position (also referred to as vertical trajectory) of the center of gravity of the robot device 1 in each step up to N steps ahead and the target resultant force or target position are calculated.
- the calculation unit 113 performs the function of the center-of-gravity horizontal stabilizer shown in FIG. Inside the center of gravity horizontal stabilizer, the planned support point is treated as the target pressure center point. Specifically, the calculation unit 113 calculates the current plane position and plane velocity of the center of gravity of the robot device 1, the planned support point position (target pressure center point position) of the robot device 1 in each step up to N steps ahead, and ( Based on the vertical position of the center of gravity of the robot device 1 at each step up to N steps ahead calculated by the center of gravity vertical stabilizer), plan the landing point position where the current free leg of the robot device 1 will land next.
- a landing point change amount from the landing point position and a pressure center point change amount from the target pressure center point position of the pressure center point position to be generated by the current grounded leg of the robot apparatus 1 are calculated.
- the calculation unit 113 calculates the minimum value of the landing point change amount and the minimum value of the pressure center point change amount.
- the calculation unit 113 performs the function of the foot trajectory generator shown in FIG. Specifically, the calculation unit 113 calculates the current play of the robot apparatus 1 based on the planned landing point position generated by the generation unit 111 and the landing point change amount calculated (by the horizontal center of gravity stabilizer). A target foot position, which is a landing point position where the leg will land next, is calculated.
- the drive control unit 114 realizes the pressure center point position and the target foot position for realizing stabilization of the robot device 1 in the actual robot device 1 by whole-body coordinated control using generalized inverse dynamics (GID). do. Specifically, the drive control unit 114 controls the posture and movement of the robot apparatus 1 so as to achieve the pressure center position and the target toe position calculated by the calculation unit 113 . More specifically, the drive control unit 114 determines the joint driving force (torque) to be generated at each joint of the robot apparatus 1 so as to realize the pressure center position and the target toe position calculated by the calculation unit 113. calculate.
- GID generalized inverse dynamics
- the drive control unit 114 controls all the state quantities (basic position and posture, basic joint angles and basic joint angular velocities) of the robot apparatus 1 estimated by the estimating unit 112, the target posture angle specified by the user, the calculating unit
- the joint driving force (torque) to be generated at each joint of the robot apparatus 1 is calculated based on the target resultant force or target position, pressure center point position, and target foot position calculated by 113 .
- the drive control unit 114 controls the motion of each joint of the robot device 1 so that each joint of the robot device 1 generates the calculated joint driving force (torque).
- the center-of-gravity horizontal stabilizer handles the horizontal direction ((X, Y) direction) of the robot apparatus 1 .
- the vertical direction (Z direction) of the robot apparatus 1 is separately designed in a separate module (center-of-gravity vertical stabilizer shown in FIG. 1), and is given as an input to this module (center-of-gravity horizontal stabilizer). By doing so, the non-linearity in the vertical direction is handled by time-varying linearization.
- a summary of the C.G. Horizontal Stabilizer Internal Algorithm consists of the following three steps. As described above, inside the center-of-gravity horizontal stabilizer, the planned support point is treated as the target pressure center point (target CoP). Therefore, hereinafter, the support point array may be referred to as a target pressure center array (also referred to as a target CoP array).
- Step #1 Support point array of support point coordinates indicating the current planar position and planar velocity of the center of gravity of the robot device 1, and the planned support point position (target pressure center point position) of the robot device 1 at each step up to N steps ahead.
- target pressure center point array a contact point array of contact point coordinates indicating planned contact point positions of the contact leg of the robot apparatus 1 at each step up to N steps ahead, and a contact point array of the robot apparatus 1 at each step up to N steps ahead
- the pressure center point change amount array support point change amount array
- the state of the plane position of the center of gravity and the state of the plane velocity of the robot apparatus 1 N steps ahead including .
- Step #2 Concerning the state of the center of gravity of the robot device 1 N steps ahead, the stabilization condition is the constraint condition (Capture Point, Limit Cycle), and the pressure center point change amount array of the robot device 1 at each step up to N steps ahead (support point change amount array) and landing point change amount array are obtained.
- the constraint condition Capture Point, Limit Cycle
- Step #3 Realized by the robot device 1 by outputting the most recent change amount (that is, the most recent pressure center point change amount and landing point change amount) in step #2.
- FIG. 6 is a diagram showing a gravity center-pressure center point model of the robot device 1 according to the embodiment.
- the calculation unit 113 regards the control model of the robot device 1 as a center-of-gravity-center-of-pressure-point model consisting of the center of gravity and the support point (center of pressure) of the robot device 1.
- An equation of motion for the center of gravity of the robot apparatus 1 in each step is calculated using the amount of change in the support point (the amount of change in the pressure center point) and the amount of change in the landing point as unknown parameters.
- m is the mass of the center of gravity of the robot device 1
- f is the force acting on the center of gravity of the robot device 1
- x ( xc , yc, zc ) is the position of the center of gravity of the robot device 1
- FIG. 7 is a diagram showing a stepwise center-of-gravity-pressure center point model according to the embodiment.
- px is the planned support point position (target pressure center point position)
- FIG. 8 is a diagram showing the center-of-gravity-center-of-pressure model when the support point is changed according to the embodiment.
- the i-th step state of the robot device 1 is considered.
- the planned support point position (target pressure center point position) at the i-th step of the robot device 1 is pxi .
- the airborne period refers to a period in which none of the legs of the robot device 1 are in contact with the ground (floating in the air).
- the translational motion is uniform linear motion, so the following equation (15) holds.
- Equation (16) is equal to equation (14) of planned support point position (target pressure center point position) change dynamics when the flight period is zero (that is, the robot device 1 does not jump). From the above, it was possible to obtain an equation expressing the planned support point position (target pressure center point position) change dynamics when there is a flight period.
- the above formula (22) should be used. Moreover, when it is desired to obtain an intermediate trajectory, it can be calculated from the above equation (21). From the above, from the initial state of the center of gravity, the amount of change in the support point (the amount of change in the center of pressure), the planned value of the stride (corresponding to the planned landing point position), and the amount of change in the stride (corresponding to the amount of change in the landing point) are considered. The state of the center of gravity N steps ahead was obtained.
- the above equation (22) is a modeling result that includes the flight period, and the point is that it can also handle jumps of the robot device 1. If there is no flight period, ⁇ i can be set to zero, and there is no need to switch the control model. In addition, when assuming a linear inverted pendulum with no vertical motion, there is no need to calculate a time-varying matrix for vertical motion, and it is only necessary to model the transition up to the next step in the analytical solution, which can reduce the amount of computation. .
- the information processing apparatus 100 can stabilize various gaits of the legged robot apparatus including jumping with a single control model with a small amount of computation by using the above equation (22). can. As a result, the information processing apparatus 100 can express various walking patterns at low cost for the legged robot apparatus.
- the information processing apparatus 100 can perform high-speed calculation by using the above equation (22), so that the magnitude of the disturbance can be estimated from the control amount. As a result, the information processing apparatus 100 can predict in advance a large disturbance or destabilization that cannot be dealt with, so that the user can immediately make the robot apparatus take an emergency stop or an avoidance action. .
- the algorithm of formula (22) above is not a heuristic method. Therefore, the information processing apparatus 100 can use the same algorithm (equation (22)) for robot apparatuses of various shapes.
- FIG. 10 is a diagram for explaining the equation of motion of the center of gravity t seconds after the Nth step lands on the floor according to the embodiment.
- a constraint is imposed such that the future state from XN achieves stabilization. By doing so, it is possible to consider stabilization using a plurality of steps, and it is possible to deal with a strong disturbance that cannot be dealt with in one step.
- the equation of motion during that time can be represented by an analytical solution such as equation (a) in FIG. h is the distance from the floor to the center of gravity, g is the gravitational constant, and the motion is determined only by the initial state and time.
- the stabilization norm is the Capture Point. If a set of X N ( 0) and dotted X N (0) that makes the divergent component of equation (a) in FIG. , rests just above the landing point. Such a landing point is called a Capture Point. In order to realize this, the expression (b) in FIG. 10 should be satisfied.
- FIG. 11 is a diagram for explaining the equation of motion that satisfies the stabilization condition (Capture Point) according to the embodiment.
- x with a hat is a variable vector, and includes the amount of change for each of N steps.
- formula (c) in FIG. 11 is generally a redundant system with more variables than the number of formulas, there are multiple solutions that satisfy the constraints. Therefore, the minimum norm solution of variables can be obtained by using a weighted pseudo-inverse matrix, SVD, or the like, and high-speed calculation is possible. Furthermore, by multiplying x with a hat by a transformation matrix that forcibly assigns zero to elements, the amount of change in stride length (corresponding to the amount of change in landing point), the amount of change in center of pressure (change in support point It is possible to easily set a constraint such as not performing the amount).
- FIG. 12 is a diagram illustrating a configuration example of an output selection matrix used for stabilization according to the embodiment.
- a Limit Cycle is a closed trajectory in the phase space of a dynamical system, and is a phenomenon in which the relationship between position and velocity maintains a constant law.
- a constraint formula is derived such that the Limit Cycle is formed at the end time.
- the trajectory energy E is considered in order to calculate the Limit Cycle trajectory that prevents the robot device 1 from overturning.
- the trajectory energy In steady walking motion in the linear inverted pendulum mode that assumes a constant height, the trajectory energy always operates in a region where E>0, as shown in FIG.
- FIG. 13 is a diagram for explaining the relationship between trajectory energy and walking motion according to the embodiment.
- FIG. 14 shows constraint equations that satisfy these requirements.
- FIG. 14 is a diagram for explaining an equation of motion that satisfies a stabilization condition (Limit Cycle) according to the embodiment. The duality of the position when the linear inverted pendulum repeats steady motion is used, and the position of X N (t) is the sign inversion of X N (0) immediately after landing. This is a constraint formula for finding X N (0) that forces E>0 while satisfying the target velocity at time t after landing.
- v ref is designed as shown in the following equation (23), where K p is the feedback gain for the deviation and K i is the feedback gain for the deviation integral value.
- the amount of change in pressure center point (change amount of support point) and the amount of landing point change which are the output values of the center-of-gravity horizontal stabilizer according to the present embodiment, are used for purposes other than stabilizing the robot apparatus 1 for high-level situation judgment. can also be used for
- Example 1 Without mounting a special sensor, the user can estimate from which direction the disturbance is coming from the stride change amount, which is the output result of the stabilizer. Autonomous movement performance can be enhanced (for example, the robot device 1 is automatically stopped when a disturbance enters from the traveling direction). (Example 2) The user sets a maximum value for the amount of stride change that is the output result of the center-of-gravity horizontal stabilizer, and if it exceeds the maximum value, it is judged to be dangerous, the robot device 1 automatically stops, and the robot device 1 autonomously performs an overturn avoidance operation. can be migrated (Example 3) Aging deterioration of the robot can be autonomously determined from an increase in the average landing point change amount on the plane.
- FIG. 15 is a hardware configuration diagram showing an example of a computer 1000 that reproduces the functions of an information processing apparatus such as the information processing apparatus 100.
- the computer 1000 has a CPU 1100 , a RAM 1200 , a ROM (Read Only Memory) 1300 , a HDD (Hard Disk Drive) 1400 , a communication interface 1500 and an input/output interface 1600 .
- Each part of computer 1000 is connected by bus 1050 .
- the CPU 1100 operates based on programs stored in the ROM 1300 or HDD 1400 and controls each section. For example, the CPU 1100 loads programs stored in the ROM 1300 or HDD 1400 into the RAM 1200 and executes processes corresponding to various programs.
- the ROM 1300 stores a boot program such as BIOS (Basic Input Output System) executed by the CPU 1100 when the computer 1000 is started, and programs dependent on the hardware of the computer 1000.
- BIOS Basic Input Output System
- the HDD 1400 is a computer-readable recording medium that non-temporarily records programs executed by the CPU 1100 and data used by such programs.
- HDD 1400 is a recording medium that records the program according to the present disclosure, which is an example of program data 1450 .
- a communication interface 1500 is an interface for connecting the computer 1000 to an external network 1550 (for example, the Internet).
- CPU 1100 receives data from another device via communication interface 1500, and transmits data generated by CPU 1100 to another device.
- the input/output interface 1600 is an interface for connecting the input/output device 1650 and the computer 1000 .
- the CPU 1100 receives data from input devices such as a keyboard and mouse via the input/output interface 1600 .
- the CPU 1100 also transmits data to an output device such as a display, speaker, or printer via the input/output interface 1600 .
- the input/output interface 1600 may function as a media interface for reading a program or the like recorded on a predetermined recording medium.
- Media include, for example, optical recording media such as DVD (Digital Versatile Disc) and PD (Phase change rewritable disk), magneto-optical recording media such as MO (Magneto-Optical disk), tape media, magnetic recording media, semiconductor memories, etc. is.
- the CPU 1100 of the computer 1000 reproduces the functions of the control unit 110 and the like by executing programs loaded on the RAM 1200 .
- the HDD 1400 also stores programs according to the present disclosure and various data.
- CPU 1100 reads and executes program data 1450 from HDD 1400 , as another example, these programs may be obtained from another device via external network 1550 .
- a calculation unit that calculates the amount of change in the pressure center point from the target pressure center point position to the pressure center point position to be calculated;
- a drive control unit that controls the posture and movement of the robot device based on at least one of the landing point change amount and the pressure center point change amount calculated by the calculation unit;
- Information processing device is also take the following configuration.
- the calculation unit a current planar position and planar velocity of the center of gravity of the robotic device, a planned support point position that is the average of planned ground contact point positions of the grounding leg of the robotic device at each step up to N steps ahead (N is a natural number); calculating the landing point change amount and the pressure center point change amount based on the vertical position of the center of gravity of the robot device in each step up to N steps ahead;
- N is a natural number
- the calculation unit Assuming that the control model of the robot device is a center-of-gravity-pressure center point model consisting of the center of gravity of the robot device and the pressure center point to be generated by the grounding leg of the robot device, the robot at each step up to N steps forward Calculate the equation of motion of the center of gravity of the device using the landing point change amount and the pressure center point change amount as unknown parameters.
- the information processing device according to (1) above.
- the calculation unit calculating an equation of motion of the center of gravity of the robot device including a flight period; The information processing device according to (1) above.
- the calculation unit After the robot device reaches N steps ahead and temporal infinity has passed, the center of gravity of the robot device N steps ahead stops just above the planned support point position of the robot device N steps ahead.
- the amount of change in the landing point and the amount of change in the pressure center point are calculated by solving the equation of motion of the center of gravity of the robot device N steps ahead under the constraint of The information processing device according to (2) above.
- the calculation unit Under the constraint condition that the posture and movement of the robot device at N steps ahead and the posture and movement of the robot device at (N ⁇ 1) steps ahead match, the equation of motion of the center of gravity of the robot device at N steps ahead is: Calculate the landing point change amount and the pressure center point change amount by solving The information processing device according to (1) above.
- the robotic device is a legged robotic device comprising four legs, The information processing device according to (1) above.
- Information processing method including.
- a calculation unit that calculates the amount of change in the pressure center point from the target pressure center point position to the target pressure center point position;
- a drive control unit that controls the posture and movement of the robot device based on at least one of the landing point change amount and the pressure center point change amount calculated by the calculation unit;
- a program that acts as a
- robot device 11 input unit 12 drive unit 13 torque detection unit 100 information processing unit 110 control unit 111 generation unit 112 estimation unit 113 calculation unit 114 drive control unit
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Abstract
Description
[1.概要]
まず、図1を用いて、本開示の実施形態に係る情報処理装置100によるロボット装置1の制御処理の概要を説明する。図1は、本開示の実施形態に係る情報処理装置100によるロボット装置1の制御処理の概要を説明するための図である。本実施形態では、ロボット装置1が、図1に示すような4つの脚部を備える脚式のロボット装置1である場合について説明する。図1に示すブロックのうち、重心水平安定化器が本願発明に係るブロックである。
次に、図5を用いて、実施形態に係る情報処理装置100を含むロボット装置1の機能構成について説明する。図5は、実施形態に係る情報処理装置を含むロボット装置1の機能構成を示すブロック図である。なお、情報処理装置100は、例えば、ロボット装置1の本体部に備えられてもよい。
本実施形態に係る重心水平安定化器は、ロボット装置1の水平方向((X、Y)方向)について取り扱う。ロボット装置1の垂直方向(Z方向)に関しては、別モジュール(図1に示す重心垂直安定化器)で別途設計され、本モジュール(重心水平安定化器)に入力として与える。このようにすることで、垂直方向の非線形性を時変線形化して取り扱う。
重心水平安定化器内部アルゴリズムの概要は、下記の3つのステップからなる。なお、上述したように、重心水平安定化器の内部では、計画支持点を目標圧力中心点(目標CoP)として扱う。そこで、以下では、支持点配列のことを目標圧力中心配列(目標CoP配列ともいう)と記載する場合がある。
図6~図9を用いて、重心水平安定化器内部アルゴリズムのステップ#1のモデリング方法について説明する。
図10~図14を用いて、重心水平安定化器内部アルゴリズムのステップ#2の安定条件の記述、圧力中心点変更量配列(支持点変更量配列)および着床点変更量配列の算出について説明する。
本実施形態に係る重心水平安定化器の出力値である圧力中心点変更量(支持点変更量)および着床点変更量を、ロボット装置1の安定化以外の目的で、高次な状況判断にも利用することができる。
(例2)重心水平安定化器の出力結果である歩幅変更量に対し、最大値を利用者が設定し、それを超えたら危険と判断し、ロボット装置1を自動停止、転倒回避動作に自律的に移行させることができる。
(例3)平面における着床点変更量の平均値の増加から、ロボットの経年劣化を自律的に判断することができる。
上述してきた実施形態に係る情報処理装置100等の情報機器は、例えば図15に示すような構成のコンピュータ1000によって再現される。図15は、情報処理装置100等の情報処理装置の機能を再現するコンピュータ1000の一例を示すハードウェア構成図である。以下、実施形態に係る情報処理装置100を例に挙げて説明する。コンピュータ1000は、CPU1100、RAM1200、ROM(Read Only Memory)1300、HDD(Hard Disk Drive)1400、通信インターフェイス1500、及び入出力インターフェイス1600を有する。コンピュータ1000の各部は、バス1050によって接続される。
(1)
1以上の脚部を備えるロボット装置の現在の遊脚が次に着床する着床点位置の計画着床点位置からの着床点変更量、および前記ロボット装置の現在の接地脚が発生すべき圧力中心点位置の目標圧力中心点位置からの圧力中心点変更量を算出する算出部と、
前記算出部によって算出された前記着床点変更量または前記圧力中心点変更量のうち少なくともいずれか一方に基づいて、前記ロボット装置の姿勢および移動を制御する駆動制御部と、
を備える情報処理装置。
(2)
前記算出部は、
前記ロボット装置の現在の重心の平面位置および平面速度、N歩先(Nは自然数)までの各歩における前記ロボット装置の接地脚の計画上の接地点位置の平均である計画支持点位置、ならびにN歩先までの各歩における前記ロボット装置の重心の垂直位置に基づいて、前記着床点変更量および前記圧力中心点変更量を算出する、
前記(1)に記載の情報処理装置。
(3)
前記算出部は、
前記ロボット装置の制御モデルを、前記ロボット装置の重心と前記ロボット装置の接地脚が発生すべき圧力中心点とからなる重心-圧力中心点モデルとみなして、N歩先までの各歩における前記ロボット装置の重心の運動方程式を前記着床点変更量と前記圧力中心点変更量を未知パラメータとして算出する、
前記(1)に記載の情報処理装置。
(4)
前記算出部は、
滞空期を含む前記ロボット装置の重心の運動方程式を算出する、
前記(1)に記載の情報処理装置。
(5)
前記算出部は、
前記ロボット装置がN歩先に到達してから時間的無限遠が経過したときにN歩先の前記ロボット装置の重心がN歩先の前記ロボット装置の前記計画支持点位置の真上で静止するという拘束条件の下で、N歩先の前記ロボット装置の重心の運動方程式を解くことで、前記着床点変更量および前記圧力中心点変更量を算出する、
前記(2)に記載の情報処理装置。
(6)
前記算出部は、
N歩先の前記ロボット装置の姿勢および移動と(N-1)歩先の前記ロボット装置の姿勢および移動が一致するという拘束条件の下で、N歩先の前記ロボット装置の重心の運動方程式を解くことで、前記着床点変更量および前記圧力中心点変更量を算出する、
前記(1)に記載の情報処理装置。
(7)
前記算出部は、
前記着床点変更量の最小値および前記圧力中心点変更量の最小値を算出する、
前記(1)に記載の情報処理装置。
(8)
前記ロボット装置は、4つの前記脚部を備える脚式のロボット装置である、
前記(1)に記載の情報処理装置。
(9)
演算処理装置によって、
1以上の脚部を備えるロボット装置の現在の遊脚が次に着床する着床点位置の計画着床点位置からの着床点変更量、または前記ロボット装置の現在の接地脚が発生すべき圧力中心点位置の目標圧力中心点位置からの圧力中心点変更量を算出することと、
算出した前記着床点変更量または前記圧力中心点変更量のうち少なくともいずれか一方に基づいて、前記ロボット装置の姿勢および移動を制御することと、
を含む情報処理方法。
(10)
コンピュータを、
1以上の脚部を備えるロボット装置の現在の遊脚が次に着床する着床点位置の計画着床点位置からの着床点変更量、または前記ロボット装置の現在の接地脚が発生すべき圧力中心点位置の目標圧力中心点位置からの圧力中心点変更量を算出する算出部と、
前記算出部によって算出された前記着床点変更量または前記圧力中心点変更量のうち少なくともいずれか一方に基づいて、前記ロボット装置の姿勢および移動を制御する駆動制御部と、
として機能させるプログラム。
11 入力部
12 駆動部
13 トルク検出部
100 情報処理装置
110 制御部
111 生成部
112 推定部
113 算出部
114 駆動制御部
Claims (10)
- 1以上の脚部を備えるロボット装置の現在の遊脚が次に着床する着床点位置の計画着床点位置からの着床点変更量、および前記ロボット装置の現在の接地脚が発生すべき圧力中心点位置の目標圧力中心点位置からの圧力中心点変更量を算出する算出部と、
前記算出部によって算出された前記着床点変更量または前記圧力中心点変更量のうち少なくともいずれか一方に基づいて、前記ロボット装置の姿勢および移動を制御する駆動制御部と、
を備える情報処理装置。 - 前記算出部は、
前記ロボット装置の現在の重心の平面位置および平面速度、N歩先(Nは自然数)までの各歩における前記ロボット装置の接地脚の計画上の接地点位置の平均である計画支持点位置、ならびにN歩先までの各歩における前記ロボット装置の重心の垂直位置に基づいて、前記着床点変更量および前記圧力中心点変更量を算出する、
請求項1に記載の情報処理装置。 - 前記算出部は、
前記ロボット装置の制御モデルを、前記ロボット装置の重心と前記ロボット装置の接地脚が発生すべき圧力中心点とからなる重心-圧力中心点モデルとみなして、N歩先までの各歩における前記ロボット装置の重心の運動方程式を前記着床点変更量と前記圧力中心点変更量を未知パラメータとして算出する、
請求項1に記載の情報処理装置。 - 前記算出部は、
滞空期を含む前記ロボット装置の重心の運動方程式を算出する、
請求項1に記載の情報処理装置。 - 前記算出部は、
前記ロボット装置がN歩先に到達してから時間的無限遠が経過したときにN歩先の前記ロボット装置の重心がN歩先の前記ロボット装置の前記計画支持点位置の真上で静止するという拘束条件の下で、N歩先の前記ロボット装置の重心の運動方程式を解くことで、前記着床点変更量および前記圧力中心点変更量を算出する、
請求項2に記載の情報処理装置。 - 前記算出部は、
N歩先の前記ロボット装置の姿勢および移動と(N-1)歩先の前記ロボット装置の姿勢および移動が一致するという拘束条件の下で、N歩先の前記ロボット装置の重心の運動方程式を解くことで、前記着床点変更量および前記圧力中心点変更量を算出する、
請求項1に記載の情報処理装置。 - 前記算出部は、
前記着床点変更量の最小値および前記圧力中心点変更量の最小値を算出する、
請求項1に記載の情報処理装置。 - 前記ロボット装置は、4つの前記脚部を備える脚式のロボット装置である、
請求項1に記載の情報処理装置。 - 演算処理装置によって、
1以上の脚部を備えるロボット装置の現在の遊脚が次に着床する着床点位置の計画着床点位置からの着床点変更量、または前記ロボット装置の現在の接地脚が発生すべき圧力中心点位置の目標圧力中心点位置からの圧力中心点変更量を算出することと、
算出した前記着床点変更量または前記圧力中心点変更量のうち少なくともいずれか一方に基づいて、前記ロボット装置の姿勢および移動を制御することと、
を含む情報処理方法。 - コンピュータを、
1以上の脚部を備えるロボット装置の現在の遊脚が次に着床する着床点位置の計画着床点位置からの着床点変更量、または前記ロボット装置の現在の接地脚が発生すべき圧力中心点位置の目標圧力中心点位置からの圧力中心点変更量を算出する算出部と、
前記算出部によって算出された前記着床点変更量または前記圧力中心点変更量のうち少なくともいずれか一方に基づいて、前記ロボット装置の姿勢および移動を制御する駆動制御部と、
として機能させるプログラム。
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JPH05277968A (ja) * | 1992-03-31 | 1993-10-26 | Honda Motor Co Ltd | 脚式移動ロボットの制御装置 |
JP2011240475A (ja) | 2010-04-22 | 2011-12-01 | Honda Motor Co Ltd | ロボットおよび制御システム |
JP2014151370A (ja) * | 2013-02-05 | 2014-08-25 | Toyota Motor Corp | 脚式ロボットの制御方法および脚式ロボット |
JP2017202535A (ja) | 2016-05-10 | 2017-11-16 | パナソニック株式会社 | 歩行制御方法、歩行制御プログラム及び2足歩行ロボット |
WO2019187506A1 (ja) * | 2018-03-30 | 2019-10-03 | ソニー株式会社 | 制御装置及びロボット装置 |
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JPH05277968A (ja) * | 1992-03-31 | 1993-10-26 | Honda Motor Co Ltd | 脚式移動ロボットの制御装置 |
JP2011240475A (ja) | 2010-04-22 | 2011-12-01 | Honda Motor Co Ltd | ロボットおよび制御システム |
JP2014151370A (ja) * | 2013-02-05 | 2014-08-25 | Toyota Motor Corp | 脚式ロボットの制御方法および脚式ロボット |
JP2017202535A (ja) | 2016-05-10 | 2017-11-16 | パナソニック株式会社 | 歩行制御方法、歩行制御プログラム及び2足歩行ロボット |
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