Legged mobile robot and method and apparatus for controlling the operation thereof
First Claim
1. An apparatus for adaptively controlling motions of a legged mobile robot, made up at least of lower limbs, a body trunk and a waist part, against an external force, said apparatus comprising:
- first setting means for setting leg motion, body trunk motion and upper limb motion, and the attitude and height of the waist part, for realizing the required motion;
second setting means for setting a ZMP trajectory based on the leg motion as set by said first setting means;
third setting means for setting an external force pattern applied to the legged mobile robot;
calculating means for calculating the moment generated on a ZMP as set by said second setting means based on the leg motion, body trunk motion, upper limb motion and the attitude and height of the waist part as set;
means for finding a solution of the waist motion for which the moments as calculated by said calculating means are in equilibrium; and
means for executing the full body exercise motion based on said solution of the waist motion.
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Abstract
A legged mobile robot is adaptively controlled in its attitude against variable external forces to continue the operation without inversion. When the legged mobile robot kicks an object having a certain mass, such as a ball, the robot is to be prevented from being fallen down by the reactive force from the object. Even if the mass or the repulsion coefficient of the object kicked is unknown, the operation of kicking the object at a sufficiently low speed is carried out at the outset to predict the reactive force produced on actual kicking in order to predict the reactive force produced on actual kicking. The result is that the stability in attitude can be maintained on kicking at an arbitrary speed. The legged mobile robot is able to take part as one of the players in athletic games, such as soccer games, in which each player performs his or her role as the or she is subjected to an external force.
29 Citations
21 Claims
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1. An apparatus for adaptively controlling motions of a legged mobile robot, made up at least of lower limbs, a body trunk and a waist part, against an external force, said apparatus comprising:
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first setting means for setting leg motion, body trunk motion and upper limb motion, and the attitude and height of the waist part, for realizing the required motion;
second setting means for setting a ZMP trajectory based on the leg motion as set by said first setting means;
third setting means for setting an external force pattern applied to the legged mobile robot;
calculating means for calculating the moment generated on a ZMP as set by said second setting means based on the leg motion, body trunk motion, upper limb motion and the attitude and height of the waist part as set;
means for finding a solution of the waist motion for which the moments as calculated by said calculating means are in equilibrium; and
means for executing the full body exercise motion based on said solution of the waist motion.
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2. An apparatus for adaptively controlling motions of a legged mobile robot, made up at least of lower limbs, a body trunk and a waist part, against an external force, said apparatus comprising:
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first setting means for setting leg motion, body trunk motion and upper limb motion, and the attitude and height of the waist part, for realizing the required motion;
second setting means for setting a ZMP trajectory based on the leg motion as set by said first setting means;
third setting means for setting an external force pattern applied to the legged mobile robot;
calculating means for calculating the moment generated on a ZMP as set by said second setting means by the leg motion, body trunk motion, upper limb motion and the attitude and height of the waist part as set;
first finding means for finding an approximate solution of the waist motion, for which the moments as found by said calculating means are in equilibrium, using a non-precise model of said robot;
second finding means for finding an approximate solution of the waist motion, for which the moments as found by said calculating means are in equilibrium, using a precise model of said robot;
means for assuming a solution of the waist motion if a difference between said approximate solutions by said first and second finding means is less than a pre-set allowed value;
means for correcting the moments of said non-precise model on the pre-set ZMP if the difference between said approximate solutions by said first and second finding means exceeds said pre-set allowed value and for re-throwing the corrected moments to said first finding means; and
means for executing the full body exercise motion of said legged mobile robot based on the solution of said waist motion. - View Dependent Claims (3, 4, 5, 6, 7, 8)
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9. A legged mobile robot comprising:
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two or more movable legs;
an upper body portion connected to said movable legs;
means for detecting an external force applied from an external object to said movable leg; and
control means for adaptively controlling the motion of said movable leg and/or the upper body portion in accordance with detected results by said external force detecting means. - View Dependent Claims (10, 11)
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12. A method for adaptively controlling motions of a legged mobile robot, made up at least of lower limbs, a body trunk and a waist part, against an external force, said method comprising:
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a first setting step for setting leg motion, body trunk motion and upper limb motion, and the attitude and height of the waist part, for realizing the required motion;
a second setting step for setting a ZMP trajectory based on the leg motion as set by said first setting step;
a third setting step for setting an external force pattern applied to the legged mobile robot;
a calculating step for calculating the moments generated on a ZMP as set by said second setting step based on the leg motion, body trunk motion, upper limb motion and the attitude and height of the waist part as set;
a step for finding a solution of the waist motion for which the moments as calculated by said calculating step are in equilibrium; and
a step for executing the full body exercise motion based on said solution of the waist motion.
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13. A method for adaptively controlling motions of a legged mobile robot, made up at least of lower limbs, a body trunk and a waist part, against an external force, said method comprising:
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a first setting step for setting leg motion, body trunk motion and upper limb motion, and the attitude and height of the waist part, for realizing the required motion;
a second setting step for setting a ZMP trajectory based on the leg motion as set by said first setting step;
a third setting step for setting an external force pattern applied to the legged mobile robot;
a calculating step for calculating the moment generated on a ZMP as set by said second setting step by the leg motion, body trunk motion, upper limb motion and the attitude and height of the waist part as set;
a first finding step for finding an approximate solution of the waist motion, for which the moments as found by said calculating step are in equilibrium, using a non-precise model of said robot;
a second finding step for finding an approximate solution of the waist motion, for which the moments as found by said calculating step are in equilibrium, using a precise model of said robot;
a step for assuming a solution of the waist motion if a difference between said approximate solutions by said first and second finding step is less than a pre-set allowed value;
a step for correcting the moments of said non-precise model on the pre-set ZMP if the difference between said approximate solutions by said first and second finding step exceeds said pre-set allowed value and for re-throwing the corrected moments to said first finding step; and
a step for executing the full body exercise motion of said legged mobile robot based on the solution of said waist motion. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A method for controlling the operation of a legged mobile robot made up of two or more movable legs, an upper body portion connected to said movable legs and means for detecting an external force applied from an external object to said movable leg, said method comprising:
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a step of detecting the reactive force applied when one of said movable legs has kicked an external object; and
a step of adaptively controlling the motion of said movable leg and/or the upper body portion in accordance with detected results. - View Dependent Claims (21)
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Specification