Remote control device of bipedal mobile robot

• US 20040236467A1
• Filed: 02/27/2004
• Published: 11/25/2004
• Est. Priority Date: 08/29/2001
• Status: Active Grant

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Sano, Shigeo
• Granted Patent: US 7,221,999 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 13/06 Control stands, e.g. consoles, switchboards
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence

Abstract

When an operator attempts to move a robot from a current position to a desired position, she/he operates a manipulator lever (26) corresponding to a desired direction of a manipulator (23) of a remote control device (22), for example, a number of times corresponding to a predetermined moving amount in the moving direction. At this point, the moving amount for each moving direction depending on this number of operations is set, and a leg of the robot is actuated according to a setting value of the moving amount for each moving direction to move the robot. The moving amount that can be set by the operation of the manipulator lever (26) has a relatively small moving amount that the robot may be moved by performing a lifting/landing action once for each of the legs of the robot, and a relatively large moving amount requiring multiple walking steps of the lifting/landing action for each leg of the robot.

Claims

1. A remote control device of a bipedal mobile robot moving by an action to alternately lift and land two legs, comprising:

a manipulator lever for commanding a moving direction of the bipedal mobile robot;

moving amount setting means for counting a number of times that the manipulator lever is operated from a non-manipulation state to a manipulation state corresponding to a desired direction of the bipedal mobile robot until predetermined manipulation completing conditions are satisfied in a stopped state of the bipedal mobile robot and setting the moving amount of the bipedal mobile robot in the desired direction in correspondence with the counted number; and

movement control means for making the bipedal mobile robot to move toward the desired moving direction according to the set moving amount.

2. The device according to claim 1, wherein there are multiple types of moving directions of the bipedal mobile robot to be commanded by the manipulator lever, the moving amount setting means counts the number of times the manipulator lever is operated into a manipulation state corresponding to a moving direction for each type of moving directions, and sets the moving amount of the bipedal mobile robot depending on the counted number of times for each type of moving direction, and the movement control means combines the set moving amounts for each type of moving directions to make the bipedal mobile robot move.

9. The device according to claim 1, further comprising an indicating means for indicating post-movement position information showing a moved position from the current position of the bipedal mobile robot based on the moving amount set by the moving amount setting means before the bipedal mobile robot starts moving by the movement control means.

10. The device according to claim 1, wherein the moving amount set by the moving amount setting means comprises a moving amount the bipedal mobile robot can be moved by alternately lifting and landing each leg of the bipedal mobile robot, when the movement control means makes the bipedal mobile robot move, in a state that a foot of either one of the two legs of the bipedal mobile robot is landed, a foot of the other leg is landed on the position moved by the moving amount set by the moving amount setting means toward the desired moving direction with respect to the foot of the one leg, and then in a state that the foot of the other leg is landed, the foot of the one leg is moved to a position where the foot thereof is arranged in parallel with the foot of the other leg, thereby making the bipedal mobile robot move.

11. The device according to claim 10, further comprising means for setting an open-legged-stop mode for making the bipedal mobile robot stop with the legs opened by a predetermined operation after the bipedal mobile robot is moved, wherein when the open-legged-stop mode is set, in a state that the foot of either one of the two legs of the bipedal mobile robot is landed, the movement control means stops the two legs after the other leg is landed on a position that the other leg is moved toward the desired moving direction by the moving amount with respect to the foot of the one leg.

12. The device according to claim 1, wherein the moving amount set by the moving amount setting means comprises a moving amount which the bipedal mobile robot can be moved by the multiple walking steps of the moving action, when the movement control means makes the bipedal mobile robot move, the movement control means determines a number of walking steps of the bipedal mobile robot depending on the moving amount toward the desired moving direction set by the moving amount setting means, performs lifting and landing of each leg of the bipedal mobile robot by the determined walking steps and at the last walking step, has the foot of the leg to be lifted and landed to move to a position where the foot thereof is arranged in parallel with the foot of the leg on the supporting leg side, thereby making the bipedal mobile robot move.

13. The device according to claim 1, further comprising means for selecting, by a predetermined operation, a first movement mode for setting a moving amount wherein the bipedal mobile robot can be moved by alternately lifting and landing each leg of the bipedal mobile robot with the moving amount setting means, and a second movement mode for setting a moving amount wherein the bipedal mobile robot can be moved by the multiple walking steps of the moving action with the moving amount setting means,

wherein when the bipedal mobile robot is moved in a state that the first movement mode is selected, in a state the foot of either one of the two legs of the bipedal mobile robot is landed, the movement control means lands the foot of the other leg with respect to the foot of the one leg on a position where the foot thereof is moved by the moving amount set by the moving amount setting means corresponding to the first movement mode, in the desired moving direction, then in a state that the foot of the other leg is landed, the foot of the one leg is moved to the position where the foot thereof is arranged in parallel with the foot of the other leg, thereby making the bipedal mobile robot move;

and when the bipedal mobile robot is moved in a state that the second movement mode is selected, the movement control means determines a number of walking steps of the bipedal mobile robot depending on the moving amount toward the desired moving direction set by the moving amount setting means corresponding to the second movement mode, performs lifting and landing of each leg of the bipedal mobile robot by the determined number of walking steps, and has the foot of the leg to be lifted and landed to move to a position where the foot thereof is arranged in parallel with the foot of the leg on the supporting leg side at the last walking step, thereby making the bipedal mobile robot move.

3. A remote control device of a bipedal mobile robot moving by an action to alternately lift and land two legs, comprising:

a manipulator lever for commanding the moving direction of the bipedal mobile robot;

moving amount setting means for clocking a time the manipulator lever is continuously maintained in a manipulation state corresponding to a desired direction of the bipedal mobile robot after a non-manipulation state until predetermined manipulation completing conditions are satisfied in a stopped state of the bipedal mobile robot, and setting a moving amount of the bipedal mobile robot toward the desired moving direction depending on the clocked time; and

movement control means for making the bipedal mobile robot move toward the desired moving direction according to the set moving amount.

4. The device according to claim 3, wherein when the operation to the manipulation state corresponding to the desired direction of the manipulator lever is performed multiple times, after the operation of the manipulator lever is started until the manipulation completing conditions are satisfied, the moving amount setting means cumulatively clocks the time the manipulator lever is continuously maintained in the manipulation state, thereby setting the moving amount depending on the clocked time until the time the manipulation completing conditions are satisfied.

5. The device according to claim 3, further comprising information means for informing every time the moving amount corresponding to the clocked time changes by a predetermined moving amount with an increase in the clocked time during the operation of the manipulator lever.

6. The device according to claim 3, wherein there are multiple types of moving directions of the bipedal mobile robot to be commanded by the manipulator lever, the moving amount setting means clocks the time the manipulator lever is continuously maintained in the manipulation state corresponding to the moving direction for each type of moving direction, and sets the moving amount of the bipedal mobile robot depending on the clocked time for each type of moving direction, and the movement control means combines the set moving amounts for each type of moving directions to make the bipedal mobile robot move.

14. The device according to claim 3, further comprising an indicating means for indicating post-movement position information showing a moved position from the current position of the bipedal mobile robot based on the moving amount set by the moving amount setting means before the bipedal mobile robot starts moving by the movement control means.

16. The device according to claim 3, wherein the moving amount set by the moving amount setting means comprises a moving amount the bipedal mobile robot can be moved by alternately lifting and landing each leg of the bipedal mobile robot, when the movement control means makes the bipedal mobile robot move, in a state that a foot of either one of the two legs of the bipedal mobile robot is landed, a foot of the other leg is landed on the position moved by the moving amount set by the moving amount setting means toward the desired moving direction with respect to the foot of the one leg, and then in a state that the foot of the other leg is landed, the foot of the one leg is moved to a position where the foot thereof is arranged in parallel with the foot of the other leg, thereby making the bipedal mobile robot move.

17. The device according to claim 16, further comprising means for setting an open-legged-stop mode for making the bipedal mobile robot stop with the legs opened by a predetermined operation after the bipedal mobile robot is moved, wherein when the open-legged-stop mode is set, in a state that the foot of either one of the two legs of the bipedal mobile robot is landed, the movement control means stops the two legs after the other leg is landed on a position that the other leg is moved toward the desired moving direction by the moving amount with respect to the foot of the one leg.

20. The device according to claim 3, wherein the moving amount set by the moving amount setting means comprises a moving amount which the bipedal mobile robot can be moved by the multiple walking steps of the moving action, when the movement control means makes the bipedal mobile robot move, the movement control means determines a number of walking steps of the bipedal mobile robot depending on the moving amount toward the desired moving direction set by the moving amount setting means, performs lifting and landing of each leg of the bipedal mobile robot by the determined walking steps and at the last walking step, has the foot of the leg to be lifted and landed to move to a position where the foot thereof is arranged in parallel with the foot of the leg on the supporting leg side, thereby making the bipedal mobile robot move.

22. The device according to claim 3, further comprising means for selecting, by a predetermined operation, a first movement mode for setting a moving amount wherein the bipedal mobile robot can be moved by alternately lifting and landing each leg of the bipedal mobile robot with the moving amount setting means, and a second movement mode for setting a moving amount wherein the bipedal mobile robot can be moved by the multiple walking steps of the moving action with the moving amount setting means,

wherein when the bipedal mobile robot is moved in a state that the first movement mode is selected, in a state the foot of either one of the two legs of the bipedal mobile robot is landed, the movement control means lands the foot of the other leg with respect to the foot of the one leg on a position where the foot thereof is moved by the moving amount set by the moving amount setting means corresponding to the first movement mode, in the desired moving direction, then in a state that the foot of the other leg is landed, the foot of the one leg is moved to the position where the foot thereof is arranged in parallel with the foot of the other leg, thereby making the bipedal mobile robot move;

and when the bipedal mobile robot is moved in a state that the second movement mode is selected, the movement control means determines a number of walking steps of the bipedal mobile robot depending on the moving amount toward the desired moving direction set by the moving amount setting means corresponding to the second movement mode, performs lifting and landing of each leg of the bipedal mobile robot by the determined number of walking steps, and has the foot of the leg to be lifted and landed to move to a position where the foot thereof is arranged in parallel with the foot of the leg on the supporting leg side at the last walking step, thereby making the bipedal mobile robot move.

7. A remote control device of a bipedal mobile robot moving by an action to alternately lift and land two legs, comprising:

a first manipulator lever having a manipulation state and a non-manipulation state commanding a moving direction of the bipedal mobile robot;

a second manipulator lever that can variably be operated in response to a manipulation amount depending on a desired moving amount of the bipedal mobile robot and be maintained in a voluntary manipulation amount condition;

moving amount setting means for setting the moving amount of the bipedal mobile robot toward the desired moving direction depending on the manipulation amount of the second manipulator lever, when the first manipulator lever is operated into the manipulation state corresponding to the desired moving direction in a condition that the second manipulator lever is operated by the desired manipulation amount during a stopped state of the bipedal mobile robot; and

movement control means for making the bipedal mobile robot move toward the desired moving direction by the set moving amount.

8. The device according to claim 7, wherein there are multiple types of the moving directions of the bipedal mobile robot that can be indicated by the manipulator lever, the moving amount setting means sets the moving amount depending on the manipulation amount of the second manipulator lever for each type of moving directions, and the movement control means combines the set moving amounts for each type of moving directions to make the bipedal mobile robot move.

15. The device according to claim 7, further comprising an indicating means for indicating post-movement position information showing a moved position from the current position of the bipedal mobile robot based on the moving amount set by the moving amount setting means before the bipedal mobile robot starts moving by the movement control means.

18. The device according to claim 7, wherein the moving amount set by the moving amount setting means comprises a moving amount the bipedal mobile robot can be moved by alternately lifting and landing each leg of the bipedal mobile robot, when the movement control means makes the bipedal mobile robot move, in a state that a foot of either one of the two legs of the bipedal mobile robot is landed, a foot of the other leg is landed on the position moved by the moving amount set by the moving amount setting means toward the desired moving direction with respect to the foot of the one leg, and then in a state that the foot of the other leg is landed, the foot of the one leg is moved to a position where the foot thereof is arranged in parallel with the foot of the other leg, thereby making the bipedal mobile robot move.

19. The device according to claim 18, further comprising means for setting an open-legged-stop mode for making the bipedal mobile robot stop with the legs opened by a predetermined operation after the bipedal mobile robot is moved, wherein when the open-legged-stop mode is set, in a state that the foot of either one of the two legs of the bipedal mobile robot is landed, the movement control means stops the two legs after the other leg is landed on a position that the other leg is moved toward the desired moving direction by the moving amount with respect to the foot of the one leg.

21. The device according to claim 7, wherein the moving amount set by the moving amount setting means comprises a moving amount which the bipedal mobile robot can be moved by the multiple walking steps of the moving action, when the movement control means makes the bipedal mobile robot move, the movement control means determines a number of walking steps of the bipedal mobile robot depending on the moving amount toward the desired moving direction set by the moving amount setting means, performs lifting and landing of each leg of the bipedal mobile robot by the determined walking steps and at the last walking step, has the foot of the leg to be lifted and landed to move to a position where the foot thereof is arranged in parallel with the foot of the leg on the supporting leg side, thereby making the bipedal mobile robot move.

23. The device according to claim 7, further comprising means for selecting, by a predetermined operation, a first movement mode for setting a moving amount wherein the bipedal mobile robot can be moved by alternately lifting and landing each leg of the bipedal mobile robot with the moving amount setting means, and a second movement mode for setting a moving amount wherein the bipedal mobile robot can be moved by the multiple walking steps of the moving action with the moving amount setting means,

wherein when the bipedal mobile robot is moved in a state that the first movement mode is selected, in a state the foot of either one of the two legs of the bipedal mobile robot is landed, the movement control means lands the foot of the other leg with respect to the foot of the one leg on a position where the foot thereof is moved by the moving amount set by the moving amount setting means corresponding to the first movement mode, in the desired moving direction, then in a state that the foot of the other leg is landed, the foot of the one leg is moved to the position where the foot thereof is arranged in parallel with the foot of the other leg, thereby making the bipedal mobile robot move;

and when the bipedal mobile robot is moved in a state that the second movement mode is selected, the movement control means determines a number of walking steps of the bipedal mobile robot depending on the moving amount toward the desired moving direction set by the moving amount setting means corresponding to the second movement mode, performs lifting and landing of each leg of the bipedal mobile robot by the determined number of walking steps, and has the foot of the leg to be lifted and landed to move to a position where the foot thereof is arranged in parallel with the foot of the leg on the supporting leg side at the last walking step, thereby making the bipedal mobile robot move.