Controller of legged mobile robot
First Claim
1. A control device for a legged mobile robot that moves by moving legs extending from a body, for successively determining an instantaneous value of a desired movement of the legged mobile robot by the use of a dynamic model representing at least a relation between a movement and a floor reaction force of the robot, and performing movement control of the robot to allow the movement of the robot to follow the determined instantaneous value of the desired movement, the control device comprising:
- allowable range setting means for setting a allowable range of a variable to be limited, which is at least a horizontal component of a translation floor reaction force or a floor surface parallel component of a translation floor reaction force, acting on the robot, or a total center-of-gravity acceleration or a floor surface parallel component of the total center-of-gravity acceleration of the robot; and
desired instantaneous value determining means for determining a new instantaneous value of the desired movement based on at least an error between a desired state quantity of a posture of the robot, which corresponds to the determined instantaneous value of the desired movement, and an actual state quantity of the posture of the robot such that the variable to be limited which is defined based on the dynamic model in accordance with the new instantaneous value, remains within the allowable range.
1 Assignment
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Accused Products
Abstract
A control device for a legged mobile robot, in which a correction manipulated variable of a desired floor reaction force (desired floor reaction force'"'"'s moment) is subsequently determined based on an error between an actual state quantity, such as a body posture angle, of the robot 1 and a desired state quantity of the same, and at the same time, a desired movement of the robot 1 is subsequently determined by the use of the correction manipulated variable and a dynamic model. At this time, a friction force component, which defines a frictional force between the robot 1 and a floor such as a translation floor reaction force'"'"'s horizontal component, is set as a variable to be limited, and an allowable range of the variable to be limited is set. The desired movement is determined so that the variable to be limited remains within the allowable range and a resultant force of an inertial force and gravity, generated by the movement of the robot 1 on the dynamic model, balances with a floor reaction force obtained by correcting the desired floor reaction force by the correction manipulated variable. The desired movement is determined by adjusting a plurality of movement modes having mutually different generation ratios of a floor reaction force'"'"'s moment and a translation floor reaction force.
63 Citations
25 Claims
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1. A control device for a legged mobile robot that moves by moving legs extending from a body, for successively determining an instantaneous value of a desired movement of the legged mobile robot by the use of a dynamic model representing at least a relation between a movement and a floor reaction force of the robot, and performing movement control of the robot to allow the movement of the robot to follow the determined instantaneous value of the desired movement, the control device comprising:
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allowable range setting means for setting a allowable range of a variable to be limited, which is at least a horizontal component of a translation floor reaction force or a floor surface parallel component of a translation floor reaction force, acting on the robot, or a total center-of-gravity acceleration or a floor surface parallel component of the total center-of-gravity acceleration of the robot; and
desired instantaneous value determining means for determining a new instantaneous value of the desired movement based on at least an error between a desired state quantity of a posture of the robot, which corresponds to the determined instantaneous value of the desired movement, and an actual state quantity of the posture of the robot such that the variable to be limited which is defined based on the dynamic model in accordance with the new instantaneous value, remains within the allowable range. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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Specification