Two-leg walking humanoid robot
First Claim
1. A biped walking humanoid robot comprising;
- a main body, a pair of leg portions attached thereto at both sides of its lower part so as to be each pivotally movable, each of the leg portions having a knee portion in its midway and a foot portion at its lower end, a pair of arm portions attached to said main body at both sides of its upper part so as to be each pivotally movable, each of the arm portions having an elbow portion in its midway and a hand portion at its lower end, and a head portion attached to the top end of said main body, drive means pivotally moving the pivotally movable joint portions of foot, lower thigh, and thigh portions of said leg portions, and hand, lower arm, and upper arm portions of said arm portions, and a motion control apparatus drive-controlling respective drive means, characterized in that;
said motion control apparatus compares, upon conducting various motions in series, the robot'"'"'s current posture and others such as the robot'"'"'s current posture and dynamic state detected by a detector with next motion command input from outside, and judges if next motion command can be conducted within the range of stability limit with respect to the robot'"'"'s current posture and others, in case that the motion by next motion command can not be transferred stably, a intermediate motion is inserted, and each drive means is drive-controlled based on said intermediate motion.
1 Assignment
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Accused Products
Abstract
It is a biped (two-footed) walking humanoid robot, which is provided with drive motors (11d, 11e, 18L, 18R-24L, 24R, 28L, 28R-33L, 33R, 35, 36) to pivotally move respective joint portions, and a motion control apparatus (40) to drive-control respective drive motors, and said motion control apparatus (40), together with a detector (45) to detect the robot'"'"'s current posture and others, compares the robot'"'"'s detected current posture and others with next motion command input from outside, and if next motion command is within the range of stability limit with respect to the robot'"'"'s current posture and others, the complementary data with respect to intermediate motion from current posture till initial posture of next motion command and the motion data corresponding to next motion command are generated, each drive motor is drive-controlled based on said complementary and motion data, and thereby various motions are conducted smoothly and continually. It is preferably provided with a motion library (41a) storing time series data of basic motions as the elements of the robot'"'"'s motions and posture data consisting of algorithm, reads out the corresponding posture data from said motion library, and generates complementary and motion data as the combined motion sequence.
18 Citations
13 Claims
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1. A biped walking humanoid robot comprising;
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a main body, a pair of leg portions attached thereto at both sides of its lower part so as to be each pivotally movable, each of the leg portions having a knee portion in its midway and a foot portion at its lower end, a pair of arm portions attached to said main body at both sides of its upper part so as to be each pivotally movable, each of the arm portions having an elbow portion in its midway and a hand portion at its lower end, and a head portion attached to the top end of said main body, drive means pivotally moving the pivotally movable joint portions of foot, lower thigh, and thigh portions of said leg portions, and hand, lower arm, and upper arm portions of said arm portions, and a motion control apparatus drive-controlling respective drive means, characterized in that;
said motion control apparatus compares, upon conducting various motions in series, the robot'"'"'s current posture and others such as the robot'"'"'s current posture and dynamic state detected by a detector with next motion command input from outside, and judges if next motion command can be conducted within the range of stability limit with respect to the robot'"'"'s current posture and others, in case that the motion by next motion command can not be transferred stably, a intermediate motion is inserted, and each drive means is drive-controlled based on said intermediate motion. - View Dependent Claims (2, 3, 4, 5, 6, 13)
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7. A biped walking humanoid robot comprising;
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a main body, a pair of leg portions attached thereto at both sides of its lower part so as to be each pivotally movable, each of the leg portions having a knee portion in its midway and a foot portion at its lower end, a pair of arm portions attached to said main body at both sides of its upper part so as to be each pivotally movable, each of the arm portions having an elbow portion in its midway and a hand portion at its lower end, and a head portion attached to the top end of said main body, joint drive motors pivotally moving the pivotally movable joint portions of foot, lower thigh, and thigh portions of said leg portions, and hand, lower arm, and upper arm portions of said arm portions, and a motion control apparatus drive-controlling respective joint drive motors, characterized in that;
said motion control apparatus comprises;
a motion planner judging if a next motion command input from outside is practicable within the range of stability limit, and planning the motion corresponding to the motion command based on the next motion command input from outside;
a motion generator generating angle data of respective joint portions required for a robot'"'"'s motion based on the motion plan by said motion planner;
a compensator calculating ZMP target value based on said angle data, and ZMP real value based on the posture information from an angle measurement unit and the detected output from ZMP detection sensor, comparing said ZMP real value with said ZMP target value, and outputting ZMP compensation to said motion generator;
a controller drive-controlling said respective motors based on the modified motion data from said motion generator; and
a motion monitor monitoring the robot'"'"'s state based on said motion plan, ZMP target value, and ZMP real value; and
wherein said motion planner, upon conducting various motions in series, takes up a robot'"'"'s current posture and others from said motion monitor, as well as compares the robot'"'"'s current posture and others with the next motion command input from outside, and judges if said next motion command is practicable within the range of stability limit, and if the motion by next motion command can not be stably transferred, motion plan is conducted by inserting a intermediate motion. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification