Control device and footstep determination device for legged mobile robot
First Claim
1. An apparatus for controlling a legged mobile robot which is movable by repeating lifting and then landing actions of each of a plurality of legs, comprising:
- foot landing position/orientation estimating means for estimating a landing position and landing orientation of the foot of each of the legs which is landed in each landing action of the robot;
desired path setting means for setting a desired footstep path for the robot;
desired foot landing orientation determining means for determining a desired landing orientation of the foot which is landed in at least either one of subsequent landing actions of the robot in order to cause actual footsteps of the robot to approach said desired footstep path based on at least said estimated landing position and landing orientation of the foot and said desired footstep path;
desired gait determining means for determining a desired gait for the robot using at least the desired landing orientation determined by said desired foot landing orientation determining means; and
operation control means for controlling operation of the robot depending on the determined desired gait.
1 Assignment
0 Petitions
Accused Products
Abstract
A landing position/orientation of a foot (22) to be landed in a landing action of a robot (1) such as a biped mobile robot or the like is estimated, and a desired footstep path for the robot (1) is set up. Based on the estimated landing position/orientation and the desired footstep path, a future desired landing position/orientation is determined in order to cause actual footsteps of the robot (1) (a sequence of landing positions/orientations of the foot (22)) to approach desired footsteps. Using at least the determined desired landing position/orientation, a desired gait for the robot (1) is determined, and the robot (1) is controlled in operation depending on the desired gait. For determining the desired landing position/orientation, mechanism-dependent limitations of the robot (1) such as an interference between the legs thereof, etc., and limiting conditions of an allowable range in which a desired ZMP can exist are taken into consideration.
73 Citations
42 Claims
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1. An apparatus for controlling a legged mobile robot which is movable by repeating lifting and then landing actions of each of a plurality of legs, comprising:
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foot landing position/orientation estimating means for estimating a landing position and landing orientation of the foot of each of the legs which is landed in each landing action of the robot;
desired path setting means for setting a desired footstep path for the robot;
desired foot landing orientation determining means for determining a desired landing orientation of the foot which is landed in at least either one of subsequent landing actions of the robot in order to cause actual footsteps of the robot to approach said desired footstep path based on at least said estimated landing position and landing orientation of the foot and said desired footstep path;
desired gait determining means for determining a desired gait for the robot using at least the desired landing orientation determined by said desired foot landing orientation determining means; and
operation control means for controlling operation of the robot depending on the determined desired gait. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An apparatus for controlling a legged mobile robot which is movable by repeating lifting and then landing actions of each of a plurality of legs to determine a desired gait, control operation of said robot depending on the desired gait, determine a hypothetical periodic gait following a new desired gait when the new desired gait is determined each time the foot of each leg of the robot is landed in at least each landing action of the robot, and determines the desired gait so as to approach the periodic gait, comprising:
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foot landing position/orientation estimating means for estimating a landing position and landing orientation of the foot of each of the legs which is landed in each landing action of the robot;
desired path setting means for setting a desired footstep path for the robot;
desired foot landing position/orientation provisionally determining means for provisionally determining a desired landing position and desired landing orientation of the foot which is landed in at least either one of subsequent landing actions of the robot based on at least either one of a latest desired gait and said periodic gait corresponding to the desired gait, and the estimated landing position and landing orientation of the foot;
desired foot landing position/orientation correcting means for correcting at least either one of the provisionally determined desired landing position and desired landing orientation in order to cause actual footsteps of the robot to approach said desired footstep path based on the provisionally determined desired landing position and desired landing orientation and said desired footstep path; and
desired gait determining means for determining said new desired gait for the robot using at least the corrected desired landing position and desired landing orientation. - View Dependent Claims (11, 12, 13, 14)
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15. An apparatus for controlling a legged mobile robot which is movable by repeating lifting and then landing actions of each of a plurality of legs, comprising:
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foot landing position/orientation estimating means for estimating a landing position and landing orientation of the foot of each of the legs which is landed in each landing action of the robot;
allowable foot landing range setting means for setting a plurality of environment-dependent allowable landing ranges corresponding to several landing actions ahead which include at least next time'"'"'s and next but one time'"'"'s landing actions, of environment-dependent allowable landing ranges determined under environmental conditions in which the robot moves, which are allowable ranges of combinations of landing positions and landing orientations of feet landed in the landing actions of the robot;
desired foot landing position/orientation determining means for determining combinations of desired landing positions and desired landing orientations of feet to be landed in said several landing actions ahead in order to satisfy the environment-dependent allowable landing position ranges, based on at least said estimated landing orientation of the foot and a plurality of environment-dependent allowable landing position ranges set by said allowable foot landing range setting means;
desired gait determining means for determining a hypothetical periodic gait of the robot using at least the determined desired landing positions and desired landing orientations corresponding to the determined several landing actions ahead, and determining a new desired gait for the robot which defines at least the next time'"'"'s landing action in order to approach the determined hypothetical periodic gait; and
operation control means for controlling operation of the robot depending on the determined new desired gait. - View Dependent Claims (16, 17, 18, 19, 20, 21, 42)
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22. An apparatus for controlling a legged mobile robot which is movable by repeating lifting and then landing actions of each of a plurality of legs, comprising:
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foot landing position/orientation estimating means for estimating a landing position and landing orientation of the foot of each of the legs which is landed in each landing action of the robot;
first allowable landing range setting means for setting a plurality of environment-dependent allowable landing ranges corresponding to several landing actions ahead which include at least next time'"'"'s and next but one time'"'"'s landing actions, of environment-dependent allowable landing ranges determined under environmental conditions in which the robot moves, which are allowable ranges of combinations of landing positions and landing orientations of feet landed in the landing actions of the robot;
second allowable landing range setting means for setting a self-dependent allowable landing range for a combination of a landing position and landing orientation of the foot to be landed in the next time'"'"'s landing action, based on a desired landing position and desired landing orientation of the foot in each landing action which are estimated by said foot landing position/orientation estimating means and mechanism-dependent limiting conditions of the robot itself, which include an interference between the leg making the next time'"'"'s landing action and the other leg;
desired foot landing position/orientation determining means for determining a combination of a desired landing position and desired landing orientation of a foot to be landed in the next time'"'"'s landing action within a common region of the environment-dependent allowable landing range and the self-dependent allowable landing range which are set respectively by said first allowable landing range setting means and said second allowable landing range setting means for at least said next time'"'"'s landing action, based on said environment-dependent allowable landing range and said self-dependent allowable landing range;
desired gait determining means for determining a desired gait which defines the next time'"'"'s landing action using at least the determined desired landing position and desired landing orientation; and
operation control means for controlling operation of the robot depending on the determined desired gait. - View Dependent Claims (23, 24, 25, 26, 27)
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28. A footstep determining apparatus for determining a desired landing position and desired landing orientation for the foot of a leg to be landed in each landing action of a legged mobile robot which is movable by repeating lifting and then landing actions of each of a plurality of legs, comprising:
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desired path setting means for setting a desired footstep path for said robot;
wherein the desired landing position and desired landing orientation for the foot to be landed in each landing action of said robot are determined based on the desired landing position and desired landing orientation for the foot landed in at least the preceding landing action, and said desired footstep path. - View Dependent Claims (29, 30, 31, 32, 33, 34)
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35. A footstep determining apparatus for determining a desired landing position and desired landing orientation for the foot of a leg to be landed in each landing action of a legged mobile robot which is movable by repeating lifting and then landing actions of each of a plurality of legs, comprising:
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allowable foot landing range setting means for setting an environment-dependent allowable landing range determined under environmental conditions in which the robot moves, which is an allowable range of combinations of landing positions and landing orientations of feet landed in each landing actions of the robot;
wherein a combination of the desired landing position and desired landing orientation for the foot to be landed in each landing action of said robot is determined based on the desired landing position and desired landing orientation for the foot landed in at least the preceding landing action, and said environment-dependent allowable landing range. - View Dependent Claims (36, 37, 38, 39, 40, 41)
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Specification