Controller of Leg Type Moving Robot

• US 20080065269A1
• Filed: 07/28/2005
• Published: 03/13/2008
• Est. Priority Date: 10/15/2004
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Hasegawa, Tadaaki
• Granted Patent: US 7,848,849 B2
• Time in Patent Office: Days
• US Class Current: 700/260
• 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

A controller of a leg type moving robot determines an action force to be input to an object dynamic model 2 such that a motion state amount (object model velocity) of the object dynamic model 2 follows a desired motion state amount based on a moving plan of an object, and also determines a manipulated variable of the motion state amount (object model velocity) of the object dynamic model 2 such that the difference between an actual object position and a desired object position approximates zero, and then inputs the determined action force and manipulated variable to the object dynamic model 2 to sequentially determine the desired object position. Further, a desired object reaction force to a robot from the object is determined from the determined reaction force. This arrangement causes the robot to perform an operation of moving an object while securing stability of the robot by determining the desired motion of the object and the desired value of an action force between the object and the robot while minimizing the difference between a motion state of the object on the object dynamic model and an actual motion state.

Claims

1. A controller of a leg type moving robot for causing the leg type moving robot equipped with a plurality of legs extended from a body thereof to perform an operation of moving an object, the controller comprising:

a desired motion state amount determining means which sequentially determines a desired motion state amount, which is a desired value of a motion state amount of an object on an object dynamic model showing a relationship between a force acting on the object and a motion of the object, on the basis of at least a moving plan of the object;

a desired action force determining means which sequentially determines a desired action force between the robot and the object, which is a desired value of a force acting between the robot and the object, such that the motion state amount of the object on the object dynamic model follows at least the determined desired motion state amount;

a desired moving position determining means which sequentially determines a desired moving position of the object as an output of the dynamic model by inputting the determined desired action force between the robot and the object into the object dynamic model;

a controlling means which controls an operation of the robot on the basis of at least the determined desired action force between the robot and the object and the determined desired moving position;

an actual moving position grasping means which grasps an actual moving position, which is a real moving position of the object; and

a motion manipulated variable determining means which determines a motion manipulated variable of an object on the object dynamic model on the basis of a difference between the grasped actual moving position and the determined desired moving position such that the difference approximates zero,

wherein the desired moving position determining means determines the desired moving position while correcting the motion state amount of the object on the object dynamic model on the basis of the determined motion manipulated variable.

2. The controller of a leg type moving robot according to claim 1, comprising:

a disturbance force estimating means which sequentially estimates a disturbance force other than a force acting on the object from the robot in a force acting on the object; and

a moving plan correcting means which corrects the moving plan on the basis of a change in the estimated disturbance force.

3. The controller of a leg type moving robot according to claim 1, comprising:

a disturbance force estimating means which sequentially estimates a disturbance force other than a force acting on the object from the robot in a force acting on the object, wherein the desired motion state amount determining means determines the desired motion state amount on the basis of at least the moving plan and the estimated disturbance force.

4. The controller of a leg type moving robot according to claim 2, wherein the disturbance force estimating means is a means for estimating the disturbance force on the basis of the determined desired action force between the robot and the object and the moving velocity of the object on the object dynamic model.

5. The controller of a leg type moving robot according to claim 3, wherein the disturbance force estimating means is a means for estimating the disturbance force on the basis of the determined desired action force between the robot and the object and the moving velocity of the object on the object dynamic model.