ROBOT CONTROL APPARATUS

• US 20090306824A1
• Filed: 02/01/2009
• Published: 12/10/2009
• Est. Priority Date: 02/01/2008
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: ZAIER, Riadh
• Granted Patent: US 8,805,582 B2
• Time in Patent Office: Days
• US Class Current: 700/250
• 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 robot control method controls walking of a robot. The method generates control information based on postures at a plurality of differing points. The differing points include a reference posture in which the robot is standing independently without falling over. The method controls the robot to carry out a walking operation and detect an obstacle in a place in which a robot leg lands. The method also instructs the robot to carry out rolling onto a supporting leg and returning a swing leg to a position before swinging, to invert a compliance control gain and to bend the supporting leg by an amount while extending the swing leg by the amount.

Claims

1. A robot control apparatus which controls walking of a robot, the apparatus comprising:

an obstacle detection unit to detect an existence of an obstacle in a place in which a robot leg lands; and

a reflex control unit to control the robot to, when an obstacle is detected by the obstacle detection unit, carry out rolling onto a supporting leg and returning a swing leg to a position before swinging, invert a compliance control gain and, and bend, while extending the swing leg by an amount, the supporting leg by the amount.

2. The robot control apparatus according to claim 1, further comprising:

a walking operation control unit to generate control information based on postures at a plurality of differing points, the postures including at least one reference posture in which the robot is standing independently without falling over, the control information controlling the robot to carry out a walking operation;

3. The robot control apparatus according to claim 1, wherein

the reflex control unit, once the robot has attained a stable condition, controls the robot to move an ankle joint of the swing leg forward and back, as well as left and right, determines whether the detected obstacle provides a walking surface allowing the walking to continue, and controls the robot to continue the walking if determined that the obstacle provides the walking surface.

4. The robot control apparatus according to claim 3, wherein

the reflex control unit moves the ankle joint of the swing leg forward and back, left and right, and up to a half of a range of movement of the swing leg, and determines whether the obstacle provides the walking surface.

5. The robot control apparatus according to claim 3, wherein

the reflex control unit determines a stability of the walking surface while moving a center of gravity to the swing leg and, if determining that the walking surface is unstable, continues the walking under a static control to return the swing leg to a previous position.

6. The robot control apparatus according to claim 5, wherein

the reflex control unit continues the walking under the static control until a stable, level walking surface is found.

7. A robot control method which controls a walking of a robot, the method comprising:

generating control information based on postures at a plurality of differing points, the differing points including at least one reference posture in which the robot is standing independently without falling over;

controlling the robot to carry out a walking operation;

detecting an obstacle in a place in which a robot leg lands, and

instructing the robot to carry out rolling onto a supporting leg and returning a swing leg to a position before swinging, to invert a compliance control gain and, to bend the supporting leg by an amount while extending the swing leg by the amount.

8. The robot control method according to claim 7, further comprising:

generating control information based on postures at a plurality of differing points, the differing points including at least one reference posture in which the robot is standing independently without falling over; and

controlling the robot to carry out a walking operation.

9. The robot control method according to claim 7, wherein

the instructing, once the robot has attained a stable condition, instructs the robot to move an ankle joint of the swing leg forward and back, left and right, determines whether the obstacle provides a walking surface allowing the walking to continue, and controls the robot to continue the walking if determining that the obstacle provides the walking surface.

10. The robot control method according to claim 7, wherein

the instructing instructs the robot to move the ankle joint of the swing leg forward and back, left and right, up to a half of a range of movement of the swing leg, and determines whether the obstacle provides the walking surface.

11. The robot control method according to claim 7, wherein

the instructing further determines a stability of the provided walking surface while moving a center of gravity to the swing leg and, if the walking surface is determined unstable, continues to instruct the robot to walk under static control to return the swing leg to a previous position.

12. The robot control method according to claim 11, wherein

the instructing continues to instruct the robot to walk under the static control until a stable, level walking surface is found.

13. A computer readable recording medium storing a program, which when executed by a computer, causes the computer to perform a robot control method which controls a walking of a robot, the method comprising:

detecting an obstacle in a place in which a robot leg lands, and

instructing the robot to carry out rolling onto a supporting leg and returning a swing leg to a position before swinging, to invert a compliance control gain and, to bend the supporting leg by an amount while extending the swing leg by the amount.

14. The computer, readable recording medium according to claim 13, further comprising:

generating control information based on postures at a plurality of differing points, the differing points including at least one reference posture in which the robot is standing independently without falling over; and

controlling the robot to carry out a walking operation;

15. The computer readable recording medium according to claim 13, wherein

the instructing, once the robot has attained a stable condition, instructs the robot to move an ankle joint of the swing leg forward and back, left and right, determines whether the obstacle provides a walking surface allowing the walking to continue, and controls the robot to continue the walking if determining that the obstacle provides the walking surface.

16. The computer readable recording medium according to claim 15, wherein

the instructing instructs the robot to move the ankle joint of the swing leg forward and back, left and right, up to a half of a range of movement of the swing leg, and determines whether the obstacle provides the walking surface.

17. The computer readable recording medium according to claim 15, wherein

the instructing further determines a stability of the provided walking surface while moving a center of gravity to the swing leg and, if the walking surface is determined unstable, continues to instruct the robot to walk under static control to return the swing leg to a previous position.

18. The computer readable recording medium according to claim 17, wherein

the instructing continues to instruct the robot to walk under the static control unit a stable, level walking surface is found.