CONTROL DEVICE FOR LEGGED MOBILE BODY
First Claim
1. A control device for a legged mobile robot that determines a desired motion of a legged mobile robot, which travels by moving a plurality of legs extended from a base body, thereby controlling the motion of the robot so as to cause an actual motion of the robot to follow the determined desired motion, the control device comprising:
- a desired motion determining unit which determines a leg motion parameter specifying the motion trajectory of a distal end of a leg of the robot on the basis of at least the information on a floor geometry of an environment in which the robot travels and a requirement related to a travel route of the robot, thereby sequentially determining the desired motion having the motion of the distal end of the leg specified by the leg motion parameter;
a motion control unit which controls the motion of the robot so as to cause the actual motion of the robot to follow the determined desired motion; and
a floor geometry information output unit which outputs the floor geometry information to the desired motion determining unit,wherein, among the floor geometry information output by the floor geometry information output unit to the desired motion determining unit, at least the floor geometry information on a stepped portion, the contact with which a leg of the robot should avoid and which is a predetermined type of stepped portion existing around the travel route of the robot is the information on a floor geometry in which the rising surface between a lower step surface and an upper step surface of the stepped portion indicated by the floor geometry information has been shaped to have a gentler slope surface than an actual rising surface.
1 Assignment
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Accused Products
Abstract
A desired motion determiner of a control unit of a legged mobile robot determines a leg motion parameter specifying the motion trajectory of a distal end of a leg of the robot on the basis of the information on a floor geometry of an environment in which the robot travels and a requirement related to a travel route of the robot, thereby sequentially determining the desired motion of the robot. A floor geometry information output unit which outputs floor geometry information to the desired motion determiner outputs floor geometry information in which a rising surface of a stepped portion of a predetermined type, the contact thereof with a leg of the robot should be avoided, has been shaped into a surface having a gentler slope than an actual rising surface. The desired motion determiner determines the leg motion parameter such that the leg will not come in contact with the stepped portion having the shaped rising surface.
65 Citations
4 Claims
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1. A control device for a legged mobile robot that determines a desired motion of a legged mobile robot, which travels by moving a plurality of legs extended from a base body, thereby controlling the motion of the robot so as to cause an actual motion of the robot to follow the determined desired motion, the control device comprising:
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a desired motion determining unit which determines a leg motion parameter specifying the motion trajectory of a distal end of a leg of the robot on the basis of at least the information on a floor geometry of an environment in which the robot travels and a requirement related to a travel route of the robot, thereby sequentially determining the desired motion having the motion of the distal end of the leg specified by the leg motion parameter; a motion control unit which controls the motion of the robot so as to cause the actual motion of the robot to follow the determined desired motion; and a floor geometry information output unit which outputs the floor geometry information to the desired motion determining unit, wherein, among the floor geometry information output by the floor geometry information output unit to the desired motion determining unit, at least the floor geometry information on a stepped portion, the contact with which a leg of the robot should avoid and which is a predetermined type of stepped portion existing around the travel route of the robot is the information on a floor geometry in which the rising surface between a lower step surface and an upper step surface of the stepped portion indicated by the floor geometry information has been shaped to have a gentler slope surface than an actual rising surface. - View Dependent Claims (2, 3, 4)
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Specification