System for controlling locomotion of legged walking robot

• US 5,221,883 A
• Filed: 11/27/1991
• Issued: 06/22/1993
• Est. Priority Date: 11/30/1990
• Status: Expired due to Term

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Takenaka, Toru, Nishikawa, Masao, Ozawa, Nobuaki
• Primary Examiner(s): Ip, Paul
• Application Number:
  US07/799,367
• Time in Patent Office: 573 Days
• Field of Search: 318/565, 318/567, 318/568.1-568.22, 318/625, 395/88-99, 901/1, 901/2, 901/3, 901/9, 901/12, 901/15, 901/18, 901/20, 901/21, 901/22, 901/24, 901/44, 901/48, 901/47, 180/8.1, 180/8.6, 180/167, 180/169, 414/730
• US Class Current: 318/568.12
• 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 servo system for controlling locomotion of a biped walking robot, made up of a body link and two leg linkages each connected to the body link by a first drive joint and each including knee and ankle joints, to follow up a target angle for each drive joint predetermined in series with respect to time such that the robot walks. In order to stabilize robot posture when it could turn over, the drive speed of the joints are feedback controlled in responsive with the robot turnover probability. Moreover, the predetermined robot gait is modified at such instance, for example, in such a manner that robot leg lands one of additionally preestablished candidate positions for robot leg landing.

Claims

1. A system for controlling locomotion of a biped walking robot having a body and two leg linkages each connected to the body and each having a foot portion and a leg portion connected by an ankle drive joint, comprising:

first means for determining a differential value of n-th order of an actual inclination angle of the robot body with respect to the direction of gravity;

second means for calculating a deviation between the determined value and a reference value to determine a drive speed of the ankle drive joint of the leg linkage which supports the robot weight by multiplying the deviation by a gain; and

servo motor means for driving the ankle drive joint at the determined drive speed.

2. A system according to claim 1, wherein said second means determines the drive speed of the ankle drive joint such that the foot portion kicks the ground in a direction for uprighting the robot.

3. A system according to claim 1, wherein said second means determines the drive speed of the ankle drive joint of at least one of the leg linkages which support the robot weight.

4. A system according to claim 1, wherein the gain is made zero between a phase within which the supporting leg linkage supports the robot weight and a phase within which that leg linkage is free.

5. A system for controlling locomotion of a biped walking robot having a body and two leg linkages each connected to the body by a hip drive joint and each having a foot portion and a leg portion connected by an ankle drive joint, comprising:

servo control means for determining a control value for each of the hip drive joints and the ankle drive joints to follow up a target value such that the robot walks in a accordance with a predetermined gait;

first means for determining a differential of n-th order of an actual inclination angle of the robot body with respect to the ground;

second means for calculating a deviation between the determined value and a reference value to modify the predetermined gait in response to the calculated deviation; and

third means for establishing a plurality of candidate robot foot portion landing positions including those for the predetermined gait and for adjusting the control value so that the robot walks in accordance with a modified gait and the foot portion lands at a selected landing position.

6. A system according to claim 5, wherein the control value is determined by dividing robot motion into one for the fore-aft plane and the other for left-and-right plane and by synthesizing the results thereafter, and when the number of the candidate landing positions are m in the fore-aft plane and n in the left-and-right plane, the total number of the positions is m+n-1.

7. A system according to claim 5, wherein said third means adjusts the control value in such a manner that a predetermined portion of the leg linkages passes through a prescribed spatial point.

8. A system according to claim 5, wherein said third means adjusts the control value in such a manner that the predetermined gait is modified in smooth succession with respect to time.

9. A system according to claim 5, wherein said third means adjusts the control value in a period within one repetition cycle of a leg support phase and a leg support free phase of the predetermined gait.

10. A system according to claim 5, wherein said second means accumulates the deviation and modifies the predetermined gait in response to the accumulated value.

11. A system for controlling locomotion of a biped walking robot having a body and two leg linkages each connected to the body by a hip drive joint and each having a foot portion and a leg portion connected by an ankle drive joint, comprising:

servo control means for determining a control value for each of the hip drive joints and the ankle drive joints to follow up a target value such that the robot walks in accordance with a predetermined gait;

first means for determining a differential of n-th order of an actual inclination angle of the robot body with respect to the direction of gravity;

second means for calculating a deviation between the determined value and a reference value to determine whether to modify the predetermined gait in response to the calculated deviation; and

third means for establishing a plurality of candidate landing positions and to adjust the control value to realize a modified gait in such a manner that the foot portion lands at a position calculated from the candidate landing positions by interpolation or extrapolation.

12. A system according to claim 11, wherein said third means adjusts the control value in such a manner that a predetermined portion of the leg linkages passes through a prescribed spatial point

13. A system according to claim 11, wherein said third means adjusts the control value in such a manner that the predetermined gait is modified in smooth succession with respect to time.

14. A system according to claim 11, wherein said third means adjusts the control value in a period within one repetition cycle of a leg support phase and a leg support free phase of the predetermined gait.

15. A system according to claim 11, wherein said second means accumulates the deviation and modifies the predetermined gait in response to the accumulated value.

16. A system for controlling locomotion of a biped walking robot having a body and two leg linkages each connected to the body by a hip drive joint and each having a foot portion and a leg portion connected by an ankle drive joint, comprising:

servo control means for determining a control value for each of the hip drive joints and the ankle drive joints to follow up a target value such that the robot walks in accordance with a predetermined gait;

first means for determining a differential of n-th order to an actual inclination angle of the robot body with respect to the direction of gravity;

second means for calculating a deviation between the determined value and a reference value to modify the predetermined gait using a function of n-th order of the calculated deviation; and

third means for adjusting the control value of at least one of the drive joints to realize the modified gait.

17. A system according to claim 16, wherein said third means adjusts the control value in such a manner that a predetermined portion of the leg linkages passes through a prescribed spatial point.

18. A system according to claim 16, wherein said third means adjusts the control value in such a manner that the predetermined gait is modified in smooth succession with respect to time.

19. A system according to claim 16, wherein said third means adjusts the control value in a period within one repetition cycle of a leg support phase and a leg support free phase of the predetermined gait.

20. A system according to claim 16, wherein said second means accumulates the deviation and modifies the predetermined gait using the function of n-th order of the accumulated value.

21. A system for controlling locomotion of a biped walking robot having a body and two leg linkages each connected to the body by a hip drive joint and each having a foot portion and a leg portion connected by an ankle drive joint, the leg portion having a thigh link and a crus link connected by a knee drive joint, comprising:

servo control means for determining a control value for each of the hip drive joints, the ankle drive joints and the knee drive joints to follow up a target value such that the robot walks in accordance with a predetermined gait;

first means for determining a differential of n-th order of an actual inclination angle of the robot body with respect to the direction of gravity;

second means for calculating a deviation between the determined value and a reference value to modify the predetermined gait in response to the calculated deviation; and

third means for adjusting the control value of at least one of the drive joints to realize a modified gait.

22. A system for controlling locomotion of a biped walking robot having a body and two leg linkages each connected to the body by a hip drive joint and each having a foot portion and a leg portion connected by an ankle drive joint, the leg portion having a thigh link and a crus link connected by a knee drive joint, comprising:

first means or determining a differential of n-th order of an actual inclination angle of the robot body with respect to the direction of gravity;

second means for calculating a deviation between the determined value and a reference value to determine a drive speed of the ankle drive joint and the knee drive joint of the leg linkage which supports the robot weight by multiplying the deviation by a gain; and

servo motor means for driving the ankle drive joint and the knee drive joint at a determined drive speed.

23. A system according to claim 22, wherein said second means determines the drive speed of the ankle drive joint and the knee drive joint such that the foot portion kicks the ground in the direction for uprighting the robot.

24. A system according to claim 22, wherein the gain is made zero between a phase within which the supporting leg linkage supports the robot weight and a phase within which that leg linkage is free.