Emergency stop control system for mobile robot

• US 5,369,346 A
• Filed: 05/20/1993
• Issued: 11/29/1994
• Est. Priority Date: 05/22/1992
• 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: Takahashi, Hideo, Suzaki, Yukihiko
• Primary Examiner(s): Ip, Paul
• Application Number:
  US08/065,197
• Time in Patent Office: 558 Days
• Field of Search: 318/560-646, 318/139, 318/53-88, 901/1, 901/3, 901/5, 901/7, 901/9, 901/12, 901/13-18, 395/80-99, 364/424-426, 180/167-169, 180/3-9
• US Class Current: 318/568.17
• 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

An emergency stop control system for a biped walking robot having a body and two articulated legs each connected to the body. The system has a robot controller for controlling the motion of the robot such that it walks in accordance with a predetermined gait and an emergency stop controller including an acoustic sensor (microphone). The robot operator and persons in a robot'"'"'s working environment are provided with a whistle and blows it when the robot is likely to collide with them or objects. The sensor picks up the signal to pass it to a band-filter so as a frequency components of 400 Hz is passed to a later stage made up of a microcomputer. In the microcomputer, it is first checked if the signal is larger than a first reference level at an interval and a counter value is incremented if the result of checking is affirmative. Then the counter value is compared with a second reference value and if it exceeds the second reference value, the robot is ascertained to be in a stable attitude. If it is ascertained to be stable, the robot is driven to stop its locomotion.

Claims

1. A system for controlling an emergency stop of a biped mobile robot having two articulated legs for walking, comprising:

first means for detecting an emergency stop signal generated outside of the robot;

second means for comparing the detected emergency stop signal with a first reference value to increment a counter value each time the detected emergency stop signal exceeds the first reference value in magnitude; and

control means for comparing the counter value with a second reference value and for driving the legs of the mobile robot to stop its motion if the counter value exceeds the second reference value.

2. A system according to claim 1, wherein said second means compares the detected emergency stop signal with the first reference value at the prescribed interval and increments the counter value each time the detected emergency stop signal exceeds the first reference value in magnitude while decrementing the counter value each time the detected emergency stop signal does not exceeds the first reference value in magnitude.

3. A system according to claim 1, wherein the emergency stop signal is an acoustic signal.

4. A system according to claim 3, wherein the first reference value is a value determined in terms of frequency.

5. A system according to claim 4, wherein the first reference value is the value determined around 400 Hz or in the proximity thereof.

6. A system according to claim 3, wherein said first means comprises a microphone.

7. A system for controlling an emergency stop of a legged mobile robot having a plurality of legs for walking on the ground, comprising:

a detector for detecting an emergency stop signal generated outside of the robot;

a stability sensor for ascertaining if an attitude of the robot is stable or unstable; and

a controller for driving joints of the robot to stop its motion if the robot attitude is ascertained to be stable when the emergency stop signal is detected and for reducing the walking speed of the robot if the robot attitude is ascertained to be unstable when the emergency stop signal is detected.

8. A system according to claim 7, wherein said stability sensor ascertains if the attitude of the robot is stable by determining whether a point at which a perpendicular line drawn from the robot'"'"'s center of gravity crosses with the ground is situated within a predetermined region when the robot is in a static walking.

9. A system according to claim 8, wherein the robot has a foot at its distal end of each leg, and the predetermined region is an area defined by the bottom of the foot contacting the ground.

10. A system according to claim 7, wherein said stability sensor ascertains if the attitude of the robot is stable by determining a zero moment point at which the horizontal moments around axes parallel with the ground produced by ground reaction force becomes zero, is at a predetermined trajectory when the robot is controlled such that the ZMP follows the trajectory.

11. A system according to claim 7, wherein the legged mobile robot is a biped robot.

12. A system for controlling an emergency stop of a legged mobile robot having a plurality of articulated legs for walking on the ground, comprising:

a detector for detecting an emergency stop signal generated outside of the robot;

an attitude sensor for ascertaining if an attitude of the robot is stable; and

a controller for driving joints of the robot to cause the robot to stop walking if the robot attitude is ascertained to be stable when the emergency stop signal is detected, and to drive the joints of the robot to lower the center of gravity of the robot.

13. A system according to claim 12, wherein the robot is a biped robot having a body and two articulated legs each connected to the body through a hip joint and each having at least a knee joint and an ankle joint, and said controller drives the hip joints and at least the knee joint and ankle joint such that the robot takes a squatting attitude.

14. A system according to claim 12, wherein said attitude sensor ascertains if the attitude of the robot is stable by determining whether a point at which a perpendicular line drawn from the robot'"'"'s center of gravity crosses with the ground is situated within a predetermined region when the robot is in a static walking.

15. A system according to claim 14, wherein the robot has a foot at its distal end of each leg, and the predetermined region is an area defined by the bottom of the foot contacting the ground.

16. A system according to claim 12, wherein said attitude sensor ascertains if the attitude of the robot is stable by determining a zero moment point at which the horizontal moments around the axes parallel with the ground produced by ground reaction force becomes zero, is at a predetermined trajectory when the robot is controlled such that the ZMP follows the trajectory.

17. A method for controlling an emergency stop of a legged walking robot, comprising the steps of:

(a) detecting an emergency stop signal generated external of the robot;

(b) determining if the robot is in a stable attitude when the emergency stop signal is detected;

(c) stopping movement of the legs of the robot, if the robot is detected to be in a stable attitude;

(d) slowing the walking movement of the robot, if the robot is detected to be in an unstable attitude; and

repeating steps (b), (c) and (d), until the robot is determined to be in a stable attitude and movement of the robot is stopped.