Attitude stabilization control system for a legged mobile robot
First Claim
1. A system for controlling stability of a mobile robot, comprising:
- model means for providing at least a first mathematical model which describes a behavior of the mobile robot under a restraint condition and which outputs a desired behavior that satisfies dynamic equilibrium of the mobile robot in response to inputs including a virtual input;
behavior detecting means for detecting the mobile robot'"'"'s actual behavior;
first control means for inputting outputs from the model as a reference input, and the detected actual behavior of the mobile robot, as a feedback input, and for outputting at least a manipulated variable of the mobile robot such that an error between the reference input and the feedback input decreases; and
second control means for inputting at least one of the output from the model, the manipulated variable and the detected actual behavior of the mobile robot, and for outputting the virtual input to the model, to change the model'"'"'s output such that the mobile robot becomes stable.
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Accused Products
Abstract
A system for controlling attitude stabilization of a biped mobile robot having a trunk and two legs each connected to the trunk such that it walks on the ground. The system generates a desired walking pattern of the robot in such a manner that ground reaction force moment acting on the robot when the robot'"'"'s leg comes into contact with the ground is at a desired position and is provided with a first model made up of an inverted pendulum and simulating dynamics of the robot and a second model simulating the mechanical structure of the robot such that the second model is assumed to walk on the ground in accordance with the desired walking pattern. An inclinatory error of the robot'"'"'s trunk is detected relative to the second model. A manipulated variable is determined in terms of moment in response to the detected inclinatory error and supplying it to the first model such that the inverted pendulum is rotated about its pivot point by an amount corresponding to the manipulated variable. A positional variation of an upper portion of the inverted pendulum (corresponding to the trunk) is detected, resulting from the rotation therefrom, to correct the motion of the second model in response to the detected positional variation. Robot'"'"'s joints are controlled to follow the motion of the second model, thereby, the robot can move stably over the ground.
155 Citations
45 Claims
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1. A system for controlling stability of a mobile robot, comprising:
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model means for providing at least a first mathematical model which describes a behavior of the mobile robot under a restraint condition and which outputs a desired behavior that satisfies dynamic equilibrium of the mobile robot in response to inputs including a virtual input; behavior detecting means for detecting the mobile robot'"'"'s actual behavior; first control means for inputting outputs from the model as a reference input, and the detected actual behavior of the mobile robot, as a feedback input, and for outputting at least a manipulated variable of the mobile robot such that an error between the reference input and the feedback input decreases; and second control means for inputting at least one of the output from the model, the manipulated variable and the detected actual behavior of the mobile robot, and for outputting the virtual input to the model, to change the model'"'"'s output such that the mobile robot becomes stable. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A system for controlling stability of a mobile robot, comprising:
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generating means for generating an ideal behavior of the mobile robot at least with respect to a ground reaction force and/or moment acting on the mobile robot; model means for providing at least a first mathematical model describing relationships between a first deviation of the mobile robot'"'"'s behavior, and a second deviation of the ground reaction force and/or moment without changing a state variable of the ideal behavior; first means for detecting an error between the state variable of the ideal behavior and the mobile robot'"'"'s actual behavior; second means for inputting the error and determining a value of a virtual force and/or moment and supplying the value to the first mathematical model such that the error decreases; third means including a geometric model for inputting the ideal behavior and the first deviation and modifying the ideal behavior in response thereto, to output a modified behavior; and control means for controlling an actuator of the mobile robot to follow the modified behavior. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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22. A system for controlling attitude stabilization of a legged mobile robot having a trunk and a plurality of legs each connected to the trunk and walking on the ground;
- comprising;
generating means for generating a desired walking pattern of the mobile robot in such a manner that a ground reaction force and/or moment acting on the mobile robot, when the robot'"'"'s leg comes into contact with the ground, is at least a desired position; a first mathematical model made up of an inverted pendulum having a pivot point and simulating dynamics of the mobile robot; a second mathematical model simulating the trunk and legs of the mobile robot such that the second model is assumed to walk on the ground in accordance with the desired walking pattern; first means for detecting an inclinatory error of the mobile robot relative to the second model; second means for determining a manipulated variable in terms of a moment in response to the detected inclinatory error and supplying the manipulated variable to the first model such that the inverted pendulum of the first model is rotated about its pivot point by an amount corresponding to the manipulated variable; third means for detecting positional variation of an upper portion of the inverted pendulum resulting from the rotation and correcting the motion of the second model in response to a detected positional variation; and control means for controlling joints of the mobile robot such that the mobile robot follows the motion of the second model. - View Dependent Claims (23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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34. A system for controlling stability of a mobile robot comprising:
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generating means for generating an ideal behavior of the mobile robot at least with respect to an ideal ground reaction force and/or moment acting on the mobile robot; first model means for providing a first mathematical model made up of an inverted pendulum and describing dynamics of a first deviation of the mobile robot'"'"'s behavior and a second deviation of a ground reaction force and/or moment without changing a state variable of the ideal behavior; second model means for providing a second mathematical model describing kinematics and a posture of the mobile robot such that the second model is assumed to move on the ground; first means for detecting a behavior error between the model robot and the second model; second means for determining a value of a virtual force and/or moment in response to the detected behavior error and supplying the value to the first model such that the inverted pendulum is rotated by an amount corresponding to a determined value of the virtual force and/or moment; third means for changing a posture of the second model in response to a displacement of the inverted pendulum; and control means for controlling an actuator of the mobile robot such that the mobile robot follows the motion of the second model whereby the detected behavior error is decreased. - View Dependent Claims (35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45)
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Specification