Locomotion control system of legged mobile robot
First Claim
1. A system for controlling locomotion of a legged mobile robot having at least a body and a plurality of articulated legs each connected to the body through a joint and each including a foot connected to the leg through a joint, the robot being configured to walk in an environment including stairs, comprising:
- gait parameter generating means for generating gait parameters of the robot such that the robot descends the stairs by landing a heel of a first foot on a stair step;
posture parameter determining means for determining posture parameters of the robot based on the generated gait parameters;
joint angle determining means for determining desired angles of the joints based on the determined posture parameters by inverse kinematic solution; and
servo control means for controlling an actuator of each joint in response to the determined desired angles of the joints;
wherein the robot is a biped robot having two articulated legs each connected to the body through a hip joint and each including a foot connected to the leg through an ankle joint, such that the robot walks alternating between a single-leg support phase in which one of the two legs supports the weight of the robot, and a double-leg support phase in which both legs support the weight of the robot, and said gait generating means generates gait parameters which throughout the entire single-leg support phase, cause the foot supporting the weight of the robot to make at least three-point contact with the stair step.
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Abstract
A system for controlling locomotion of a legged mobile robot, more particularly stair descending of a biped mobile robot having a body and two articulated legs each connected to the body through hip joints and each including a foot connected to the leg through ankle joints. Gait parameters are generated such that the foot should be landed on a stair step from its heel and is kept in surface-contact or in point-contact by at least three points. The stair descending is then controlled using the generated gait parameters. With the arrangement, the system makes it possible to control the robot locomotion such that the robot descends stairs with a stable posture even when the foot length is greater than the stair step depth. This also makes it possible to design the size of the foot independent of the size of the stairs. Moreover, the tolerance of positional errors is increased, increasing the number of stair steps that the robot descends continuously keeping a stable posture.
94 Citations
14 Claims
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1. A system for controlling locomotion of a legged mobile robot having at least a body and a plurality of articulated legs each connected to the body through a joint and each including a foot connected to the leg through a joint, the robot being configured to walk in an environment including stairs, comprising:
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gait parameter generating means for generating gait parameters of the robot such that the robot descends the stairs by landing a heel of a first foot on a stair step; posture parameter determining means for determining posture parameters of the robot based on the generated gait parameters; joint angle determining means for determining desired angles of the joints based on the determined posture parameters by inverse kinematic solution; and servo control means for controlling an actuator of each joint in response to the determined desired angles of the joints; wherein the robot is a biped robot having two articulated legs each connected to the body through a hip joint and each including a foot connected to the leg through an ankle joint, such that the robot walks alternating between a single-leg support phase in which one of the two legs supports the weight of the robot, and a double-leg support phase in which both legs support the weight of the robot, and said gait generating means generates gait parameters which throughout the entire single-leg support phase, cause the foot supporting the weight of the robot to make at least three-point contact with the stair step. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of controlling locomotion of a legged mobile robot having at least a body and a plurality of articulated legs each connected to the body through a joint and each including a foot connected to the leg through a joint, the robot being configured to walk in an environment including stairs, comprising the steps of:
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generating gait parameters of the robot such that the robot descends the stairs by landing the heel of a first foot on a stair step; determining posture parameters of the robot based on the generated gait parameters; determining desired angles of the joints based on the determined posture parameters by inverse kinematic solution; and servo controlling an actuator of each joint in response to the determined desired angles of the joints; wherein the robot is a biped robot having two articulated legs each connected to the body through a hip joint and each including a foot connected to the leg through an ankle joint, such that the robot walks alternating between a single-leg support phase in which one of the two legs supports the weight of the robots and a double-leg support phase in which both legs support the weight or the robot, and said gait parameters are generated to cause the first foot, which supports the weight of the robot in the single-leg support phase, to make at least three point contact with the stair step, throughout the entire single-leg support phase. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification