Gait generation system of legged mobile robot
First Claim
1. A system for generating a gait of a legged mobile robot having at least a body and a plurality of articulated legs each connected to the body through a joint, comprising:
- gait generating means for generating at least two gaits having at least a parameter relating to a displacement of the body and a parameter relating to a floor reaction force acting on the robot;
discontinuity amount calculating means for calculating an amount of discontinuity of the displacement and a velocity of the body and the floor reaction force at a boundary of the generated gaits;
model input determining means for determining an input to a model designed to approximate a deviation or perturbation of the displacement and velocity of the body relative to the floor reaction force in response to the amount of discontinuity such that the model behaves to cancel the amount of discontinuity;
model output determining means for determining an output from the model in response to the input to the model;
gait correcting means for correcting at least one of the gaits in response to the input to the model and the output from the model; and
joint angle command determining means for determining angle commands of the first and second joints in response to the corrected gaits.
1 Assignment
0 Petitions
Accused Products
Abstract
A gait generation system of a biped mobile robot having a body and two articulated legs each having a foot at its distal end connected by an ankle joint. The system has two or three models approximating a deviation of displacement (position) and velocity of the body and the ZMP indicative of the floor reaction force acting on the robot. In the system, two gaits for a robot walking step are generated. If there is a discontinuity of the body position or velocity or the ZMP in the gait boundary, the models are manipulated to cancel the discontinuity. The output of the models are calculated from the input, and based on the input and output, the gaits are corrected. The models are designed to stop at every two walking steps so as to avoid calculation errors from being accumulated.
-
Citations
48 Claims
-
1. A system for generating a gait of a legged mobile robot having at least a body and a plurality of articulated legs each connected to the body through a joint, comprising:
-
gait generating means for generating at least two gaits having at least a parameter relating to a displacement of the body and a parameter relating to a floor reaction force acting on the robot; discontinuity amount calculating means for calculating an amount of discontinuity of the displacement and a velocity of the body and the floor reaction force at a boundary of the generated gaits; model input determining means for determining an input to a model designed to approximate a deviation or perturbation of the displacement and velocity of the body relative to the floor reaction force in response to the amount of discontinuity such that the model behaves to cancel the amount of discontinuity; model output determining means for determining an output from the model in response to the input to the model; gait correcting means for correcting at least one of the gaits in response to the input to the model and the output from the model; and joint angle command determining means for determining angle commands of the first and second joints in response to the corrected gaits. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A system for generating a gait of a biped mobile robot having at least a body and two articulated legs each connected to the body through a hip joint and each including a foot connected to its distal end through an ankle joint;
- comprising;
gait generating means for generating at least two gaits for a walking step having at least parameters relating to a displacement and a velocity of the body and a parameter relating to a zero moment point indicative of floor reaction force acting on the robot; discontinuity amount calculating means for calculating amounts of discontinuity of the displacement and the velocity of the body and the zero moment point at a boundary of the generated gaits; model input determining means for determining an input to a model designed to approximate a deviation of the displacement and velocity of the body relative to the zero moment point in response to the amount of the discontinuity such that the model behaves to cancel the amount of discontinuity; model output determining means for determining an output from the model in response to the input to the model; gait correcting means for correcting at least one of the gaits in response to the input to the model and the output from the model; and joint angle command determining means for determining angle commands of the hip and ankle joints in response to the corrected gaits. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19)
- comprising;
-
20. A method of generating a gait of a legged mobile robot having at least a body and a plurality of articulated legs each connected to the body through a joint, comprising the steps of:
-
generating at least two gaits having at least a parameter relating to a displacement of the body and a parameter relating to a floor reaction force acting on the robot; calculating an amount of discontinuity of the displacement and a velocity of the body and the floor reaction force at a boundary of the generated gaits; determining an input to a model designed to approximate a deviation or perturbation of the displacement and velocity of the body relative to the floor reaction force in response to the amount of discontinuity such that the model behaves to cancel the amount of discontinuity; determining an output from the model in response to the input to the model; correcting at least one of the gaits in response to the input to the model and the output from the model; and determining angle commands of the first and second joints in response to the corrected gaits. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29)
-
-
30. A method of generating a gait of a biped mobile robot having at least a body and two articulated legs each connected to the body through a hip joint and each including a foot connected to its distal end through an ankle joint;
- comprising the steps of;
generating at least two gaits for a walking step having at least parameters relating to a displacement and a velocity of the body and a parameter relating to a zero moment point indicative of floor reaction force acting on the robot; calculating amounts of discontinuity of the displacement and the velocity of the body and the zero moment point at a boundary of the generated gaits; determining an input to a model designed to approximate a deviation of the displacement and velocity of the body relative to the zero moment point in response to the amount of the discontinuity such that the model behaves to cancel the amount of discontinuity; determining an output from the model in response to the input to the model; correcting at least one of the gaits in response to the input to the model and the output from the model; and determining angle commands of the hip and ankle joints in response to the corrected gaits. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38)
- comprising the steps of;
-
39. A computer program embodied on a computer-readable medium for generating a gait of a legged mobile robot having at least a body and a plurality of articulated legs each connected to the body through a joint, comprising the steps of:
-
generating at least two gaits having at least a parameter relating to a displacement of the body and a parameter relating to a floor reaction force acting on the robot; calculating an amount of discontinuity of the displacement and a velocity of the body and the floor reaction force at a boundary of the generated gaits; determining an input to a model designed to approximate a deviation or perturbation of the displacement and velocity of the body relative to the floor reaction force in response to the amount of discontinuity such that the model behaves to cancel the amount of discontinuity; determining an output from the model in response to the input to the model; correcting at least one of the gaits in response to the input to the model and the output from the model; and determining angle commands of the first and second joints in response to the corrected gaits.
-
-
40. A computer program embodied on a computer-readable medium for generating a gait of a biped mobile robot having at least a body and two articulated legs each connected to the body through a hip joint and each including a foot connected to its distal end through an ankle joint;
- comprising the steps of;
generating at least two gaits for a walking step having at least parameters relating to a displacement and a velocity of the body and a parameter relating to a zero moment point indicative of floor reaction force acting on the robot; calculating amounts of discontinuity of the displacement and the velocity of the body and the zero moment point at a boundary of the generated gaits; determining an input to a model designed to approximate a deviation of the displacement and velocity of the body relative to the zero moment point in response to the amount of the discontinuity such that the model behaves to cancel the amount of discontinuity; determining an output from the model in response to the input to of the model; correcting at least one of the gaits in response to the input to the model and the output from the model; and determining angle commands of the hip and ankle joints in response to the corrected gaits. - View Dependent Claims (41, 42, 43, 44, 45, 46, 47, 48)
- comprising the steps of;
Specification