Control system for controlling the knee joint actuators of a legged robot in response to a detected fall condition so as to lower the center of gravity of the robot

• US 6,064,167 A
• Filed: 07/28/1998
• Issued: 05/16/2000
• Est. Priority Date: 08/04/1997
• 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: Matsumoto, Takashi, Takenaka, Toru, Hasegawa, Tadaaki, Kawai, Takayuki
• Primary Examiner(s): SALATA, ANTHONY J
• Application Number:
  US09/123,695
• Time in Patent Office: 658 Days
• Field of Search: 318/568.11, 318/568.12, 318/568.17, 318/568.18, 318/568.13, 318/587, 318/565, 901/1, 901/2, 901/9, 901/12, 901/15, 901/18, 901/20, 901/21, 901/22, 901/24, 901/44, 901/47, 901/48, 180/8.1-8.6, 180/167, 180/169, 414/732, 414/735, 364/424.02, 364/424.01, 364/149, 364/150, 364/151, 364/161
• US Class Current: 318/568.12
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• 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 legged moving robot has a plurality of movable legs extending downwardly from an upper body and having actuators associated respectively with joints thereof. A fall judging unit decides whether the robot is likely to fall down while the robot is operating. An actuator controller controls the actuators associated respectively with the joints of the movable legs to lower the center of gravity of the robot when the fall judging unit determines that the robot is likely to fall down.

Claims

1. A control system for controlling a legged moving robot having

an upper body, and

a plurality of movable legs extending downwardly from said upper body and having

actuators associated respectively with joints thereof,

said control system comprising:

knee joint actuators associated with the joints of said movable legs,

fall judging means for deciding whether the robot is likely to fall down while the robot is operating; and

actuator control means for concurrently controlling said knee joint actuators associated respectively with said joints of said plurality of movable legs to lower the center of gravity of the robot when said fall judging means determines that the robot is likely to fall down;

said knee joint actuators and said actuator control means for controlling said knee joints cooperating to lower the center of gravity of said upper body by lowering said upper body of said robot;

with

a knee joint actuator being operably associated with a knee joint of each of said plurality of movable legs and with said actuator control means being operable to concurrently actuate said knee joints of said plurality of movable legs to effect said lowering of said upper body, with

said knee joints being concurrently lowered, thereby lowering said upper body said robot.

2. A control system according to claim 1, wherein the robot has a battery, and each of said actuators comprises an electric actuator energizable by said battery, further comprising remaining capacity recognizing means for recognizing a remaining capacity of the battery, said fall judging means comprising means for determining that the robot is likely to fall down when the remaining capacity of the battery as recognized by said remaining capacity recognizing means is lower than a predetermined level.

3. A control system according to claim 2, wherein each of said electric actuators is connected to said battery such that electric energy regenerated by said electric actuators when said electric actuators are controlled by said actuator control means to lower the center of gravity of the robot is supplied to charge said battery.

4. A control system according to claim 2, further comprising a capacitor connected between the anode and cathode of said battery through a diode connected to prevent a current from flowing from said capacitor into said battery, wherein each of said electric actuators is connected to said capacitor such that electric energy regenerated by said electric actuators when said electric actuators are controlled by said actuator control means to lower the center of gravity of the robot is stored in said capacitor.

5. A control system according to claim 3 or 4, further comprising non-volatile memory means on said robot or memory means external to said robot, and operation status outputting means for outputting, to said memory means, operation status data of the robot immediately before or across a time when said actuator control means controls said actuators to lower the center of gravity of the robot.

6. A control system according to claim 1, further comprising device malfunction monitoring means for monitoring devices on said robot for malfunctioning, said fall judging means comprising means for determining that the robot is likely to fall down when any one of the devices on said robot is recognized by said device malfunction monitoring means.

7. A control system according to claim 1, further comprising:

upper body tilted orientation detecting means for detecting a tilted orientation of the upper body of said robot; and

upper body orientation deviation calculating means for calculating a deviation between the tilted orientation of the upper body of said robot as detected by said upper body tilted orientation detecting means and a target tilted orientation for the upper body of said robot which is established to cause said robot to effect a predetermined motion;

said fall judging means comprising means for determining that the robot is likely to fall down when said deviation as calculated by said upper body orientation deviation calculating means is greater than a predetermined value.

8. A control system according to claim 1, further comprising:

upper body tilted orientation detecting means for detecting a tilted orientation of the upper body of said robot; and

upper body orientation deviation calculating means for calculating a deviation between the tilted orientation of the upper body of said robot as detected by said upper body tilted orientation detecting means and a target tilted orientation for the upper body of said robot which is established to cause said robot to effect a predetermined motion;

said fall judging means comprising means for determining that the robot is likely to fall down when a rate of change in time of said deviation as calculated by said upper body orientation deviation calculating means is greater than a predetermined value in a direction for the tilted orientation of the upper body of said robot to deviate from said target tilted orientation.

9. A control system according to claim 1, further comprising:

upper body tilted orientation detecting means for detecting a tilted orientation of the upper body of said robot; and

upper body orientation deviation calculating means for calculating a deviation between the tilted orientation of the upper body of said robot as detected by said upper body tilted orientation detecting means and a target tilted orientation for the upper body of said robot which is established to cause said robot to effect a predetermined motion;

said fall judging means comprising means for determining that the robot is likely to fall down when the value of a weighted mean of said deviation as calculated by said upper body orientation deviation calculating means and a rate of change in time of said deviation is greater than a predetermined value.

10. A control system according to claim 1, further comprising:

upper body tilted orientation detecting means for detecting a tilted orientation of the upper body of said robot;

upper body orientation deviation calculating means for calculating a deviation between the tilted orientation of the upper body of said robot as detected by said upper body tilted orientation detecting means and a target tilted orientation for the upper body of said robot which is established to cause said robot to effect a predetermined motion;

orientation stabilization floor reactive force calculating means for calculating a floor reactive force to be applied from a floor to said robot through said movable legs to return the tilted orientation of the upper body of said robot to said target tilted orientation based on said deviation as calculated by said upper body orientation deviation calculating means; and

foot position/orientation correcting means for correcting a position and/or an orientation of each of feet of said movable legs based on the floor reactive force as calculated by said orientation stabilization floor reactive force calculating means;

said fall judging means comprising means for determining that the robot is likely to fall down when the floor reactive force as calculated by said orientation stabilization floor reactive force calculating means is greater than a predetermined value.

11. A control system according to claim 1, wherein said robot has a movable arm with an actuator associated with a joint thereof, further comprising means for controlling said actuator of the movable arm to bring said movable arm into touch with a floor when said fall judging means determines that the robot is likely to fall down.