Floor shape estimation system of legged mobile robot
First Claim
1. A system for controlling a legged mobile robot having at least a body and a plurality of legs each connected to the body through a first joint and having a foot connected to a distal end of said leg through a second joint, the system having a compliance mechanism which deforms in response to a floor reaction force acting from a floor with which the foot is in contact and joint displacement means for displacing the first and second joints such that an actual position and/or posture of the foot follows a desired position and/or posture relative to the body, comprising:
- inclination detecting means for detecting an inclination of the body relative to a vertical direction;
deformed foot position/posture calculating means for calculating a deformed position and/or posture of the foot in a walking environment including the floor with which the foot is in contact, based on the detected inclination and at least one of an actual joint displacement, a desired joint displacement and the desired position and/or posture of the foot of the robot, that corresponds to the position and/or posture of the foot with deformation of the mechanism in response to the floor reaction force acting from the floor in the walking environment, using a mechanism compliance model which models the compliance mechanism; and
floor shape estimation value determining means for determining a floor shape estimation value indicative of shape of surface of the floor with which each foot is in contact and indicative of a relationship between surfaces of the floor based on the calculated deformed position and/or posture of the foot.
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Accused Products
Abstract
A floor shape estimation system for a legged mobile robot, in particular a biped walking robot, which estimates a floor shape, more specifically a foot-to-foot floor inclination difference based on at least a control error of the total floor reaction force'"'"'s moment and based on the estimated value and corrects a feet compensating angle based on the estimated value. Further, the system estimates a floor shape, more specifically a foot floor inclination difference based on at least a control error of the foot floor reaction force about a desired foot floor reaction force central point and corrects a foot compensating angle based on the estimated value. With this, it can accurately estimate the shape of a floor with which the robot is in contact. Further, if the floor shape is different from what has been supposed, it can produce the floor reaction force as desired by absorbing the influence of difference.
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Citations
14 Claims
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1. A system for controlling a legged mobile robot having at least a body and a plurality of legs each connected to the body through a first joint and having a foot connected to a distal end of said leg through a second joint, the system having a compliance mechanism which deforms in response to a floor reaction force acting from a floor with which the foot is in contact and joint displacement means for displacing the first and second joints such that an actual position and/or posture of the foot follows a desired position and/or posture relative to the body, comprising:
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inclination detecting means for detecting an inclination of the body relative to a vertical direction;
deformed foot position/posture calculating means for calculating a deformed position and/or posture of the foot in a walking environment including the floor with which the foot is in contact, based on the detected inclination and at least one of an actual joint displacement, a desired joint displacement and the desired position and/or posture of the foot of the robot, that corresponds to the position and/or posture of the foot with deformation of the mechanism in response to the floor reaction force acting from the floor in the walking environment, using a mechanism compliance model which models the compliance mechanism; and
floor shape estimation value determining means for determining a floor shape estimation value indicative of shape of surface of the floor with which each foot is in contact and indicative of a relationship between surfaces of the floor based on the calculated deformed position and/or posture of the foot. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A system for controlling a legged mobile robot having at least a body and a plurality of legs each connected to the body through a first joint and having a foot connected to a distal end of said leg through a second joint, the system having a compliance mechanism which deforms in response to a floor reaction force acting from a floor with which the foot is in contact and joint displacement means for displacing the first and second joints such that an actual position and/or posture of the foot follows a desired position and/or posture relative to the body, comprising:
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inclination detecting means for detecting an inclination of the body relative to a vertical direction;
walking environment foot position and/or posture calculating means for calculating the position and/or posture of the foot in a walking environment including the floor with which the foot is in contact, based on the detected inclination and at least one of an actual joint displacement, a desired joint displacement and the desired foot position and/or posture of the robot;
floor shape estimation value determining means for determining a floor shape estimation value indicative of shape of surface of the floor with which each foot is in contact and indicative of a relationship between surfaces of the floor;
estimated floor reaction force determining means for determining an estimated floor reaction force that corresponds to a corrected value of the floor reaction force acting on the foot, based on the determined floor shape estimation value and the calculated position and/or posture of the foot in the walking environment, using a mechanism compliance model which models the compliance mechanism; and
actual floor reaction force detecting means for detecting an actual floor reaction force acting on the foot;
wherein the floor shape estimation value determining means calculates a difference between the detected actual floor reaction force and the determined estimated floor reaction force and corrects the floor shape estimation value by correcting at least one of the shape of surface of the floor and the relationship between surfaces of the floor such that the difference converges to zero. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14)
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Specification