Operation control device for leg-type mobile robot and operation control method, and robot device
First Claim
1. A motion controlling apparatus for a legged mobile robot which includes movable legs and performs a legged operation in a standing posture thereof, characterized in thatsaid legged mobile robot has a plurality of postures or states, and thatsaid motion controlling apparatus comprises:
- first means for calculating an area S of a support polygon formed from landed points of a body of said legged mobile robot and a floor;
second means for calculating the variation Δ
S/Δ
t of the area S of the support polygon per time Δ
t; and
third means for determining a motion of said body when the posture or state is to be changed based on the area S of the support polygon or the variation rate Δ
S/Δ
t of the area S.
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Accused Products
Abstract
A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behavior plan of a foot part thereof is disabled. At this time, the variation amount ΔS/Δt of the area S of a support polygon of the body per time t is minimized and the support polygon when the body drops onto a floor is maximized to distribute an impact which acts upon the body from the floor when the body drops onto the floor to the whole body to suppress the damage to the body to the minimum. Further, the legged mobile robot autonomously restores a standing up posture from an on-floor posture thereof such as a supine posture or a prone posture.
81 Citations
56 Claims
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1. A motion controlling apparatus for a legged mobile robot which includes movable legs and performs a legged operation in a standing posture thereof, characterized in that
said legged mobile robot has a plurality of postures or states, and that said motion controlling apparatus comprises: -
first means for calculating an area S of a support polygon formed from landed points of a body of said legged mobile robot and a floor; second means for calculating the variation Δ
S/Δ
t of the area S of the support polygon per time Δ
t; andthird means for determining a motion of said body when the posture or state is to be changed based on the area S of the support polygon or the variation rate Δ
S/Δ
t of the area S. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A motion controlling method for a legged mobile robot which includes movable legs and performs a legged operation in a standing posture thereof, characterized in that
said legged mobile robot has a plurality of postures or states, and that said motion controlling method comprises: -
a first step of calculating an area S of a support polygon formed from landed points of a body of said legged mobile robot and a floor; a second step of calculating the variation Δ
S/Δ
t of the area S of the support polygon per time Δ
t; anda third step of determining a motion of said body when the posture or state is to be changed based on the area S of the support polygon or the variation rate Δ
S/Δ
t of the area S. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
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45. A legged mobile robot which includes movable legs and performs a legged operation in a standing posture thereof, comprising:
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external force detection means for detecting application of an external force to a body of said legged mobile robot; zero moment point trajectory planning means for disposing a zero moment point at which moments applied to said body balance each other on or on the inner side of a side of a support polygon formed from a sole landed point and a floor based on a result of the detection by said external force detection means; and tumbling motion execution means for executing a tumbling motion of said body in response to that the disposition of the zero moment point in the support polygon by said zero moment point trajectory planning means is rendered difficult or impossible by the external force applied to said body. - View Dependent Claims (46)
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47. A motion controlling method for a legged mobile robot which includes movable legs and performs a legged operation in a standing posture thereof, comprising:
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an external force detection step of detecting application of an external force to a body of said legged mobile robot; a zero moment point trajectory planning step of disposing a zero moment point at which moments applied to said body balance each other on or on the inner side of a side of a support polygon formed from a sole landed point and a floor based on a result of the detection at the external force detection step; and a tumbling motion execution step of executing a tumbling motion of said body in response to that the disposition of the zero moment point in the support polygon by said zero moment point trajectory planning means is rendered difficult or impossible by the external force applied to said body. - View Dependent Claims (48)
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49. A motion controlling apparatus for a legged mobile robot which includes movable legs and performs a legged operation in a standing posture thereof, comprising:
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means for calculating an impact moment applied to a body of said legged mobile robot at each stage upon tumbling of said body; means for calculating an impact force applied to said body from the floor at each stage upon tumbling; means for calculating an area S of a support polygon formed from a landed point of said body and the floor; first landed location searching means for selecting a next landed location so that the area S of the support polygon may be minimized or fixed; and second landed location searching means for selecting a next landed location so that the area S of the support polygon may be increased. - View Dependent Claims (50)
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51. A motion controlling method for a legged mobile robot which includes movable legs and performs a legged operation in a standing posture thereof, comprising:
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a step of calculating an impact moment applied to a body of said legged mobile robot at each stage upon tumbling of said body; a step of calculating an impact force applied to said body from the floor at each stage upon tumbling; a step of calculating an area S of a support polygon formed from a landed point of said body and the floor; a first landed location searching step of selecting a next landed location so that the area S of the support polygon may be minimized or fixed; and a second landed location searching step of selecting a next landed location so that the area S of the support polygon may be increased. - View Dependent Claims (52)
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53. A motion controlling apparatus for controlling a series of motions relating to tumbling and standing up of a body of a legged mobile robot which includes movable legs and performs a legged operation in a standing posture thereof, characterized in that
said legged mobile robot is formed from a link structure wherein a plurality of substantially parallel joint axes having a joint degree-of-freedom are connected to each other in a lengthwise direction, and said motion controlling apparatus comprises: -
means for searching for the narrowest support polygon formed from a minimum number of links from among landed polygons formed from landed links in an on-floor posture wherein two or more links including a gravity center link at which the center of gravity of said body is positioned are landed on a floor upon tumbling of said legged mobile robot; means for setting a zero moment point at a location at which the number of links which do not relate to the smallest support polygon is maximized to perform a tumbling motion; means for searching for a link or links which can be taken off from the floor in the tumbling posture of said body; and means for taking off all of the links which can be taken off from the floor to perform a standing up motion.
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54. A motion controlling method for controlling a series of motions relating to tumbling and standing up of a body of a legged mobile robot which includes movable legs and performs a legged operation in a standing posture thereof, characterized in that
said legged mobile robot is formed from a link structure wherein a plurality of substantially parallel joint axes having a joint degree-of-freedom are connected to each other in a lengthwise direction, and said motion controlling method comprises the steps of: -
searching for the narrowest support polygon formed from a minimum number of links from among landed polygons formed from landed links in an on-floor posture wherein two or more links including a gravity center link at which the center of gravity of said body is positioned are landed on a floor upon tumbling of said legged mobile robot; setting a zero moment point at a location at which the number of links which do not relate to the smallest support polygon is maximized to perform a tumbling motion; searching for a link or links which can be taken off from the floor in the tumbling posture of said body; and taking off all of the links which can be taken off from the floor to perform a standing up motion.
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55. A robot apparatus having a trunk part, leg parts connected to said trunk part and arm parts connected to said trunk part, comprising:
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support polygon detection means for detecting a first support polygon formed from a plurality of end portions of said leg parts, trunk part and/or arm parts at which said leg parts, trunk part and/or arm parts are landed on a floor; support polygon changing means for bending said leg parts toward said trunk part to reduce the area of the first support polygon; zero moment point motion controlling means for determining whether or not a zero moment point which is positioned in the changed first support polygon can be moved into a landed polygon formed from the soles of said leg parts; and control means for moving, when said zero moment point motion controlling means determines that the zero moment point can be moved, the zero moment point from within the first support polygon into the landed polygon formed by the soles and changing the posture of said robot apparatus from a tumbling posture to a basic posture while the zero moment point is maintained within the landed polygon.
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56. A robot apparatus which includes at least a body, one or more arm links connected to an upper portion of said body each through a first joint (shoulder), a first leg link connected to a lower portion of said body through a second joint (hip joint), and a second leg link connected to an end of said second leg link through a third joint (knee), comprising:
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means for landing ends of said arm links and a foot part at an end of said second leg link to form a first support polygon; means for moving said second joint upwardly higher than said third joint in a normal direction to the floor while the ends of said arm links and said foot part are kept landed, decreasing the area of the first support polygon and moving a zero moment point into a landed polygon formed from said foot part; and means for standing a body of said robot apparatus uprightly while the zero moment point is kept in the landed polygon formed from said foot part.
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Specification