Robot and attitude control method of robot
First Claim
1. A robot having a plurality of movable sections, the robot comprising:
- phase signal generating means for generating a phase signal relating to a periodic motion of at least part of the movable sections;
control means for generating a control signal for the movable sections according to the phase signal;
drive means for driving the movable sections according to the control signal;
state quantity detecting means for detecting the state quantities of the movable sections driven by the drive means; and
estimation means for estimating the phase or the angular frequency of the periodic motion of the movable sections according to the state quantities;
the phase signal generating means being adapted to update the phase signal according to the phase or the angular frequency estimated by the estimation means, whereinthe control means includes a plurality of controllers having different control rules and selects an appropriate controller according to the phase signal and the selected controller generates a control signal for the movable sections according to the phase signal;
whereinthe robot includes movable sections regarded as doing a periodic motion and those not regarded as doing a periodic motion, the robot further comprisingsecond control means for generating a control signal according to a control rule for the movable sections not regarded as doing a periodic motion; and
coordinating means for coordinating the control quantities from the control means and the second control means in order to realize a coordinated motion for the entire robot.
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Accused Products
Abstract
The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.
92 Citations
20 Claims
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1. A robot having a plurality of movable sections, the robot comprising:
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phase signal generating means for generating a phase signal relating to a periodic motion of at least part of the movable sections; control means for generating a control signal for the movable sections according to the phase signal; drive means for driving the movable sections according to the control signal; state quantity detecting means for detecting the state quantities of the movable sections driven by the drive means; and estimation means for estimating the phase or the angular frequency of the periodic motion of the movable sections according to the state quantities; the phase signal generating means being adapted to update the phase signal according to the phase or the angular frequency estimated by the estimation means, wherein the control means includes a plurality of controllers having different control rules and selects an appropriate controller according to the phase signal and the selected controller generates a control signal for the movable sections according to the phase signal;
whereinthe robot includes movable sections regarded as doing a periodic motion and those not regarded as doing a periodic motion, the robot further comprising second control means for generating a control signal according to a control rule for the movable sections not regarded as doing a periodic motion; and coordinating means for coordinating the control quantities from the control means and the second control means in order to realize a coordinated motion for the entire robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An attitude control method of a robot having a plurality of movable sections, the method comprising:
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a phase signal generating step of generating a phase signal relating to a periodic motion of at least part of the movable sections; a control step of generating a control signal for the movable sections according to the phase signal; a drive step of driving the movable sections according to the control signal; a state quantity detecting step of detecting the state quantities of the movable sections driven in the drive step; and an estimation step of estimating the phase or the angular frequency of the periodic motion of the movable sections according to the state quantities; the phase signal generating step being adapted to update the phase signal according to the phase or the angular frequency estimated in the estimation step, wherein the control step including a plurality of control sub-based on different control rules, selects an appropriate control sub-step according to the phase signal and generates a control signal for the movable sections according to the phase signal from the selected control sub-step;
whereinthe robot includes movable sections regarded as doing a periodic motion and those not regarded as doing a periodic motion, the robot further comprising a second control step of generating a control signal according to a control rule for the movable sections not regarded as doing a periodic motion; and a coordinating step of for coordinating the control quantities from the control step and the second control step in order to realize a coordinated motion for the entire robot. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification