Legged mobile robot control system

• US 7,778,731 B2
• Filed: 12/12/2006
• Issued: 08/17/2010
• Est. Priority Date: 12/12/2005
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Shigemi, Satoshi, Ogawa, Naohide
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Figueroa; Jaime
• Application Number:
  US11/636,999
• Publication Number:
  US 20070150107A1
• Time in Patent Office: 1,344 Days
• Field of Search: 700/245, 700/254, 700/260, 700/261, 318/566, 318/568.12, 318/568.17, 345/473, 345/474, 345/475, 901/1, 901/2, 901/33, 901/45, 901/48
• US Class Current: 700/245
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 9/1641 compensation for backlash, friction, compliance, elasticity in the joints
• 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

In a control system of a legged mobile robot having a body and legs connected to the body and driven by a leg actuator, there is provided an operation controller which generates gaits based on an external force, more specifically gaits for walking by taking a hand of a human being or with the hand being taken by the hand of the human being and controls operation of at least the leg actuator based on the generated gaits. With this, it becomes possible to control the robot to come contact with a human being to establish communication therewith, while enabling to keep a stable posture during the contact.

Claims

1. A system for controlling a legged mobile robot having a body, a plurality of legs each connected to the body, a plurality of arms each connected to the body and each having a hand at its distal end, a leg actuator for driving the legs and an arm actuator for driving the arms, comprising:

a force sensor which detects an external force acting from a human being when coming in contact with the human being through the hand; and

an operation controller which generates gaits based on the detected external force, and controls operation of at least the leg actuator based on the generated gaits,

wherein the generated gaits are gaits for walking by taking a hand of the human being or with the hand being taken by the hand of the human being.

2. The system according to claim 1, wherein the operation controller estimates a direction in which the human being moves based on the detected external force, and generates gaits based on the estimated direction.

3. The system according to claim 1, wherein the operation controller conducts a compliance control to absorb a disturbance of the external force.

4. The system according to claim 2, wherein the operation controller conducts a compliance control to absorb a disturbance of the external force.

5. The system according to claim 1, wherein the operation controller changes stride based on the detected external force.

6. The system according to claim 2, wherein the operation controller changes stride based on the detected external force.

7. The system according to claim 1, wherein the operation controller calculates a position of the hand in a vertical axis based on a recognized height of the human being, and controls operation of the arm actuator such that the hand comes into contact with the human being at the calculated position of the hand.

8. The system according to claim 2, wherein the operation controller calculates a position of the hand in a vertical axis based on a recognized height of the human being, and controls operation of the arm actuator such that the hand comes into contact with the human being at the calculated position of the hand.

9. The system according to claim 1, further including:

an utterance generator which generates utterance;

and the operation controller controls operation of the utterance generator to speak to the human being.

10. The system according to claim 1, further including:

an IC tag signal receiver which receives IC tag signals transmitted from IC tags carried by the human beings;

and the operation controller identifies the human being by identifying one of the IC tag signals corresponding to the one of the human beings.

11. The system according to claim 1, further including:

a CCD camera installed at the robot for taking an image in the space;

and the operation controller identifies the one of the human beings through the image.