Legged mobile robot

• US 7,826,927 B2
• Filed: 12/07/2006
• Issued: 11/02/2010
• Est. Priority Date: 12/12/2005
• Status: Expired due to Fees

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Watabe, Tomoki, Kawaguchi, Yuichiro, Yokoyama, Taro, Asatani, Minami
• Primary Examiner(s): Black; Thomas G
• Assistant Examiner(s): Nolan; Peter D
• Application Number:
  US11/608,021
• Publication Number:
  US 20070135966A1
• Time in Patent Office: 1,426 Days
• Field of Search: 700/245, 700/250, 700/253, 700/255, 318/568.12, 901/1, 180/7.1, 180 81- 86, 701300-302
• US Class Current: 700/253
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Abstract

When there is an object that has a possibility to come into contact with a robot 1 in a desired path, the robot 1 is decelerated stepwise according to the distance L from the robot 1 to a predicted contact position along the desired path. For example, legs 13 and the like of the robot 1 are so controlled that when the distance L is less than a first threshold L₁, the moving speed is reduced to a first speed V₁, and when the distance L is less than a second threshold lower than the first threshold, the moving speed is reduced from the first speed to a second speed.

Claims

1. A legged mobile robot, which moves with repeated lifting off and landing on a floor of each of a plurality of legs extending from a body, the legged mobile robot comprising:

one or more detection processors for detecting a position or location of objects around the robot;

a contact determination processor for determining a presence or absence of a predicted contact position, at which the robot has a possibility to come into contact with an object in its desired path, based on the position or location of the object measured by the one or more detection processors;

a distance calculation processor for calculating a distance from the robot to the predicted contact position when the contact determination processor determines the presence of the predicted contact position between the robot and the object;

an operation control processor for controlling operation of the robot such that when the distance calculated by the distance calculation processor is less than a first threshold, a moving speed is reduced to a first speed by controlling at least one of a length of stride and a landing cycle, and when the calculated distance is less than an (i+1)-th threshold lower than an i-th threshold (where i=1, 2, . . . ), the moving speed is reduced from an i-th speed to an (i+1)-th speed; and

a malfunction determination processor for determining a presence or absence of a detection malfunction of any detection functions of the one or more detection processors,

wherein the operation control processor of the robot controls the operation of the robot such that a rate of change in the at least one of the length of stride and the landing cycle of the robot falls within a tolerable range that is set to allow sufficient deceleration while maintaining stability of the robot, and

wherein when the malfunction determination processor determines that there is a detection malfunction of any of the detection functions of the one or more detection processors, the operation control processor sets the i-th speed lower than in a case when the malfunction determination processor determines that the detection function of the corresponding detection processor is normal.

2. The legged mobile robot according to claim 1, wherein the operation control processor controls landing positions of the legs at some or all of the deceleration start and end times, during which the moving speed of the robot is reduced to the i-th speed, based on the position or location of the object measured by the one or more detection processors.

3. The legged mobile robot according to claim 1, wherein the operation control processor sets some or all of the i-th thresholds and the i-th speeds according to the number of objects, whose positions are detected by the detection processor, or which are determined by the contact determination processor to be located at the predicted contact position with the robot.

4. The legged mobile robot according to claim 1, wherein the operation control processor sets some or all of the i-th thresholds and the i-th speeds based on either or both of a scheduled length of stride and a scheduled landing cycle.

5. The legged mobile robot according to claim 1, further comprising

plural kinds of detection processors as the one or more detection processors,

wherein when the contact determination processor determines that there is a predicted contact position between the robot and the object, the operation control processor sets some or all of the i-th thresholds and the i-th speeds according to a type or a combination of types of detection processors having detected the position or location of the object, among the plural kinds of detection processors.

6. The legged mobile robot according to claim 1, wherein

the one or more detection processors detects a speed of the object, and

the operation control processor sets some or all of the i-th thresholds and the i-th speeds based on the detected speed of the object.

7. A program recorded on a computer readable medium for causing a computer mounted in a legged mobile robot, which moves with repeated lifting off and landing on a floor of each of a plurality of legs extending from a body, to function as a system for controlling the robot, the system comprising:

one or more detection processors for detecting a position or location of objects around the robot;

a contact determination processor for determining a presence or absence of a predicted contact position, at which the robot has a possibility to come into contact with an object in its desired path, based on the position or location of the object measured by the one or more detection processors;

a distance calculation processor for calculating a distance from the robot to the predicted contact position when the contact determination processor determines the existence of the predicted contact position between the robot and the object;

an operation control processor for controlling the operation of the robot such that when the distance calculated by the distance calculation processor is less than a first threshold, a moving speed is reduced to a first speed by controlling at least one of a length of stride and a landing cycle, and when the calculated distance is less than an (i+1)-th threshold lower than an i-th threshold (where i=1, 2, . . . ), the moving speed is reduced from an i-th speed to an (i+1)-th speed; and

a malfunction determination processor for determining a presence or absence of a detection malfunction of any detection functions of the one or more detection processors,

wherein the operation control processor of the robot controls the operation of the robot such that a rate of change in the at least one of the length of stride and the landing cycle of the robot falls within a tolerable range that is set to allow sufficient deceleration while maintaining stability of the robot, and

wherein when the malfunction determination processor determines that there is a detection malfunction of any of the detection functions of the one or more detection processors, the operation control processor sets the i-th speed lower than in a case when the malfunction determination processor determines that the detection function of the corresponding detection processor is normal.

8. A supervising system for supervising the functions of a legged mobile robot, which moves with repeated lifting off and landing on a floor of each of plural legs extending from a body, wherein the program according to claim 7 is distributed or broadcast to the computer.

9. A method of controlling the operation of a legged mobile robot, which moves with repeated lifting off and landing on a floor of each of a plurality of legs extending from a body, the method comprising the steps of:

a detection processing step of detecting a position or location of objects around the robot;

a contact determination processing step of determining a presence or absence of a predicted contact position, at which the robot has a possibility to come into contact with an object in its desired path, based on the position or location of the object measured in the detection processing step;

a distance calculation processing step of calculating a distance from the robot to the predicted contact position when it is determined in the contact determination processing step that there is the predicted contact position between the robot and the object;

an operation control processing step of controlling the operation of the robot such that when the distance calculated in the distance calculation processing step is less than a first threshold, a moving speed is reduced to a first speed by controlling at least one of a length of stride and a landing cycle, and when the calculated distance is less than an (i+1)-th threshold lower than an i-th threshold (where i=1, 2, . . . ), the moving speed is reduced from an i-th speed to an (i+1)-th speed; and

a malfunction determination processing step of determining a presence or absence of a detection malfunction of any detection functions of the one or more detection processors,

wherein the operation of the robot is controlled such that a rate of change in the at least one of the length of stride and the landing cycle of the robot falls within a tolerable range that is set to allow sufficient deceleration while maintaining stability of the robot, and

wherein when the malfunction determination processing step determines that there is a detection malfunction of any of the detection functions of the one or more detection processors, the operation control processing step sets the i-th speed lower than in a case when the malfunction determination processing step determines that the detection function of the corresponding detection processor is normal.