System and method of controlling a legged locomotion robot

• US 7,881,824 B2
• Filed: 03/18/2003
• Issued: 02/01/2011
• Est. Priority Date: 03/18/2002
• Status: Active Grant

• Current Assignee: Jinichi Yamaguchi, Sony Corporation (Sony Group Corp.)
• Original Assignee: Jinichi Yamaguchi, Sony Corporation (Sony Group Corp.)
• Inventors: Kuroki, Yoshihiro, Nagasaka, Kenichiro, Yamaguchi, Jinichi, Shimizu, Satoru
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Amin; Bhavesh V
• Application Number:
  US10/508,062
• Publication Number:
  US 20050240307A1
• Time in Patent Office: 2,877 Days
• Field of Search: 700/245, 700/247, 700/248, 700/249, 700/258, 700/259, 700/260, 700/900, 700/246, 700/251, 700/253, 700/250, 700/213, 700/219, 318/568.1, 318/568.11, 318/568.12, 318/568.2, 318/569, 318/568.17, 318/568.22, 318/568, 901/1, 901/15, 901/47, 901/2, 901/9, 901/33, 901/46, 901/48, 180/8.1, 180/8.6, 701/124, 702/43, 623/53, 623/56, 414/730, 414/734, 414/796.2, 414/796.5, 414/796.9, 414/797, 414/797.8, 414/797.9, 36/37, 140/267, 198/468.2, 198/468.4, 271/10.14, 271/8, 271/18.1, 271/146, 271/268, 271/258.01, 271/262
• US Class Current: 700/260
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: B25J 13/088 with position, velocity or acceleration sensors
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• 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

The lumbar part of a robot as a controlled-object point where the mass amount becomes maximum is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.

Claims

1. A movement controller for a legged locomotion robot having at least a plurality of moving legs, the controller comprising:

a state detecting means for detecting dynamic states at a plurality of points on the robot, the state detecting means including an acceleration measuring means for measuring an acceleration at a controlled-object point on the robot and a reaction force measuring means for measuring a ZMP and force at a point where the robot and surrounding are in touch with each other; and

a movement controlling means for controlling the movement of the robot on the basis of the result of detection from the state detecting means, the movement controlling means generating a ZMP equation descriptive of a balanced relation between moments applied to the robot on the basis of the results of measurement from the acceleration and reaction force measuring means and correcting a target trajectory of the robot to cancel a moment error appearing in the ZMP equation

wherein the legged locomotion robot comprises a plurality of pressure sensors or reaction force sensors disposed at contact parts of the legged locomotion robot for measuring a reaction force between the legged locomotion robot and an external object; and

a plurality of accelerometers each associated with each of the plurality of pressure sensors disposed at the contact parts of the legged locomotion robot, each of the plurality of accelerometers in proximity to a respective one of the plurality of pressure sensors, wherein each of the plurality of accelerometers provides a local coordinate for use in relation to the measured reaction force such that the local coordinate and the measured reaction force facilitate posture control for the legged locomotion robot that is independent of both movement of the external object and friction coefficient of the external object.

2. The movement controller according to claim 1, wherein the acceleration measuring means measures an acceleration at a point as a controlled-object point on the robot, where the mass amount becomes maximum.

3. The movement controller according to claim 1, wherein the acceleration measuring means measures an acceleration at the lumbar part as a controlled-object point on the robot.

4. The movement controller according to claim 1, wherein the acceleration measuring means measures an acceleration at the foot of each leg as a controlled-object point on the robot.

5. The movement controller according to claim 1, wherein the movement controlling means corrects the target trajectory of each point in a predetermined order of priority.

6. The movement controller according to claim 5, wherein an order of priority for correction of the target trajectory is given to each point in the order of the mass operation amount.

7. The movement controller according to claim 1, wherein the state detecting means further includes a local coordinate for posture control and an acceleration sensor and angular velocity sensor to directly measure the coordinate, provided at each control point, and/or an acceleration sensor and attitude sensor, disposed in each vector position used in a calculation model.

8. The movement controller according to claim 7, wherein an acceleration sensor, angular acceleration sensor and angular velocity sensor are mounted at a point where the mass of the robot is concentrated.

9. The movement controller according to claim 7, wherein an acceleration sensor and angular acceleration sensor are mounted at a point where the mass of the robot is concentrated.

10. The movement controller according to claim 7, wherein an acceleration sensor and angular velocity sensor are mounted at a point where the mass of the robot is concentrated.

11. The movement controller according to claim 7, wherein an acceleration sensor is mounted at a point where the mass of the robot is concentrated.

12. The movement controller according to claim 7, wherein an acceleration sensor, angular acceleration sensor and angular velocity sensor are mounted near the center of gravity of each link.

13. The movement controller according to claim 7, wherein an acceleration sensor and angular acceleration sensor are mounted near the center of gravity of each link.

14. The movement controller according to claim 7, wherein an acceleration sensor and angular velocity sensor are mounted near the center of gravity of each link.

15. The movement controller according to claim 7, wherein an acceleration sensor is mounted near the center of gravity of each link.

16. The movement controller according to claim 7, wherein an acceleration sensor, angular acceleration sensor and angular velocity sensor are mounted near the center of gravity of each actuator forming the degree of freedom as a joint.

17. The movement controller according to claim 7, wherein an acceleration sensor and angular acceleration sensor are mounted near the center of gravity of each actuator forming the degree of freedom as the joint.

18. The movement controller according to claim 7, wherein an acceleration sensor and angular velocity sensor are mounted near the center of gravity of each actuator forming the degree of freedom as the joint.

19. The movement controller according to claim 7, wherein an acceleration sensor is mounted near the center of gravity of each actuator forming the degree of freedom as the joint.

20. The movement controller according to claim 7, wherein acceleration sensors, angular acceleration sensors and angular velocity sensors are mounted near the center of gravity of each actuator and near the center of gravity of a link except for the actuator, respectively.

21. The movement controller according to claim 7, wherein acceleration sensors and angular acceleration sensors are mounted near the center of gravity of each actuator and near the center of gravity of a link except for the actuator, respectively.

22. The movement controller according to claim 7, wherein acceleration sensors and angular velocity sensors are mounted near the center of gravity of each actuator and near the center of gravity of a link except for the actuator, respectively.

23. The movement controller according to claim 7, wherein acceleration sensors are mounted near the center of gravity of each actuator and near the center of gravity of a link except for the actuator, respectively.

24. The movement controller according to claim 7, wherein an acceleration sensor, angular acceleration sensor and angular velocity sensor are mounted near the center of gravity of each actuator, center of gravity of a battery or neat the center of gravity of a link except for the battery and actuator.

25. The movement controller according to claim 7, wherein an acceleration sensor and angular acceleration sensor are mounted near the center of gravity of each actuator, center of gravity of a battery or neat the center of gravity of a link except for the battery and actuator.

26. The movement controller according to claim 7, wherein an acceleration sensor and angular velocity sensor are mounted near the center of gravity of each actuator, center of gravity of a battery or neat the center of gravity of a link except for the battery and actuator.

27. The movement controller according to claim 7, wherein an acceleration sensor is mounted near the center of gravity of each actuator, center of gravity of a battery or neat the center of gravity of a link except for the battery and actuator.

28. The movement controller according to claim 7, wherein the sensors distributed over the robot are connected in series to each other to sequentially add, at each of individual control points and along the connection route, moment terms and external force terms calculated based on sensor information at the individual control points.

29. The movement controller according to claim 7, wherein:

the actuator forming the degree of freedom, as a joint, of the legged locomotion robot includes a motor composed of a rotor magnet and a stator formed from a magnetic coil having a plurality of phases, a gear unit to accelerate and decelerate the rotation of the motor, and a controller to control the supply of a power to the motor; and

a sensor unit is mounted in a power near the two-dimensional center of gravity of an actuator unit.

30. The movement controller according to claim 29, wherein the sensor unit includes a combination of one- to three-axis acceleration sensors, one- and two-axis angular velocity sensors and a three-axis angular velocity sensor.