Legged robot and control method thereof

• US 7,957,835 B2
• Filed: 02/03/2006
• Issued: 06/07/2011
• Est. Priority Date: 02/03/2005
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Suga, Keisuke, Tajima, Ryosuke
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Figueroa; Jaime
• Application Number:
  US11/794,496
• Publication Number:
  US 20090187275A1
• Time in Patent Office: 1,950 Days
• Field of Search: 700/245, 700/258, 901/1, 318/15, 318/490, 318/568.1, 318/568.11, 318/568.12, 318/568.17
• US Class Current: 700/245
• 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

Technology is provided that can compute a center of gravity pathway for a robot in which the ZMP matches the target ZMP, even if the robot is caused to perform a crouching movement during a single leg ground phase. The robot of the present invention is a legged robot that moves the center of gravity in the vertical direction when one leg link is grounded by changing joint angles, and comprises means for generating the vertical pathway of the center of gravity, means for computing the horizontal pathway of the center of gravity, based upon the generated vertical pathway of the center of gravity, a tridiagonal equation which is a discretization of a ZMP equation, a target ZMP, and horizontal speeds of the center of gravity at the beginning and the completion of the vertical pathway, means for computing chronological data of target values of the joint angles, based upon the generated vertical pathway and the computed horizontal pathway of the center of gravity, and means for rotating the joints based upon the computed chronological data of the target values of the joint angles.

Claims

1. A legged robot that achieves “

crouching, taking off, floating, landing, and crouching”

movements by changing joint angles, wherein a period from the beginning of the crouching to the taking off is an prior ground phase, a period during the floating is an aerial phase, a period from the landing to the completion of the crouching is a posterior ground phase, a change in the height of a center of gravity with respect to time is a vertical pathway, and a change in a horizontal position of the center of gravity with respect to time is a horizontal pathway, the legged robot comprising;

means for generating the vertical pathway of the prior ground phase,

means for computing the horizontal pathway of the prior ground phase, based upon the generated vertical pathway of the prior ground phase, a tridiagonal equation which is a discretization of a ZMP equation of the prior ground phase, a target ZMP of the prior ground phase, and horizontal speeds of the center of gravity at the beginning and the completion of the prior ground phase,

means for computing chronological data of target values of the joint angles of the prior ground phase, based upon the generated vertical pathway and the computed horizontal pathway of the prior ground phase,

means for generating the vertical pathway of the posterior ground phase,

means for computing the horizontal pathway of the posterior ground phase, based upon the generated vertical pathway of the posterior ground phase, a tridiagonal equation which is a discretization of a ZMP equation of the posterior ground phase, a target ZMP of the posterior ground phase, and horizontal speeds of the center of gravity at the beginning and the completion of the posterior ground phase,

means for computing chronological data of target values of the joint angles of the posterior ground phase, based upon the generated vertical pathway and the computed horizontal pathway of the posterior ground phase, and

means for rotating the joints based upon the computed chronological data of the target values of the joint angles.

2. The legged robot of claim 1, wherein each one of the means for computing the horizontal pathway of the prior ground phase and the posterior ground phase comprises means for solving simultaneous equations formed between a tridiagonal matrix having coefficients that are computed from the vertical pathway, and a horizontal pathway column and a distance column that is computed from the target ZMP and the horizontal speeds of the center of gravity at the beginning and the completion of the ground phase, to compute the horizontal pathway.

3. The legged robot of claim 1, wherein each one of the means for generating the vertical pathway of the prior ground phase and the posterior ground phase polynomially interpolates between the vertical positions and speeds of the center of gravity at the beginning and the completion of the ground phase, to generate the vertical pathway.

4. A legged robot that moves a center of gravity in a vertical direction when one leg link is grounded by changing joint angles, the legged robot comprising:

means for generating a vertical pathway of the center of gravity,

means for computing a horizontal pathway of the center of gravity, based upon the generated vertical pathway of the center of gravity, a tridiagonal equation which is a discretization of a ZMP equation, a target ZMP, and horizontal speeds of the center of gravity at the beginning and the completion of the vertical pathway,

means for computing chronological data of target values of the joint angles, based upon the generated vertical pathway and the computed horizontal pathway of the center of gravity, and

means for rotating the joints based upon the computed chronological data of the target values of the joint angles.

5. A control method of a legged robot that achieves “

crouching, taking off, floating, landing, and crouching”

movements by changing joint angles, wherein a period from the beginning of the crouching to the taking off is an prior ground phase, a period during the floating is an aerial phase, a period from the landing to the completion of the crouching is a posterior ground phase, a change in the height of a center of gravity with respect to time is a vertical pathway, and a change in a horizontal position of the center of gravity with respect to time is a horizontal pathway, the control method comprising;

a step of generating the vertical pathway of the prior ground phase,

a step of computing the horizontal pathway of the prior ground phase, based upon the generated vertical pathway of the prior ground phase, a tridiagonal equation which is a discretization of a ZMP equation of the prior ground phase, a target ZMP of the prior ground phase, and horizontal speeds of the center of gravity at the beginning and the completion of the prior ground phase,

a step of computing chronological data of target values of the joint angles of the prior ground phase, based upon the generated vertical pathway and the computed horizontal pathway of the prior ground phase,

a step of generating the vertical pathway of the posterior ground phase,

a step of computing the horizontal pathway of the posterior ground phase, based upon the generated vertical pathway of the posterior ground phase, a tridiagonal equation which is a discretization of a ZMP equation of the posterior ground phase, a target ZMP of the posterior ground phase, and horizontal speeds of the center of gravity at the beginning and the completion of the posterior ground phase,

a step of computing chronological data of target values of the joint angles of the posterior ground phase, based upon the generated vertical pathway and the computed horizontal pathway of the posterior ground phase, and

a step of rotating the joints based upon the computed chronological data of the target values of the joint angles.

6. The control method of the legged robot of claim 5, wherein each one of the steps of computing the horizontal pathway of the prior ground phase and the posterior ground phase comprises a step of solving simultaneous equations formed between a tridiagonal matrix having coefficients that are computed from the vertical pathway, and a horizontal pathway column and a distance column that is computed from the target ZMP and the horizontal speeds of the center of gravity at the beginning and the completion of the ground phase, to compute the horizontal pathway.

7. The control method of the legged robot of claim 5, wherein each one of the steps of generating the vertical pathway of the prior ground phase and the posterior ground phase polynomially interpolates between the vertical positions and speeds of the center of gravity at the beginning and the completion of the ground phases, to generate the vertical pathway.

8. A control method of a legged robot that moves a center of gravity in a vertical direction when one leg link is grounded by changing joint angles, the control method comprising:

a step of generating a vertical pathway of the center of gravity,

a step of computing a horizontal pathway of the center of gravity, based upon the generated vertical pathway of the center of gravity, a tridiagonal equation which is a discretization of a ZMP equation, a target ZMP, and horizontal speeds of the center of gravity at the beginning and the completion of the vertical pathway,

a step of computing chronological data of target values of joint angles, based upon the generated vertical pathway and the computed horizontal pathway of the center of gravity, and

a step of rotating the joints based upon the computed chronological data of the target values of the joint angles.