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Robot and control method thereof

  • US 8,108,070 B2
  • Filed: 07/17/2007
  • Issued: 01/31/2012
  • Est. Priority Date: 07/18/2006
  • Status: Expired due to Fees
First Claim
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1. A robot comprising a trunk, a pair of leg links coupled with the trunk in a swingable manner, an actuator group that swings each of the leg links independently with respect to the trunk, and a controller that controls the actuator group, which walks by repeating a sequence of actions of swinging out one leg link with respect to the trunk and grounding it while keeping another leg link touching the ground as a support leg mutually between a pair of the leg links by alternativelychanging the support leg, wherein:

  • the controller is programmed to control the actuator group, when a relative trajectory of the center of gravity of the robot with respect to a toe of one leg link that is grounding as the support leg and a relative trajectory of a toe of another leg link with respect to the toe of the one leg link are given, to realize the given relative trajectory of the center of gravity and the relative trajectory of the toe of the leg link; and

    the controller performs, in a period from grounding the one leg link to grounding the other leg link swung out thereafter,(1) updating the relative trajectory of the center of gravity of the robot with respect to the toe of the one leg link after having swung out the one leg link by calculating a tridiagonal equation in which a zero movement position (ZMP) equation is discrete, such that a relative ZMP trajectory with respect to the toe of the other leg link, which the robot plans to realize after the other leg link grounds and the one leg link is swung out, matches with a target relative ZMP trajectory,(2) determining by a processor a predetermined position for grounding the other leg link, such that a position of the center of gravity at a beginning of the updated relative trajectory of the center of gravity with respect to the toe of the other leg link after having the one leg link swung out matches a position of the center of gravity at an end of the relative trajectory of the center of gravity with respect to the toe of the one leg link till the one leg has been swung out, and(3) updating the relative trajectory of the toe of the other leg link with respect to the toe of the one leg link till grounding the other leg link, on the basis of the determined predetermined position for grounding.

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