Biped walking robot

• US 8,565,921 B2
• Filed: 07/13/2012
• Issued: 10/22/2013
• Est. Priority Date: 07/22/2010
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Doi, Masahiro
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): LIN, ABBY YEE
• Application Number:
  US13/549,250
• Publication Number:
  US 20120277910A1
• Time in Patent Office: 466 Days
• Field of Search: 3185681-56825, 700/213, 700245-269, 706 45- 61, 901/1, 901/9, 901/46
• US Class Current: 700/255
• 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

Provided is a method for determining a grounding timing of a biped walking robot. Firstly, a ZMP equation which represents a trajectory of a center of gravity including a first single-leg grounded period in which the robot stands only with a first leg and a second single-leg grounded period in which the robot stands only with a second leg, following the first single-leg grounded period, is solved using a predetermined grounding timing. A second leg ZMP position representing a ZMP position in the second single-leg grounded period is then calculated. When the calculated second leg ZMP position is out of the second leg ZMP permissible area, the grounding timing is modified so that the second leg ZMP position is located in a second leg ZMP permissible area which is defined corresponding to a possible grounding area of the second leg.

Claims

1. A method for controlling a biped robot,

the biped robot being configured to walk by repeating a first single-leg grounded period, a two-leg grounded period and a second single-leg grounded period, wherein the biped robot stands only with a first leg in the first single-leg grounded period and stands only with a second leg in the second single-leg grounded period,

the method comprising:

setting boundary conditions at a start point and an end point of a trajectory of a center of gravity which includes a first single-leg grounded period and a second single-leg grounded period;

calculating a second leg ZMP position during the first single-leg grounded period, the second leg ZMP position representing a ZMP position in the second single-leg grounded period, the calculating including steps of,

obtaining the second leg ZMP position by giving the boundary conditions and a predetermined grounding timing of the second leg into a ZMP equation, and

computing a modified min of the second leg if the second le ZMP position obtained based on the predetermined grounding timing is out of a second leg ZMP permissible area which is defined corresponding to a possible grounding area of the second leg, wherein the modified grounding timing is computed so that the second leg ZMP position obtained based on the modified grounding timing is located in the second leg ZMP permissible area;

determining a grounding position of the second leg so that the second leg ZMP position is located in a contact area between the second leg and a ground; and

moving joints of the second leg so as to achieve the determined grounding position and the predetermined or modified grounding timing.

2. The method of claim 1, wherein:

the ZMP equation includes, as parameters, the second leg ZMP position and a first leg ZMP position which represents a ZMP position in the first single-leg grounded period,

the obtaining the second leg ZMP position includes a substep of determining the first leg ZMP position and the second leg ZMP position which satisfy the ZMP equation under the boundary conditions and a predetermined initial restraint condition, and

the modified grounding timing is computed so as to satisfy the ZMP equation under a second leg ZMP restraint condition which restricts the second leg ZMP position within the second leg ZMP permissible area.

3. The method of claim 2, wherein the second leg ZMP restraint condition restricts the second leg ZMP position to a boundary of the second leg ZMP permissible area.

4. The method of claim 2, wherein

a first leg ZMP restraint condition restricts the first leg ZMP position to the first leg ZMP permissible area,

the substep includes re-obtaining the first leg ZMP position and the second leg ZMP position which satisfy the ZMP equation under the first leg ZMP restraint condition if the obtained first leg ZMP position is located out of a first leg ZMP permissible area defined within a ground contact area of the first leg, and

the modified grounding timing is computed so as to satisfy the ZMP equation under the first leg ZMP restraint condition and the second leg ZMP restraint condition.

5. A biped robot comprising:

a controller implementing the method of claim 1; and

a sensor for detecting an obstacle,

wherein the controller determines the possible grounding area based on a result of detecting the obstacle.

6. The method of claim 1, wherein the boundary conditions includes at least one of the position of the center of the gravity of the biped robot at the start point, the velocity of the center of the gravity of the biped robot at the start point, the position of the center of the gravity of the biped robot at the end point, or the velocity of the center of the gravity of the biped robot at the end point.

7. The method of claim 1, wherein the second leg ZMP permissible area is determined by at least the mechanical structure of the legs.

8. The method of claim 7, wherein the second leg ZMP permissible area is determined by at least a position of an obstacle around the biped robot.

9. The method of claim 1, wherein the predetermined grounding timing is determined so that the biped robot steps in a uniform time cycle.

10. The method of claim 1, wherein the determining of the grounding position of the second leg is performed during the first single-leg grounded period.