Robot control apparatus

• US 8,805,582 B2
• Filed: 02/01/2009
• Issued: 08/12/2014
• Est. Priority Date: 02/01/2008
• Status: Expired due to Fees

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Zaier, Riadh
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US12/363,783
• Publication Number:
  US 20090306824A1
• Time in Patent Office: 2,018 Days
• Field of Search: None
• US Class Current: 700/250
• 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

A robot control method controls walking of a robot. The method generates control information based on postures at a plurality of differing points. The differing points include a reference posture in which the robot is standing independently without falling over. The method controls the robot to carry out a walking operation and detect an obstacle in a place in which a robot leg lands. The method also instructs the robot to carry out rolling onto a supporting leg and returning a swing leg to a position before swinging, to invert a compliance control gain and to bend the supporting leg by an amount while extending the swing leg by the amount.

Claims

1. A robot control apparatus which controls walking of a robot, the apparatus comprising:

a walking operation control unit configured to generate control information of various postures at a plurality of differing positions, the postures being set preliminarily in the apparatus and including at least one reference posture in which the robot is standing independently without falling over;

an obstacle detection unit configured to detect an existence of an obstacle on a surface in which a sole attached to a robot leg lands; and

when the obstacle is detected by the obstacle detection unit, a reflex control unit controls a robot to,

return a supporting leg and a swing leg to a position before swinging the swing leg,

extend the swing leg by an amount, and

bend the supporting leg by inverting a compliance control gain based on the control information.

2. The robot control apparatus according to claim 1, wherein

the reflex control unit, once the robot has attained a stable condition, controls the robot to move an ankle joint of the swing leg forward and back, as well as left and right, determines whether the detected obstacle provides a walking surface allowing the walking to continue, and controls the robot to continue the walking if determined that the obstacle provides the walking surface.

3. The robot control apparatus according to claim 2, wherein

the reflex control unit moves the ankle joint of the swing leg forward and back, left and right, and up to a half of a range of movement of the swing leg, and determines whether the obstacle provides the walking surface.

4. The robot control apparatus according to claim 2, wherein

the reflex control unit determines a stability of the walking surface while moving a center of gravity to the swing leg and, if determining that the walking surface is unstable, continues the walking under a static control to return the swing leg to a previous position.

5. The robot control apparatus according to claim 4, wherein

the reflex control unit continues the walking under the static control until a stable, level walking surface is found.

16. The robot control apparatus according to claim 1, wherein when the robot is standing in the at least one reference posture, a linear speed of the robot is zero.

6. A robot control method which controls a walking of a robot by a computer, the method comprising:

controlling the robot to carry out a walking operation;

generating control information based on postures at a plurality of differing positions, the postures being set preliminarily in the apparatus and including at least one reference posture in which the robot is standing independently without falling over;

detecting an obstacle on a surface in which a sole attached to a robot leg lands by an obstacle detection unit, and

instructing, when the obstacle is detected, the robot to return a supporting leg and a swing leg to a position before swinging the swing leg, to extend the swing leg by an amount, and to bend the supporting leg by inverting a compliance control gain based on the control information.

7. The robot control method according to claim 6, wherein

the instructing, once the robot has attained a stable condition, instructs the robot to move an ankle joint of the swing leg forward and back, left and right, determines whether the obstacle provides a walking surface allowing the walking to continue, and controls the robot to continue the walking if determining that the obstacle provides the walking surface.

8. The robot control method according to claim 6, wherein

the instructing instructs the robot to move the ankle joint of the swing leg forward and back, left and right, up to a half of a range of movement of the swing leg, and determines whether the obstacle provides the walking surface.

9. The robot control method according to claim 6, wherein

the instructing further determines a stability of the provided walking surface while moving a center of gravity to the swing leg and, if the walking surface is determined unstable, continues to instruct the robot to walk under static control to return the swing leg to a previous position.

10. The robot control method according to claim 9, wherein

the instructing continues to instruct the robot to walk under the static control until a stable, level walking surface is found.

11. A non-transitory computer-readable recording medium storing a robot control program which causes a computer to execute a process, the process comprising:

generating control information based on postures at a plurality of differing positions, the postures being set preliminarily in the apparatus and including at least one reference posture in which the robot is standing independently without falling over;

detecting an obstacle on a surface in which a sole attached to a robot leg lands by an obstacle detection unit, and

instructing, when the obstacle is detected, the robot to return a supporting leg and a swing leg to a position before swinging the swing leg, to extend the swing leg by an amount, and to bend the supporting leg by inverting a compliance control gain based on the control information.

12. The non-transitory computer-readable recording medium according to claim 11, wherein

the instructing, once the robot has attained a stable condition, instructs the robot to move an ankle joint of the swing leg forward and back, left and right, determines whether the obstacle provides a walking surface allowing the walking to continue, and controls the robot to continue the walking if determining that the obstacle provides the walking surface.

13. The non-transitory computer-readable recording medium according to claim 12, wherein

the instructing instructs the robot to move the ankle joint of the swing leg forward and back, left and right, up to a half of a range of movement of the swing leg, and determines whether the obstacle provides the walking surface.

14. The non-transitory computer-readable recording medium according to claim 12, wherein

the instructing further determines a stability of the provided walking surface while moving a center of gravity to the swing leg and, if the walking surface is determined unstable, continues to instruct the robot to walk under static control to return the swing leg to a previous position.

15. The non-transitory computer-readable recording medium according to claim 14, wherein

the instructing continues to instruct the robot to walk under the static control unit a stable, level walking surface is found.