Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller

A humanoid robot, omni-directional technology, applied in the direction of vehicle position/route/height control, program control manipulator, attitude control, etc., can solve problems such as difficult collision management

Active Publication Date: 2017-04-19
SOFTBANK ROBOTICS EURO +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Often, managing collisions is a difficult problem for real-time control

Method used

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  • Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller
  • Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller
  • Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller

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Embodiment Construction

[0087] figure 1 The physical architecture of a humanoid robot in several embodiments of the invention is shown.

[0088] The particular robot 100 in the figures is to be seen only as an example of a humanoid robot in which the invention can be practiced. The lower limbs 180 of the robot in the figure are not used for walking, but are able to move in any direction on its base 140, which rotates on the surface on which it rests. For example, the robot has a height 110 that may be about 120 cm, a depth 120 of about 65 cm, and a width 130 of about 40 cm. In a particular embodiment, the robot of the present invention has a tablet 150 that the robot can use to deliver messages (audio, video, web pages) to its environment or receive input from the user through the tablet's tactile interface. In addition to the processor of the tablet computer, the robot of the present invention also uses the processor of its own motherboard, for example, the processor of the motherboard can be from...

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Abstract

The object of the invention is a humanoid robot (100) with a body (190) joined to an omnidirectional mobile ground base (140), equipped with : - a body position sensor, a base position sensor and an angular velocity sensor to provide measures, - actuators (212) comprising at least 3 wheels located in the omnidirectional mobile base, - extractors (211) for converting sensored measures into useful data, - a supervisor (500) to calculate position, velocity and acceleration commands from the useful data, - means for converting commands into instructions for the actuators, characterized in that the supervisor comprises: - a no-tilt state controller (501), a tilt state controller (502) and a landing state controller (503), each controller comprising means for calculating, position, velocity and acceleration commands based on a double point-mass robot model with tilt motion and on a linear model predictive control law, expressed as a quadratic optimization formulation with a weighted sum of objectives, and a set of predefined linear constraints.

Description

technical field [0001] The invention relates to the field of robot programming systems. More specifically, the present invention is applicable to the control of the movement of robots, particularly robots having a humanoid or animal shape, which move back and forth by articulated limbs or which use articulated limbs. A robot can be considered a humanoid when it has certain human-looking attributes (head, torso, arms, hands, etc.). However, humanoid robots can be somewhat complex. Its limbs can have a greater or lesser number of joints. It can control its own balance both statically and dynamically, and can turn on a base. It can pick up ("listen", "see", "touch", "feel", etc.) signals from the environment and react with somewhat complex actions, and interact with other robots or humans through speech or gestures. With the current generation of humanoid robots, programmers are able to create scenarios, which can be somewhat complex, as sequences of events / actions that the r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/16G05D1/08
CPCB25J5/007B25J9/1628G05D1/0891G05D2201/0217B25J9/1679B25J19/02B25J11/0005B25J5/00B25J9/16B25J9/162
Inventor J·拉费C·科莱特P-B·维贝尔
Owner SOFTBANK ROBOTICS EURO
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