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Legged mobile robot and control method thereof, leg structure and mobile leg unit for legged mobile robot

A mobile robot and robot technology, applied in machine learning, digital computer components, instruments, etc., can solve problems such as strong anti-interference ability, difficult robot, weak anti-interference ability, etc., and achieve the effect of strong anti-interference ability

Inactive Publication Date: 2003-04-02
SONY CORP +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The robot has strong anti-interference ability in the vertical direction, but relatively weak anti-interference ability in the horizontal direction
[0032] Considering the calculation speed of the controller, the response speed of the object to be controlled, and other parameters, it is extremely difficult to control the pose of the robot only by manipulative control during work with legs
That is, after the ZMP position has deviated from the stable ZMP area, the post-control of the ZMP is easily limited

Method used

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  • Legged mobile robot and control method thereof, leg structure and mobile leg unit for legged mobile robot
  • Legged mobile robot and control method thereof, leg structure and mobile leg unit for legged mobile robot
  • Legged mobile robot and control method thereof, leg structure and mobile leg unit for legged mobile robot

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Experimental program
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Embodiment Construction

[0157] Embodiments of the present invention are discussed below with reference to the accompanying drawings.

[0158] A. The structure of the robot

[0159] Figure 3 and Figure 4 The front and rear of a "humanoid" or "humanoid" legged locomotion robot 100 embodying the invention are shown in an upright position. As shown, the legged mobile robot 100 includes a trunk unit 101, a head unit 102, left and right upper limb units 103, left and right lower limb units 104 for walking, and a controller 105 generally controlling the operation of the robot body.

[0160] Each includes thighs, knee joints, calves, ankles, and feet, and the lower limb unit 104 is connected near the lower end of the torso unit by hip joints. Each of the left and right upper limb units 103 includes an upper arm, an elbow joint, and a forearm, and the upper limb unit 103 is connected to upper left and right sides of the trunk unit through shoulder joints. The head unit 102 is connected near the upper mi...

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Abstract

A legged mobile robot the body of which can be controlled in attitude stabilization by using ZMP stability determining norms with a relatively slow sampling period. The legged mobile robot has a ZMP stable region comprising a supporting polygon formed by a sole contact point of a mobile leg with the road surface, and a ZMP behavior space in which deformation or momentum of the robot body is generated so that the ZMP is directed toward generally the center of the ZMP stable region. Regarding the sign of the deformation (or momentum) of the robot in the ZMP behavior space, the negative sign is defined to be the direction in which a spatial distortion causing the ZMP toward the edge of the stable region is produced while the positive sign is defined to be the direction in which a spatial distortion causing the ZMP toward the center of the stable region is produced.

Description

technical field [0001] The invention relates to a legged mobile robot containing at least several movable legs, in particular to a legged mobile robot utilizing movable legs for walking operation and other legged operations. [0002] More specifically, the present invention relates to legged mobile robots for body posture control using the so-called ZMP (Zero Moment Point) as a stability determination criterion during legged manipulation, and also to the use of ZMP stabilization with relatively long sampling intervals. Determining the Criteria for Positive, Posture-Controlled Legged Mobile Robots. Background technique [0003] A machine that imitates human behavior by moving by means of magnetic effects is called a "robot". The term "robot" is said to be derived from the Slavic word "Robota (slave machine)". In Japan, robots have been widely used since the 1960s. Most of these robots are industrial robots designed to automate production lines in factories or to be used in ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032G06F15/18G06N3/00
CPCG06N99/005B62D57/032G06N3/008G06N20/00B25J5/00
Inventor 森直人服部裕一山口仁一
Owner SONY CORP
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