Control system and control method of walking robot

Abstract

The invention provides a walking robot control system which prevents a spring from suddenly changing the posture of the legs of a walking robot when the walking robot falls down. In a control system for a walking robot provided with an actuator (12a) for driving a joint and a spring for applying a spring force to the joint, a motor control device (8) for driving the actuator (12a) and a controller (7) for transmitting a command signal for controlling the motor control device (8) are provided, and when the controller (7) determines that the walking robot falls down, the motor control device (8) brakes the actuator (12a).

Description

Technical Field

[0001] The present invention relates to a control system and a control method for a walking robot. Background Art

[0002] The development of walking robots that simulate the walking forms of humans or animals is being promoted. Patent Document 1 discloses a biped walking robot having a waist and two legs. In this biped walking robot, biped walking is performed by alternately and repeatedly raising and swinging the legs of the two legs.

[0003] Actuators for driving the respective joints are assembled in the respective joints of the walking robot. However, if only the actuators are provided, electric power needs to be supplied to the actuators in order to support the own weight of the biped walking robot, and there is a problem of a decrease in energy efficiency.

[0004] To solve this problem, in the walking robot of Patent Document 1, a spring is provided in parallel with the actuator at the knee joint of the leg. The spring force of the spring acts in the direction of extending the knee joint. By providing the spring in parallel with the actuator, the torque required for the actuator can be reduced corresponding to the spring force. If the spring force balances the torque acting on the knee joint due to the own weight when the walking robot is stationary, the torque required for the actuator can be reduced when the walking robot is stationary.

[0005] Prior Art Documents

[0006] Patent Documents

[0007] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2003-103480 Summary of the Invention

[0008] Problems to be Solved by the Invention

[0009] However, in the walking robot described in Patent Document 1, there is the following problem: when the walking robot falls down, the elastic energy accumulated in the spring is suddenly released, and the posture of the walking robot suddenly changes. For example, when a spring is provided at the knee joint of the leg, the knee joint suddenly extends. This problem particularly occurs when the reduction ratio of the actuator is reduced to make the walking robot move at high speed.

[0010] To prevent sudden extension during a fall, it is considered to lock the joints equipped with springs. However, if the joints are locked, the elastic energy remains stored in the springs. Therefore, in an emergency such as a fall, it is assumed that a malfunction may occur, and when a person approaches for maintenance, the elastic energy may be unexpectedly released, posing a risk of injury due to heat and elastic energy. It is preferable to stop in a state where the elastic energy has been released before a person approaches the robot. When releasing the energy, if only released, the elastic energy will still be suddenly released, posing a risk of injury. Also, if the joints are locked, although the change in posture caused by the elastic energy of the springs can be prevented, the risk of damage to the robot itself due to external forces (shocks) during a fall increases. During a fall, due to the reverse drive of the joints, the external force cannot be transferred, and the locked mechanism or joints will directly receive the external force. Based on the above, it is difficult to say that using a locking mechanism is optimal.

[0011] The present invention has been completed in view of the above problems, and an object thereof is to provide a control system and a control method for a walking robot that prevent the posture of the walking robot from changing suddenly due to a spring when the walking robot falls.

[0012] Solution to the problem

[0013] To solve the above problems, one aspect of the present invention is a control system for a walking robot, the walking robot having: an actuator that drives a joint; and a spring that applies a spring force to the joint, wherein the control system for the walking robot includes: a motor control device that drives the actuator; and a controller that sends a command signal for controlling the motor control device, and when the controller determines that the walking robot has fallen, the motor control device brakes the actuator.

[0014] Another aspect of the present invention is a control system for a walking robot, the walking robot having an actuator that drives a knee joint and a spring that applies a spring force to the knee joint, wherein the control system for the walking robot includes a motor control device that drives the actuator, and the motor control device brakes the actuator to prevent the knee joint from extending due to the spring.

[0015] Effect of the invention

[0016] According to one aspect of the present invention, when the controller determines that the walking robot has fallen, the motor control device brakes the actuator, that is, transfers to the braking state. Therefore, it is possible to release the elastic energy accumulated in the spring and suppress the sudden release, and prevent the posture of the walking robot from changing suddenly due to the spring. In addition, if the joint is locked, the elastic energy remains accumulated in the spring, and the walking robot is likely to be damaged due to the external force accompanying the fall. By releasing the elastic energy accumulated in the spring and suppressing the sudden release, the problem in the case where the joint is locked can be solved.

[0017] According to another aspect of the present invention, the motor control device brakes the actuator, that is, transfers to the braking state. Therefore, it is possible to release the elastic energy accumulated in the spring and suppress the sudden release, and prevent the knee joint of the walking robot from suddenly extending due to the spring.

[0018] It should be noted that, in another aspect of the present invention, the motor control device may brake the actuator when the robot falls, or when the robot does not fall, at least one of the following Figures 6 to 8 the motor control device brakes the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the walking robot of the present embodiment.

[0020] Figure 2 is a diagram showing the knee joint of the walking robot of the present embodiment.

[0021] Figure 3 is a block diagram showing the structure of the control system of the walking robot of the present embodiment.

[0022] Figure 4 is a block diagram showing the structure of the control system of the walking robot of the present embodiment.

[0023] Figure 5 is a block diagram showing the process of the actuator transferring to the braking state (when the controller determines that the walking robot has fallen).

[0024] Figure 6 is a block diagram showing the process of the actuator transferring to the braking state (when the motor control device detects an abnormality in the actuator or itself).

[0025] Figure 7 is a block diagram showing the process of the actuator transferring to the braking state (when the operator inputs a stop command for the walking robot).

[0026] Figure 8 is a block diagram showing the process of the actuator transferring to the braking state (when the test device using the walking robot sends a stop command). Detailed Embodiments

[0027] Hereinafter, a control system and a control method for a walking robot according to an embodiment of the present invention will be described based on the accompanying drawings. However, the control system and the control method for the walking robot of the present invention can be embodied in various ways and are not limited to the embodiments described in this specification. This embodiment is provided for the purpose of enabling those skilled in the art to fully understand the scope of the invention by making the disclosure of the specification sufficient.

[0028] (Walking Robot)

[0029] Figure 1 A schematic diagram showing the walking robot 1 of this embodiment. In Figure 1 , the traveling direction of the walking robot 1 is set as the X-axis direction, the left-right direction is set as the Y-axis direction, and the up-down direction is set as the Z-axis direction. In Figure 1 , a walking robot 1 having only a lower body without an upper body is shown, but the walking robot 1 may also have an upper body.

[0030] The walking robot 1 of this embodiment includes a waist 2 and a pair of left and right legs 3L and 3R connected to the lower end of the waist 2. The legs 3L and 3R include thigh links 4L and 4R, calf links 5L and 5R, and feet 6L and 6R. The thigh links 4L and 4R are connected to the waist 2 via hip joints 11L and 11R with three degrees of freedom. The calf links 5L and 5R are connected to the thigh links 4L and 4R via knee joints 12L and 12R with one degree of freedom. The feet 6L and 6R are connected to the calf links 5L and 5R via ankle joints 13L and 13R with two degrees of freedom.

[0031] The hip joints 11L and 11R include actuators 11a and 11a that rotate the thigh links 4L and 4R relative to the waist 2 about the yaw axis (Z-axis), include actuators 11b and 11b that rotate the thigh links 4L and 4R relative to the waist 2 about the roll axis (X-axis), and include actuators 11c and 11c that rotate the thigh links 4L and 4R relative to the waist 2 about the pitch axis (Y-axis).

[0032] The knee joints 12L and 12R include actuators 12a and 12a that rotate the calf links 5L and 5R relative to the thigh links 4L and 4R about the pitch axis (Y-axis). The ankle joints 13L and 13R include actuators 13a and 13a that rotate the feet 6L and 6R relative to the calf links 5L and 5R about the roll axis (X-axis), and include actuators 13b and 13b that rotate the feet 6L and 6R relative to the calf links 5L and 5R about the pitch axis (Y-axis).

[0033] Each of the actuators 11a to 11c, 12a, 13a, and 13b includes a motor such as a brushless DC servo motor and a speed reducer. In the actuator, the motor control device 8 (refer to Figure 3 ), which drives the actuator, and the position detector 9 (refer to Figure 3 ), which detects the rotational position of the motor, are unitized.

[0034] As described above, each of the legs 3L and 3R includes six actuators 11a to 11c, 12a, 13a, and 13b, and has a total of 12 degrees of freedom. By driving and controlling the 12 actuators using the controller 7 (refer to Figure 3 ) and the motor control device 8 (refer to Figure 3 ), it is possible to impart a desired motion to the legs 3L and 3R and enable the walking robot 1 to walk.

[0035] The controller 7 is provided in the waist 2. In addition, various sensors 10 such as an acceleration sensor that detects the acceleration of the center of gravity of the walking robot 1, a gyro sensor that detects the inclination angle of the walking robot, and an inertial measurement unit (IMU: Inertial Measurement Unit) that unitizes them are provided in the waist 2.

[0036] Figure 2 Reference numerals 12L and 12R denote the knee joints of the legs 3L and 3R. 4L and 4R are thigh links, 5L and 5R are calf links, and 12a is the actuator for the knee joints 12L and 12R. A spring 15 is provided in parallel with the actuator 12a at the knee joints 12L and 12R. The spring 15 applies a spring force in the direction in which the knee joints 12L and 12R extend. The spring 15 is a torsion spring, a helical spring, a leaf spring, or the like. It should be noted that the joints where the spring 15 is provided are not limited to the knee joints 12L and 12R, and for example, they can also be the pitch axis and roll axis of the hip joints 11L and 11R, or the wrist joints of the upper body.

[0037] (Control System)

[0038] Figure 3 And Figure 4 is a block diagram showing the structure of the control system of the walking robot 1 of the present embodiment. As Figure 3 shown, the control system includes a controller 7 and a motor control device 8. The controller 7 sends a command signal to the motor control device 8. The motor control device 8 drives the actuator 12a based on the command signal received from the controller 7.

[0039] The controller 7 and the motor control device 8 are communicatively connected via a communication line in a manner capable of transmitting and receiving. The controller 7 includes a communication control unit 21 that transmits and receives data and controls communication. Similarly, the motor control device 8 also includes a communication control unit 22 that transmits and receives data and controls communication. The communication control units 21 and 22 also have a function of detecting communication anomalies.

[0040] In Figure 4 only the motor control devices 8 for the knee joints 12L and 12R are shown, but 12 motor control devices 8 are provided corresponding to the number of the actuators 11a - 11c, 12a, 13a, and 13b. The motor control devices 8 for the other joints also have a structure substantially the same as that of the motor control devices 8 for the knee joints 12L and 12R.

[0041] (Motor Control Device)

[0042] As Figure 3 shown, an instruction signal is sent from the controller 7 to the motor control device 8. The main instruction information included in the instruction signal is a walking instruction for making the walking robot 1 walk and a stop instruction for braking the actuator 12a. The walking instruction mainly includes a position instruction to the rotation control unit 30.

[0043] The motor control device 8 includes: a rotation control unit 30 that generates a torque instruction for operating the motor of the actuator 12a; and a drive unit 35 that generates a drive voltage for energizing the motor of the actuator 12a based on the torque instruction.

[0044] The rotation control unit 30 controls the position, speed, and torque of the motor of the actuator 12a. The rotation control unit 30 has a position control unit 31 for controlling the position, a speed control unit 32 for controlling the speed, a torque control unit 33 for controlling the torque, and a spring torque calculation unit 34. It should be noted that the spring torque calculation unit 34 may also be provided in the controller 7.

[0045] If a position instruction is sent from the controller 7, the motor control device 8 controls the actuator 12a in such a way that the rotational position of the motor follows the received position instruction Pr. Specifically, the communication control unit 22 outputs the received position instruction Pr to the position control unit 31. The position control unit 31 calculates a position deviation based on the position instruction Pr and the position detection information Pd from the position detector 9, and multiplies the position deviation by a position gain to calculate a speed instruction Sr.

[0046] The speed control unit 32 differentiates the position detection information Pd from the position detector 9 to calculate speed information. In addition, the speed control unit 32 calculates a speed deviation based on the speed instruction Sr and the speed information, and performs proportional, integral, etc. on the speed deviation to calculate a torque instruction Tr.

[0047] The spring torque calculation unit 34 calculates the spring torque based on the position detection information from the position detector 9, calculates the correction torque Td based on the spring torque, and inputs the correction torque Td to the torque control unit 33. The torque control unit 33 calculates the voltage command Dr based on the torque command Tr and the correction torque Td.

[0048] It should be noted that the spring torque calculation unit 34 may also calculate the correction position and / or the correction speed based on the spring torque and input them to the position control unit 31 and / or the speed control unit 32. Additionally, the spring torque calculation unit 34 may be provided in the controller 7 as described above, and the controller 7 sends the correction torque, the correction position, and / or the correction speed to the motor control device 8.

[0049] The rotation control unit 30 and the communication control unit 22 include a CPU, a ROM, a RAM, etc. connected via a bus. The position control unit 31, the speed control unit 32, the torque control unit 33, the spring torque calculation unit 34, and the communication control unit 22 of the rotation control unit 30 are implemented by the CPU executing a program stored in the ROM.

[0050] The drive unit 35 generates a drive voltage Vd based on the voltage command Dr output from the rotation control unit 30. The drive unit 35 includes an inverter composed of a pulse width modulation (PWM) circuit and a switching element. The drive unit 35 generates a pulse-width modulated pulse signal according to the voltage command Dr by the PWM circuit, and controls the on / off of the switching element of the inverter by using the pulse signal, thereby generating the drive voltage Vd. The drive unit 35 applies the drive voltage Vd to each phase winding to drive the actuator 12a.

[0051] When the controller 7 determines that the walking robot 1 has fallen, the controller 7 sends a stop command to the motor control device 8. When the stop command is sent from the controller 7, the motor control device 8 switches the control from the walking mode for making the walking robot 1 walk to the stop mode for braking the actuator 12a. In the stop mode, for example, a stop command is input to the drive unit 35, the winding of the motor is short-circuited by the switching element of the inverter, and the motor is braked by the winding resistance.

[0052] The control in the stop mode is not limited to the above situation, and a zero speed command may also be input to the speed control unit 32, and a braking torque that stops the rotation of the motor is output in the speed control unit 32.

[0053] Additionally, the control in the stop mode is not limited to the above situation, and a dynamic braking circuit 23 may also be provided in the motor control device 8 (refer to Figure 3(dashed line). The dynamic braking circuit 23 has switches 24 and resistors 25 in each phase of the motor winding. One end of the switch 24 is connected to the winding, and the other end of the switch 24 is connected to the resistor 25. The other ends of the resistors 25 are connected to each other. The on / off of the switch 24 is controlled by the communication control unit 22. By turning the switch 24 on / off through the communication control unit 22, it is possible to switch between directly connecting and disconnecting the resistor 25.

[0054] (Controller)

[0055] As Figure 4 shown, in order to make the walking robot 1 walk, the controller 7 receives a walking instruction from an upper computer, an operator, etc., and sends a position instruction (instruction signal) to the motor control device 8.

[0056] The controller 7 includes a gait generation unit 41, a stabilization control unit 42, a joint angle calculation unit 43, and a communication control unit 21. The gait generation unit 41 generates a gait in a manner that satisfies the walking instruction. The walking instruction is a set of a stride length and a turning angle. The gait is a set of a waist position and posture trajectory, a foot position and posture trajectory, and a ZMP trajectory.

[0057] In order to prevent the walking robot 1 from falling due to unforeseen disturbances, the stabilization control unit 42 estimates the posture of the walking robot 1 based on the information of various sensors 10, and corrects the gait generated by the gait generation unit 41. By calculating the geometric positions of the respective links of the legs 3L and 3R based not only on the information of various sensors 10 but also on the position detection information of the position detector 9, it is possible to improve the accuracy of posture estimation.

[0058] In addition, when the posture of the walking robot 1 is inclined and the posture cannot be controlled even by controlling the actuators 11a to 11c, 12a, 13a, and 13b, the stabilization control unit 42 determines that the walking robot 1 has fallen. At this time, the controller 7 sends a stop instruction (instruction signal) to the motor control device 8.

[0059] It should be noted that the stabilization control unit 42 may also determine that the walking robot 1 has fallen when the estimated posture of the walking robot 1 is inclined by more than a specified amount. In addition, the stabilization control unit 42 may also control the walking robot 1 to reduce the impact applied to the walking robot 1 when falling, and then determine that the walking robot 1 has fallen. Furthermore, the stabilization control unit 42 may also monitor the power supplied to the actuators of all axes, and determine the fall of the walking robot 1 based on the voltage drop and current state of the power supply.

[0060] The joint angle calculation unit 43 converts the corrected gait generated by the stabilization controller 42 into position instructions for the actuators 11a to 11c, 12a, 13a, and 13b of the respective joints through inverse kinematics operations.

[0061] The communication control unit 21 sends a position command to the motor control device 8. The gait generation unit 41, the stabilization control unit 42, the joint angle calculation unit 43, and the communication control unit 21 include a CPU, a ROM, a RAM, etc. connected via a bus. They are implemented by the CPU executing a program stored in the ROM.

[0062] (Process of actuator transition to braking state (when the controller determines that the walking robot has fallen))

[0063] As Figure 5 shown, the controller 7 estimates the posture of the walking robot 1 based on information (1) from various sensors 10. When the posture of the walking robot 1 is inclined and the posture cannot be controlled even by controlling the actuators 11a - 11c, 12a, 13a, 13b, the controller 7 determines that the walking robot 1 has fallen. At this time, the controller 7 sends a stop command (2) to the motor control devices 8 of all axes that drive the actuators 11a - 11c, 12a, 13a, 13b. The motor control devices 8 of all axes brake the actuators 11a - 11c, 12a, 13a, 13b based on the stop command from the controller 7. The braking state of the actuators 11a - 11c, 12a, 13a, 13b is notified to the monitoring PC 51 (personal computer) from the controller 7 and recorded in the monitoring PC 51 (3).

[0064] (Process of actuator transition to braking state (when the motor control device detects an actuator or its own abnormality))

[0065] The controller 7 not only brakes the actuators 11a - 11c, 12a, 13a, 13b by the motor control device 8 when it determines that the walking robot 1 has fallen, but also in the following cases.

[0066] As Figure 6 shown, when the motor control device 8 detects an abnormality of the motor (such as overcurrent of the motor, abnormality of the position detector 9, etc.) or its own abnormality (such as damage, etc.), the detected motor control device 8 cuts off the power supply to the actuators 11a - 11c, 12a, 13a, 13b and brakes the actuators 11a - 11c, 12a, 13a, 13b. Then, the detected motor control device 8 sends abnormality information (1) to the controller 7.

[0067] When the controller 7 receives the abnormality information, it determines that the operation of the walking robot 1 cannot continue and sends a stop command (2) to the motor control devices 8 that have not detected an abnormality. The motor control devices 8 that have not detected an abnormality brake the actuators 11a - 11c, 12a, 13a, 13b based on the stop command from the controller 7.

[0068] (Process of actuator transitioning to braking state (when the motor control device detects an abnormality in receiving the command signal from the controller))

[0069] The situation is roughly the same when the motor control device 8 detects an abnormality in receiving the command signal from the controller 7. The controller 7 periodically sends command signals to the motor control device 8. The controller 7 and the motor control device 8 confirm regular communication. If there is no response even once within a specified time, it is determined that there is an abnormality in the communication line inside the walking robot 1. The motor control device 8 that has detected the abnormality cuts off the power supply to the actuators 11a - 11c, 12a, 13a, 13b and brakes the actuators 11a - 11c, 12a, 13a, 13b. Then, the motor control device 8 that has detected the abnormality sends abnormality information (1) to the controller 7. The controller 7 sends a stop command (2) to the motor control device 8 that has not detected the abnormality. The motor control device 8 that has not detected the abnormality brakes the actuators 11a - 11c, 12a, 13a, 13b based on the stop command from the controller 7.

[0070] (Process of actuator transitioning to braking state (when the operator inputs a stop command for the walking robot))

[0071] As Figure 7 shown, when the operator inputs a stop command for the walking robot 1 (1), the motor control device 8 brakes the actuators 11a - 11c, 12a, 13a, 13b of all axes. When the operator determines that the walking robot 1 should be stopped, the operator inputs a stop command to an operation device such as a personal computer. The operation device is connected to the monitoring PC 51 and the controller 7 via a network. The stop command input by the operator is sent to the controller 7 via the network ((1), (2)). When the controller 7 receives the stop command, it sends a stop command to the motor control device 8 of all axes (3).

[0072] (Process of actuator transitioning to braking state (when the test device for operating the walking robot sends a stop command))

[0073] As Figure 8 shown, when the test device 52 for operating the walking robot 1 sends a stop command (1), the motor control device 8 brakes the actuators 11a - 11c, 12a, 13a, 13b of all axes. Sensors and switches are installed on the fences and doors of the test device 52 (a test device equipped with a crane for lifting the walking robot 1, etc.). The sensors and switches are connected to the monitoring PC 51 and the controller 7 via a network. When the fences and doors open and close unnecessarily during the operation of the walking robot 1, the test device 52 sends a stop command to the controller 7 ((1), (2)). When the controller 7 receives the stop command, it sends a stop command to the motor control device 8 of all axes (3).

[0074] The effects of the control system of the walking robot 1 of the present embodiment will be described.

[0075] When the controller 7 determines that the walking robot 1 has fallen, the motor control device 8 brakes the actuator 12a, that is, transfers to the braking state. Therefore, the elastic energy accumulated in the spring 15 can be released and the rapid release can be suppressed, and the spring 15 can be prevented from causing a sharp change in the posture of the legs 3L and 3R of the walking robot 1. In addition, if the knee joints 12L and 12R are locked, the elastic energy will remain accumulated in the spring 15, and the walking robot 1 is likely to be damaged due to the external force accompanying the fall. By releasing the elastic energy accumulated in the spring 15 and suppressing the rapid release, these problems in the case of locking the knee joints 12L and 12R can be solved.

[0076] The motor control device 8 brakes the knee joints 12L and 12R that cause a large change in the posture of the legs 3L and 3R. Therefore, the sharp change in the posture of the legs 3L and 3R can be effectively prevented.

[0077] When the controller 7 determines that the walking robot 1 has fallen, not only the actuator 12a of the knee joints 12L and 12R is braked, but also the actuators 11a to 11c, 12a, 13a, and 13b of multiple (for example, all axes) are braked. Therefore, the legs 3L and 3R can be braked more safely.

[0078] Not only when the controller 7 determines that the walking robot 1 has fallen, but also when Figures 6 to 8 shown, the actuators 11a to 11c, 12a, 13a, and 13b are braked. Therefore, the legs 3L and 3R can be braked more safely.

[0079] It should be noted that the present invention is not limited to being embodied as the above embodiment, and can be embodied as other embodiments within the scope of not changing the gist of the present invention.

[0080] In the above embodiment, an example of a biped walking robot is described, but the walking robot can also be a quadruped walking robot.

[0081] In the above embodiment, an example in which the actuator directly drives the joints of the legs is described, but the actuator can also drive the joints via a link mechanism. For example, one or more four-joint rotary link mechanisms including a thigh link and a calf link can be constructed, and the knee joint can be driven by driving one or more four-joint rotary link mechanisms with an actuator. The actuator can also be arranged on the thigh link or the calf link.

[0082] In the above embodiment, the actuator includes a motor and a speed reducer, but the actuator can also include a motor and a ball screw.

[0083] This specification is based on Japanese Patent Application No. 2022-205367 filed on December 22, 2022. The entire content thereof is incorporated herein by reference.

[0084] Description of Reference Numerals:

[0085] 1... walking robot; 2... waist; 3L, 3R... legs; 7... controller; 8... motor control device; 12L, 12R... knee joints; 12a... actuator; 15... spring; 23... dynamic braking circuit; 52... test device.

Claims

1. A control system for a walking robot, the walking robot comprising: an actuator that drives a joint; and a spring that applies a spring force to the joint, wherein, The control system of the walking robot comprises: a motor control device that drives the actuator; and a controller that sends an instruction signal for controlling the motor control device, When the controller determines that the walking robot has fallen, the motor control device brakes the actuator.

2. The control system for a walking robot according to claim 1, wherein, the joint is the knee joint of a leg, the motor control device brakes the actuator to brake the extension of the knee joint.

3. The control system for a walking robot according to claim 1 or 2, wherein, the instruction signal at least includes a walking instruction for making the walking robot walk and a stop instruction for braking the actuator.

4. The control system for a walking robot according to claim 1 or 2, wherein, the walking robot comprises a plurality of actuators that drive a plurality of joints including the joint, the control system comprises a plurality of motor control devices that drive the plurality of actuators, the controller sends an instruction signal for controlling the plurality of motor control devices, When the controller determines that the walking robot has fallen, the plurality of motor control devices brake the plurality of actuators.

5. The control system for a walking robot according to claim 1 or 2, wherein, when at least one of the following occurs: when the motor control device detects an abnormality in the actuator or itself, when the motor control device detects an abnormality in receiving the instruction signal of the controller, when an operator inputs a stop instruction for the walking robot, or when a test device using the walking robot sends a stop instruction, the motor control device brakes the actuator.

6. A control system for a walking robot, the walking robot comprising: an actuator that drives a knee joint; and a spring that applies a spring force to the knee joint, wherein, The control system of the walking robot comprises a motor control device that drives the actuator, the motor control device brakes the actuator to prevent the knee joint from extending due to the spring.

7. A control method for a walking robot, the walking robot comprising: an actuator that drives a joint; and a spring that applies a spring force to the joint, wherein, The walking robot comprises: a motor control device that drives the actuator; and a controller that sends an instruction signal for controlling the motor control device, When the controller determines that the walking robot has fallen, the motor control device brakes the actuator.

8. A control method for a walking robot, the walking robot comprising: an actuator that drives a knee joint; and a spring that applies a spring force to the knee joint, wherein, The walking robot comprises a motor control device that drives the actuator, The motor control device brakes the actuator to prevent the knee joint from extending due to the spring.

Images