Control system and control method for a walking robot

Abstract

A walking robot control system is provided that prevents a spring from rapidly changing the posture of a leg portion of a walking robot when the walking robot falls. A control system for a walking robot, comprising: an actuator (12a) that drives a joint; and a spring that exerts a spring force on the joint, comprising: a motor control device (8) configured to drive the actuator (12a); and a control unit (7) configured to transmit a command signal that controls the motor control device (8), and wherein, when the control unit (7) determines that the walking robot has fallen, the motor control device (8) brakes the actuator (12a).

Description

Technical area

[0001] The present invention relates to a control system and a control method for a walking robot. State of the art

[0002] Walking robots are being developed that imitate the gait of humans or animals. Patent literature 1 discloses a bipedal robot with a waist section and two leg sections. The two leg sections of the bipedal robot alternately repeat the stance and swing phases to move on two legs.

[0003] Each joint contains actuators that drive the walking robot's movements. However, using actuators alone has the disadvantage of reducing energy efficiency, as the actuators also require power to support the weight of the bipedal robot.

[0004] To solve this problem, the walking robot described in patent literature 1 is equipped with a spring at the knee joint of each leg segment, parallel to the actuator. The spring force of each spring acts in the direction in which the knee joint extends. Each spring is arranged parallel to its respective actuator, so that the torque required for the actuator can be reduced by the spring force. If the spring forces are balanced by the torques acting on the knee joints under the walking robot's own weight when the walking robot is at rest, the torques required for the actuators when the walking robot is at rest can be reduced. Cited literature Patent literature

[0005] Patent Literature 1: JP 2003-103480 A Summary of the invention: Technical problem

[0006] In the walking robot device described in patent literature 1, however, the elastic energy stored in the springs is rapidly released when the walking robot falls. This causes the walking robot's posture to change rapidly. For example, if the springs are located at the knee joints of the leg sections, the knee joints will extend quickly. This problem is particularly pronounced when the gear ratio of each actuator is reduced to move the walking robot at high speed.

[0007] It is conceivable that the joints to which the springs are attached could be locked to prevent rapid extension during a fall. However, if the joints are locked, the elastic energy remains stored in the springs. Therefore, in an emergency, such as a fall, a malfunction is to be expected. Furthermore, there is a risk of injury from heat or the elastic energy if it is unexpectedly released while a person is nearby for maintenance purposes. It is desirable for the robot to be in a state where the elastic energy has been released before a person approaches it. If the energy is simply released, it will be rapidly expelled again, posing a risk of injury. Additionally, locking the joints can prevent any change in posture due to the elastic energy of the springs.However, the risk increases that the robot itself will be damaged by an external force (impact) during a fall. During a fall, the joints are forced back, so the external force cannot be avoided, and therefore the locking mechanism and joints directly absorb the force. For the reasons mentioned above, it cannot be said that using the locking mechanism is the most suitable option.

[0008] The present invention was developed taking into account the problems mentioned above and aims to provide a control system and a control method for a walking robot that prevents a spring from rapidly changing the posture of the walking robot when the walking robot falls. Solution to the problem

[0009] To solve the problems mentioned above, one aspect of the present invention is a control system for a walking robot comprising: an actuator that drives a joint; and a spring that exerts a spring force on the joint, wherein the control system comprises: a motor control device configured to drive the actuator; and a control unit configured to transmit a command signal that controls the motor control device, wherein the motor control device brakes the actuator when the control unit detects that the walking robot has fallen over.

[0010] Another aspect of the present invention is a control system for a walking robot comprising: an actuator that drives a knee joint; and a spring that exerts a spring force on the knee joint, wherein the control system includes a motor control device configured to drive the actuator, wherein the motor control device decelerates the actuator to prevent the spring from extending the knee joint. Advantageous effects of the invention

[0011] According to one aspect of the present invention, the motor control device brakes the actuator when the control unit detects that the walking robot has fallen, i.e., it puts the actuator into a braked state. This makes it possible to suppress the rapid release of the elastic energy stored in the spring during its release and to prevent the spring from rapidly changing the walking robot's posture. Furthermore, the elastic energy remains stored in the spring when the joint is locked, and the walking robot can be easily damaged by an external force associated with the fall. By suppressing the rapid release of the elastic energy stored in the spring during its release, the problems associated with joint locking can be solved.

[0012] According to the other aspect of the present invention, it is possible to suppress the rapid release of the elastic energy stored in the spring during the release of the elastic energy and to prevent the spring from rapidly extending the knee joint of the walking robot, since the motor control device brakes the actuator, i.e., puts the actuator into the braked state.

[0013] It should be noted that in the other aspect of the present invention, the motor control device can brake the actuator when the robot falls, or the motor control device can brake the actuator when the robot is not falling, and in at least one of the cases described below Fig. 6 to 8. Brief description of the drawings Fig. Figure 1 is a schematic diagram of a walking robot of the embodiment. Fig. Figure 2 is a diagram illustrating a knee joint of the walking robot of the embodiment. Fig. Figure 3 is a block diagram illustrating a configuration of a control system for the walking robot of the embodiment. Fig. Figure 4 is a block diagram illustrating the configuration of the control system for the walking robot of the embodiment. Fig. Figure 5 is a block diagram illustrating a process in which an actuator transitions to a braked state (when a control unit detects that the walking robot has fallen over). Fig. Figure 6 is a block diagram illustrating a sequence in which the actuator switches to the braked state (when an engine control device detects an anomaly in the actuator or in itself). Fig. Figure 7 is a block diagram showing a sequence in which the actuator switches to the braked state (when an operator enters a stop command for the walking robot). Fig. Figure 8 is a block diagram showing a sequence in which the actuator switches to the braked state (when a test device operating the walking robot transmits the stop command). Description of embodiments

[0014] The following describes a control system and a control method for a walking robot of an embodiment of the present invention with reference to the accompanying drawings. However, the control system and the control method for the walking robot of the present invention can be implemented in various forms and are not limited to the embodiment described in this description. The embodiment is provided to enable those skilled in the art to gain a comprehensive understanding of the scope of the invention by fully disclosing the description. (walking robot)

[0015] Fig. Figure 1 is a schematic representation of a walking robot of embodiment 1. Fig. 1. The direction of movement of the walking robot 1 is assumed to be the X-axis direction, a left-right direction the Y-axis direction, and an up-down direction the Z-axis direction. Fig. Figure 1 shows the walking robot 1 with only the lower body half without the upper body half, but the walking robot 1 can also have an upper body half.

[0016] The walking robot 1 of the embodiment comprises a waist section 2 and a pair of left and right leg sections 3L and 3R, which are connected to a lower end section of the waist section 2. The leg sections 3L and 3R comprise thigh segments 4L and 4R, lower leg segments 5L and 5R, and foot sections 6L and 6R. The thigh segments 4L and 4R are coupled to the waist section 2 via hip joints 11L and 11R with three degrees of freedom. The lower leg segments 5L and 5R are connected to the thigh segments 4L and 4R via knee joints 12L and 12R with one degree of freedom. The foot sections 6L and 6R are connected to the lower leg segments 5L and 5R via ankle joints 13L and 13R with two degrees of freedom.

[0017] The hip joints 11L and 11R include actuators 11a and 11a, which rotate the femurs 4L and 4R about the yaw axis (Z-axis) relative to the waist section 2, actuators 11b and 11b, which rotate the femurs 4L and 4R about the roll axis (X-axis) relative to the waist section 2, and actuators 11c and 11c, which rotate the femurs 4L and 4R about the tilt axis (Y-axis) relative to the waist section 2.

[0018] The knee joints 12L and 12R include actuators 12a and 12a, which rotate the lower leg limbs 5L and 5R around the inclination axis (Y-axis) relative to the thigh limbs 4L and 4R.

[0019] The ankle joints 13L and 13R comprise actuators 13a and 13a, which rotate the foot sections 6L and 6R about the roll axis (X-axis) relative to the lower leg limbs 5L and 5R, and actuators 13b and 13b, which rotate the foot sections 6L and 6R about the tilt axis (Y-axis) relative to the lower leg connecting limbs 5L and 5R.

[0020] Each of the actuators 11a to 11c, 12a, 13a and 13b comprises a motor, for example a brushless DC servomotor, and a reduction gear. A motor control device 8 (see Figure 8) is provided for each of the actuators. Fig. 3), which drives the actuator, and a position detector 9 (see Fig. 3), which detects the rotational position of the motor, are combined into a single unit.

[0021] As described above, leg sections 3L and 3R each comprise six actuators 11a to 11c, 12a, 13a and 13b, and have a total of 12 degrees of freedom. The 12 actuators are driven by a control unit 7 (see Fig. 3) and the engine control devices 8 (see Fig. 3) controlled. Therefore, it is possible to give the leg sections 3L and 3R the desired movement and make the walking robot 1 walk.

[0022] The waist section 2 is equipped with the control unit 7. In addition, the waist section 2 is equipped with various sensors 10, such as an accelerometer that detects the acceleration of the center of gravity of the walking robot 1, a gyroscope that detects the tilt angle of the walking robot, and an inertial measurement unit (IMU) in which these sensors are combined.

[0023] Fig. Figure 2 shows the knee joints 12L / 12R of leg segments 3L / 3R. Reference numerals 4L / 4R denote the femurs, reference numerals 5L / 5R denote the tibiae, and reference numeral 12a denotes the actuators of the knee joints 12L / 12R. The knee joint 12L / 12R is provided with a spring 15 parallel to the actuator 12a. The spring 15 exerts a spring force in the direction in which the knee joint 12L / 12R extends. The spring 15 is, for example, a torsion spring, a coil spring, or a leaf spring. It should be noted that the joints provided with the springs 15 are not limited to the knee joints 12L and 12R, but can, for example, be the axis of inclination or the axis of roll of the hip joints 11L and 11R, or arm joints of the upper body. (Tax system)

[0024] The Fig. 3 and Fig. Figure 4 shows block diagrams illustrating a configuration of a control system for the walking robot 1 of embodiment. As shown in Fig. As shown in Figure 3, the control system comprises the control unit 7 and the motor control device 8. The control unit 7 transmits a command signal to the motor control device 8. The motor control device 8 drives the actuator 12a in response to the command signal received from the control unit 7.

[0025] A communication link is established between the control unit 7 and the motor control device 8 via a communication line, enabling transmission and reception. The control unit 7 includes a communication control unit 21, which sends and receives data and controls the communication. Similarly, the motor control device 8 also includes a communication control unit 22, which sends and receives data and controls the communication. The communication control units 21 and 22 also have a function for detecting anomalies in the communication.

[0026] Fig. Figure 4 shows only the motor control device 8 of the knee joint 12L / 12R. However, there are 12 motor control devices 8 provided, corresponding to the actuators 11a to 11c, 12a, 13a and 13b. The motor control devices 8 of the other joints have essentially the same configuration as the motor control devices 8 of the knee joints 12L and 12R. (Engine control unit)

[0027] As in Fig. As shown in Figure 3, the control unit 7 sends a command signal to the motor control device 8. The main command information contained in the command signal is a walk command to move the walking robot 1 and a stop command to brake the actuator 12a. The walk command mainly comprises a position command for a rotary control unit 30.

[0028] The motor control device 8 comprises the rotary control unit 30, which generates a torque command to operate the motor of the actuator 12a, and a drive unit 35, which generates a drive voltage to excite the motor of the actuator 12a in response to the torque command.

[0029] The rotary control unit 30 controls the position, speed, and torque of the actuator 12a's motor. The rotary control unit 30 comprises a position control unit 31, which controls the position; a speed control unit 32, which controls the speed; a torque control unit 33, which controls the torque; and a spring torque calculation unit 34. It should be noted that the spring torque calculation unit 34 may be integrated into the control unit 7.

[0030] When the control unit 7 transmits a position command, the motor control unit 8 controls the actuator 12a so that the rotational position of the motor follows the received position command Pr. Specifically, the communication control unit 22 outputs the received position command Pr to the position control unit 31. The position control unit 31 calculates a position error based on the position command Pr and the position detection information Pd from the position detector 9 and multiplies the position error by the position gain to calculate a velocity command Sr.

[0031] The speed control unit 32 differentiates the position detection information Pd from the position detector 9 and calculates speed information. Furthermore, the speed control unit 32 calculates a speed error based on the speed command Sr and the speed information, and performs, for example, proportional and integral calculations for the speed error to calculate a torque command Tr.

[0032] The spring torque calculation unit 34 calculates the spring torque based on the position detection information from the position detector 9, calculates the torque to be corrected Td based on the spring torque, and inputs the torque to be corrected Td into the torque control unit 33. The torque control unit 33 calculates a voltage command Dr based on the torque command Tr and the torque to be corrected Td.

[0033] It should be noted that the spring torque calculation unit 34 can calculate a position and / or speed to be corrected based on the spring torque and input the position and / or speed to be corrected into the position control unit 31 and / or the speed control unit 32. Furthermore, it can be configured so that the spring torque calculation unit 34 is made available to the control unit 7 as described above, and the control unit 7 transmits the torque to be corrected, the position to be corrected, and / or the speed to be corrected to the motor control device 8.

[0034] The rotary control unit 30 and the communication control unit 22, for example, comprise a CPU, a ROM, and a RAM connected via a bus. The position control unit 31, the speed control unit 32, the torque control unit 33, and the spring torque calculation unit 34 of the rotary control unit 30 and the communication control unit 22 are implemented by the CPU, which executes a program stored in the ROM.

[0035] The drive unit 35 generates a drive voltage Vd in response to the voltage command Dr issued by the rotary control unit 30. The drive unit 35 comprises an inverter with a pulse-width modulation (PWM) circuit and switching elements. The drive unit 35 generates a pulse signal, the pulse width of which is modulated by the PWM circuit in response to the voltage command Dr, and uses the pulse signal to control the switching on and off of the inverter's switching elements to generate the drive voltage Vd. The drive unit 35 applies the drive voltage Vd to a winding of each phase to drive the actuator 12a.

[0036] When the control unit 7 detects that the walking robot 1 has fallen over, it sends a stop command to the motor control unit 8. Upon receiving the stop command, the motor control unit 8 switches from a walking mode, which makes the walking robot 1 move, to a stop mode, which decelerates the actuator 12a. In stop mode, for example, the stop command is entered into the drive unit 35, the motor windings are short-circuited by means of the inverter's switching elements, and the motor is braked by means of the winding resistance.

[0037] The control in stop mode is not limited to the above, but can be configured so that a zero speed command is entered into the speed control unit 32 and the speed control unit 32 outputs a braking torque that stops the rotation of the motor.

[0038] Furthermore, the control in stop mode is not limited to the above, and the motor control device 8 can be equipped with a dynamic brake circuit 23 (see dashed line in Fig. 3) The dynamic braking circuit 23 comprises a switch 24 and a resistor 25 in each of the phases of the motor windings. One end of the switch 24 is connected to its respective winding, and the other end of the switch 24 is connected to its respective resistor 25. The other ends of the resistor 25 are connected to each other. The switching on and off of the switch 24 is controlled by the communication control unit 22. The communication control unit 22 switches the switch 24 on and off, thereby switching the direct coupling and decoupling of the resistor 25. (Control unit)

[0039] As in Fig. As shown in Figure 4, the control unit 7 receives a walking command from, for example, a host computer or an operator in order to make the walking robot 1 walk and transmits a position command (command signal) to the motor control device 8.

[0040] The control unit 7 comprises a gait generation unit 41, a stabilization control unit 42, a joint angle calculation unit 43, and the communication control unit 21. The gait generation unit 41 generates a gait in a manner that fulfills the walking command. The walking command is a set of a step length and a rotation angle. The gait is a combination of a position and a posture path of the waist region, a position and a posture path of the foot region, and a ZMP path.

[0041] To prevent the walking robot 1 from falling due to an unexpected disturbance, the stabilization control unit 42 estimates the posture of the walking robot 1 based on information from the various sensors 10 and corrects the gait generated by the gait generation unit 41. The geometric position of each limb of leg sections 3L and 3R is calculated based not only on information from the various sensors 10, but also on position detection information from the position detector 9. Therefore, the posture estimation accuracy can be improved.

[0042] If the posture of the walking robot 1 is tilted and cannot be controlled even by actuating the actuators 11a to 11c, 12a, 13a and 13b, the stabilization control unit 42 determines that the walking robot 1 has fallen over. At this point, the control unit 7 sends a stop command (command signal) to the motor control device 8.

[0043] It should be noted that the stabilization control unit 42 can detect that the walking robot 1 has fallen if its estimated posture is tilted by a predetermined amount or more. Furthermore, the stabilization control unit 42 can control the walking robot 1 to reduce any impact exerted on it at the time of a fall and then detect that the walking robot 1 has fallen. Additionally, the stabilization control unit 42 can monitor the power supplied to the actuators of all axes and determine whether the walking robot 1 has fallen based on a voltage drop or the current state of a power supply.

[0044] The joint angle calculation unit 43 converts the corrected gait generated by the stabilization control unit 42 into a position command for each of the actuators 11a to 11c, 12a, 13a and 13b of the joints by means of inverse kinematic calculations.

[0045] The communication control unit 21 transmits the position command to the motor control device 8. The gear generation unit 41, the stabilization control unit 42, the joint angle calculation unit 43, and the communication control unit 21 each comprise, for example, a CPU, a ROM, and a RAM connected via a bus. They are implemented by the CPU, which executes a program stored in the ROM. (Sequence in which the actuators switch to the braked state (when the control unit detects that the walking robot has fallen over))

[0046] As in Fig. As shown in Figure 5, the control unit 7 estimates the posture of the walking robot 1 based on the information (1) from the various sensors 10. If the posture of the walking robot 1 is tilted and cannot be controlled by actuating the actuators 11a to 11c, 12a, 13a and 13b, the control unit 7 determines that the walking robot 1 has fallen over. At this point, the control unit 7 sends a stop command to the motor control devices 8 of all axes that drive the actuators 11a to 11c, 12a, 13a and 13b (2). The motor control devices 8 of all axes brake the actuators 11a to 11c, 12a, 13a and 13b of all axes in response to the stop command from the control unit 7. The control unit 7 reports the braking states of the actuators 11a to 11c, 12a, 13a and 13b to a monitoring PC 51 (a personal computer), and the braking states are recorded in the monitoring PC 51 (3). (Sequence in which the actuators switch to the braked state (when the engine control unit detects an anomaly in the actuator or in itself))

[0047] Not only when the control unit 7 detects that the walking robot 1 has fallen, but also in the following cases the motor control devices 8 brake the actuators 11a to 11c, 12a, 13a and 13b.

[0048] As in Fig. As shown in Figure 6, if the motor control device 8 detects an anomaly in the motor (such as an overcurrent in the motor or an anomaly in the position detector 9) or an anomaly in itself (such as damage), the motor control device 8, having detected an anomaly, switches off the power supply to its actuator 11a / 11b / 11c / 12a / 13a / 13b and brakes the actuator 11a / 11b / 11c / 12a / 13a / 13b. The motor control device 8, having detected the anomaly, transmits anomaly information to the control unit 7 (1).

[0049] Upon receiving the anomaly information, the control unit 7 determines that the operation of the walking robot 1 cannot continue and transmits a stop command to the motor control units 8 in which no anomaly was detected (2). The motor control units 8 in which no anomaly was detected brake their respective actuators 11a / 11b / 11c / 12a / 13a / 13b in response to the stop command from the control unit 7.

[0050] (Sequence in which the actuators are put into the braked state (if the motor control device detects an anomaly in the reception of the command signal from the control unit)) Essentially the same applies if the motor control device 8 detects an anomaly in the reception of a command signal from the control unit 7. The control unit 7 sends a command signal to the motor control device 8 at regular intervals. The connection between the control unit 7 and the motor control device 8 is checked at regular intervals. If no response is received within a predetermined time period, an anomaly in the communication line within the walking robot 1 is detected. The motor control device 8, having detected the anomaly, shuts off the power supply to its actuator 11a / 11b / 11c / 12a / 13a / 13b and brakes the actuator 11a / 11b / 11c / 12a / 13a / 13b.The motor control unit 8, which has detected the anomaly, then transmits anomaly information to the control unit 7 (1). The control unit 7 transmits a stop command to the motor control units 8 in which no anomaly was detected (2). The motor control units 8 in which no anomaly was detected brake their respective actuators 11a / 11b / 11c / 12a / 13a / 13b in response to the stop command from the control unit 7. (Sequence in which actuators switch to the braked state (when the operator enters a stop command for the walking robot))

[0051] As in Fig. As shown in Figure 7, the motor control devices 8 brake the actuators 11a to 11c, 12a, 13a and 13b of all axes when an operator enters a stop command for the walking robot 1 (1). When the operator determines that the walking robot 1 should be stopped, they enter a stop command to an operating device such as a personal computer. The operating device is connected via a network to the monitoring PC 51 and the control unit 7. The stop command entered by the operator is transmitted via the network to the control unit 7 ((1) and (2)). Upon acceptance of the stop command, the control unit 7 sends a stop command to the motor control devices 8 of all axes (3). (Sequence in which the actuators are put into the braked state (when the test device that operates the walking robot transmits a stop command))

[0052] As in Fig. As shown in Figure 8, the motor control devices 8 brake the actuators 11a to 11c, 12a, 13a and 13b of all axes when a test device 52, which operates the walking robot 1, transmits a stop command (1). Sensors and switches are attached to the fence and door of the test device 52 (a test device that includes, for example, a crane that lifts the walking robot 1). The sensors and switches are connected via the network to the monitoring PC 51 and the control unit 7. If the fence and door open or close unnecessarily during operation of the walking robot 1, the test device 52 sends a stop command to the control unit 7 ((1) and (2)). Upon acceptance of the stop command, the control unit 7 sends a stop command to the motor control devices 8 of all axes (3).

[0053] The effects of the control system for the walking robot 1 of the embodiment are described.

[0054] When the control unit 7 detects that the walking robot 1 has fallen, the motor control devices 8 brake the actuators 12a, i.e., they switch the actuators 12a to the braked state. This makes it possible to suppress a rapid release of the elastic energy stored in the springs 15 during the release of the elastic energy, and it makes it possible to prevent the springs 15 from rapidly changing the positions of the leg sections 3L and 3R of the walking robot 1. If the knee joints 12L and 12R are locked, the elastic energy remains stored in the springs 15, and the walking robot 1 can be easily damaged by an external force associated with a fall. The problems associated with locking the knee joints 12L and 12R can be solved by suppressing the rapid release of the elastic energy stored in the springs 15 during the release of the elastic energy.

[0055] The motor control devices 8 brake the knee joints 12L and 12R, which significantly alter the positions of leg sections 3L and 3R. Therefore, it is possible to effectively prevent rapid changes in the positions of leg sections 3L and 3R.

[0056] If the control unit 7 detects that the walking robot 1 has fallen, not only the actuators 12a of the knee joints 12L and 12R, but also two or more of the actuators 11a to 11c, 12a, 13a and 13b (for example, of all axes) are braked. This allows the leg sections 3L and 3R to be braked more safely.

[0057] The control unit 7 brakes the actuators 11a to 11c, 12a, 13a and 13b not only when it detects that the walking robot 1 has fallen, but also according to the instructions in the Fig.The time points shown in Figures 6 to 8 enable safer braking of leg sections 3L and 3R. It should be noted that the present invention is not limited to the embodiment described above, but can be further specified in other embodiments without altering the purpose of the present invention.

[0058] The embodiment described above uses an example where the walking robot is a bipedal robot. However, the walking robot can also be a quadrupedal robot.

[0059] In the embodiment described above, the example is given in which the actuator directly drives the joint of the leg segment. However, the actuator can also drive the joint via a limb mechanism. For example, one or more rotating four-bar linkages, including the femur and tibia, can be constructed, and the knee joint can be driven by the actuator that drives the one or more rotating four-bar linkages. The actuator can be located on the femur or the tibia.

[0060] In the embodiment described above, the actuator comprises the motor and the reduction gear. However, the actuator can also comprise a motor and a ball screw.

[0061] The present description is based on Japanese patent application no. 2022-205367, filed on December 22, 2022. The entire content of this application is included herein. List of reference symbols 1 walking robot 2 Waist section 3L, 3R Leg section 7 Control unit 8 Engine control device 12L, 12R Knee joint 12a Actuator 15 springs 23 Dynamic brake shifting 52 Test device QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2003-103480 A

[0005] JP 2022-205367

[0061]

Claims

[1] Control system for a walking robot, comprising: an actuator that drives a joint; and a spring that exerts a spring force on the joint, wherein the control system comprises: a motor control device configured to drive the actuator; and a control unit configured to transmit a command signal that controls the engine control device, wherein When the control unit detects that the walking robot has fallen, the motor control device slows down the actuator. [2] Control system for the walking robot according to claim 1, wherein the joint is a knee joint of a leg section, and the motor control device slows down the actuator to slow down the extension of the knee joint. [3] Control system for the walking robot according to claim 1 or 2, wherein the control signal includes at least one walking command to move the walking robot and one stopping command to brake the actuator. [4] Control system for the walking robot according to claim 1 or 2, wherein the walking robot comprises a plurality of actuators which drive a plurality of joints including the joint, and The control system comprises a multitude of motor control devices that drive the multitude of actuators; the control unit transmits a command signal that controls the multitude of motor control devices; and The multitude of motor control devices slow down the multitude of actuators when the control unit detects that the walking robot has fallen over. [5] Control system for the walking robot according to claim 1 or 2, wherein at least at one of the following times: a time when the motor control device detects an anomaly in the actuator or in itself; a time when the motor control device detects an anomaly in the reception of the command signal from the control unit; a time when an operator inputs a stop command for the walking robot; or a time when a test device that actuates the walking robot transmits the stop command, the motor control device decelerates the actuator. [6] Control system for a walking robot, comprising: an actuator driving a knee joint; and a spring exerting a spring force on the knee joint, wherein the control system includes a motor control device configured to drive the actuator, the motor control device braking the actuator to prevent the spring from extending the knee joint. [7] Control method for a walking robot, comprising: an actuator that drives a joint; and a spring that exerts a spring force on the joint, wherein the control method comprises: a motor control device configured to drive the actuator; and a control unit configured to transmit a command signal that controls the engine control device, wherein The motor control device slows down the actuator when the control unit detects that the walking robot has fallen over. [8] Control method for a walking robot, comprising: an actuator driving a knee joint; and a spring exerting a spring force on the knee joint, wherein the control method includes a motor control device configured to drive the actuator, the motor control device braking the actuator to prevent the spring from extending the knee joint.

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