Mobile robot, vibration control method for mobile robot, and program

Abstract

To provide a mobile robot, a vibration damping method for the mobile robot, and a program that can more effectively reduce vibrations occurring in an environment sensor.SOLUTION: A mobile robot comprising a robot body and a moving mechanism configured to move the robot body, includes: an environment sensor unit that detects an environment around the mobile robot; a vibration detection unit that detects vibrations that occur in the mobile robot; and a damping unit that is arranged between the robot body and the environment sensor unit for executing damping against vibrations detected by the vibration detection unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a mobile robot, a vibration control method for a mobile robot, and a program. [Background technology]

[0002] In recent years, various industrial sectors have developed various mobile robots equipped with environmental sensors (cameras, LiDAR, etc.) that detect the surrounding environment, and these robots are used for dangerous and difficult tasks such as transporting and assembling goods, cleaning in dangerous places, and rescue at disaster sites. However, mobile robots equipped with environmental sensors have issues such as noise generated in the environmental sensors due to unevenness of the road surface and vibrations caused by the movement of the mobile robot itself, making it difficult to estimate their own position (localization).

[0003] In this regard, various technologies have been proposed to deal with vibrations that occur in robots. For example, Patent Document 1 describes a system that actively removes vibrations that occur in a robot arm using a motor. Also, for example, Patent Document 2 describes a robot device that regards the movement of the robot's moving parts as periodic movement and performs global posture stability control by adjusting the phase of the movement. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2003-71767 [Patent Document 2] Japanese Patent Application Laid-Open No. 2005-96068 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in none of the above robots has a method been proposed for more effectively reducing vibrations that occur in the environmental sensors that detect the surrounding environment.

[0006] Therefore, an object of the present invention is to provide a mobile robot, a vibration control method for a mobile robot, and a program that can more effectively reduce vibrations that occur in an environmental sensor. [Means for solving the problem]

[0007] A mobile robot according to one aspect of the present invention is a mobile robot comprising a robot body and a mobile mechanism configured to move the robot body, and further comprising an environmental sensor unit that detects the environment around the mobile robot, a vibration detection unit that detects vibrations occurring in the mobile robot, and a vibration control unit arranged between the robot body and the environmental sensor unit that performs vibration control on the vibrations detected by the vibration detection unit.

[0008] According to this aspect, a vibration control unit that performs vibration control on vibrations detected by a vibration detection unit that detects vibrations occurring in the mobile robot is positioned between the robot body and the environmental sensor, making it possible to more efficiently reduce vibrations propagating from the robot body to the environmental sensor. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a mobile robot, a vibration suppression method for a mobile robot, and a program that can more effectively reduce vibrations that occur in an environmental sensor. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram for explaining an example of the overall configuration of a mobile robot 1 according to the present embodiment. [Figure 2] 1 is a functional block diagram showing an example of the functional configuration of a mobile robot 1 according to the present embodiment. [Figure 3] 10 is an operation flow showing an example of vibration suppression processing executed by the mobile robot 1 according to the present embodiment. [Figure 4] FIG. 2 is a schematic diagram for explaining an example of the overall configuration of a mobile robot 2 according to a first modified example of the present embodiment. [Figure 5]FIG. 10 is a schematic diagram for explaining an example of the overall configuration of a mobile robot 3 according to a second modified example of the present embodiment. [Figure 6] FIG. 10 is a schematic diagram for explaining an example of the overall configuration of a mobile robot 4 according to a third modified example of the present embodiment. [Figure 7] FIG. 10 is a schematic diagram for explaining an example of the overall configuration of a mobile robot 5 according to a fourth modified example of the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] A preferred embodiment of the present invention will be described with reference to the accompanying drawings. (Note that in each drawing, components with the same reference numerals have the same or similar configurations.)

[0012] [First embodiment] (1) Overall structure Fig. 1 is a schematic diagram illustrating an example of the overall configuration of a mobile robot 1 according to this embodiment. As shown in Fig. 1, the mobile robot 1 according to this embodiment is configured as a quadrupedal walking robot, and includes, for example, a robot main body 100, a neck unit 200, a head unit 300, and leg units 400. Note that Fig. 1 is a diagram showing the mobile robot 1 as viewed from the side, and the left side of Fig. 1 may be referred to as the front, and the right side of Fig. 1 may be referred to as the rear.

[0013] The robot body 100 is configured as the base of the mobile robot 1 and may be referred to as a torso unit or the like. As shown transparently in FIG. 1 , the robot body 100 has a control circuit 101 provided inside a housing. The control circuit 101 controls, for example, a vibration suppression device 201, an environmental sensor 301, and a leg unit 400, as will be described later. In particular, in the mobile robot 1 according to this embodiment, the control circuit 101 controls vibration suppression by the vibration suppression device 201 based on vibrations detected by an IMU 302, as will be described later.

[0014] The neck unit 200 is mounted on the front end of the robot main body 100. As shown transparently in FIG. 1 , the neck unit 200 has a vibration damping device 201 provided inside the housing. The vibration damping device 201 is an example of a vibration damping section, and performs vibration damping on vibrations occurring in the mobile robot 1. In particular, the vibration damping device 201 performs vibration damping on vibrations detected by an IMU 302 (described later) under the control of the control circuit 101. Note that the entire neck unit 200 may be configured as the vibration damping device 201.

[0015] As will be described later, a head unit 300 having an environmental sensor 301 installed therein is mounted on top of the neck unit 200. In this way, the vibration control device 201 is disposed between the robot body 100 and the environmental sensor 301, and therefore the vibration control device 201 can effectively reduce vibrations occurring in the environmental sensor 301.

[0016] Here, in this embodiment, "placed between the robot body 100 and the environmental sensor 301" includes being placed on a path along which vibrations propagate from the robot body 100 to the environmental sensor 301, and may also include being placed at any position inside or outside a unit (in this embodiment, the head unit 300) placed between the unit in which the environmental sensor 301 is placed and the robot body 100.

[0017] The vibration control device 201 has a vibration control actuator and performs vibration control under the control of the control circuit 101. The direction (vibration control direction) and angle (vibration control angle) in which the vibration control actuator is installed may be arbitrarily set depending on, for example, the type of the environmental sensor 301. Furthermore, the degree of freedom of the vibration control actuator may be arbitrarily set to, for example, any of 1 to 6 degrees of freedom depending on, for example, the type of the environmental sensor 301.

[0018] The head unit 300 is mounted on the neck unit 200. As shown transparently in Fig. 1, the head unit 300 has at least one environmental sensor 301 and an IMU (Inertial Measurement Unit) 302 provided inside a housing.

[0019] The environmental sensor 301 is an example of an environmental sensor unit, and is a sensor for detecting the environment around the mobile robot 1. The environmental sensor 301 may be, for example, an imaging device such as a CCD (Charge Coupled Device) camera that can acquire video or still images of the surroundings of the mobile robot 1 as image data. The environmental sensor 301 may also be a depth sensor that can measure the distance to an object (obstacle). The type of the depth sensor is not particularly limited, and may be, for example, a stereo type, a ToF (Time Of Flight) type, a structured illumination type, or the like.

[0020] The IMU 302 is a device that detects the movement of the mobile robot 1. In particular, the IMU 302 is an example of a vibration detection unit and detects vibrations of the mobile robot 1. Specifically, the IMU 302 has a three-axis gyro for detecting three-dimensional angular velocity and a three-directional accelerometer for detecting acceleration in three directions. The IMU 302 generates signals indicating angular velocity (angular velocity signals) and acceleration (acceleration signals), and outputs them to, for example, the control circuit 101. The number of axes of the gyro included in the IMU 302 is not limited to three, but may be one or two. The number of directions of the accelerometer included in the IMU 302 is not limited to three, but may be one or two. Note that the IMU 302 may be equipped with other types of sensors, such as a pressure gauge, a flow meter, or a GPS, to improve reliability. The IMU 302 may be provided in another unit, such as the robot body 100, instead of the head unit 300.

[0021] The leg unit 400 is an example of a movement mechanism and is configured to enable the robot main body 100 to move. The leg unit 400 includes four leg units 400a to 400d, each connected to the robot main body 100. Leg unit 400a is connected to the front left side of the robot main body 100, leg unit 400b is connected to the front right side of the robot main body 100, leg unit 400c is connected to the rear left side of the robot main body 100, and leg unit 400d is connected to the rear right side of the robot main body 100. In other words, leg units 400a and 400b constitute the left and right front legs, respectively, and leg units 400c and 400d constitute the left and right hind legs, respectively. In the present disclosure, the leg units 400a to 400d may be collectively referred to simply as leg units 400.

[0022] (2) Functional configuration Next, the internal circuitry of the mobile robot 1 according to this embodiment will be described in detail with reference to Fig. 2. Fig. 2 is a functional block diagram showing an example of the functional configuration of the mobile robot 1 according to this embodiment.

[0023] The control circuit 101 of the robot main body 100 is configured by a computer including a communication unit 102 configured by a communication interface circuit, a memory 103 configured by a non-volatile rewritable storage device, and a main control unit 104 configured by a processor such as a CPU. The control circuit 101 may be attached to any location inside the robot main body 100. Note that the control circuit 101 is not limited to being provided in the robot main body 100, but may also be provided in another unit (for example, the neck unit 200 or the head unit 300).

[0024] The communication unit 102 transmits and receives data to and from an external information processing device using various wireless communication methods such as Bluetooth (registered trademark) and Wi-Fi (registered trademark). Specifically, the communication unit 102 transmits data supplied from the main control unit 104 to the external information processing device. The communication unit 102 also receives data transmitted by the external information processing device and supplies the data to the main control unit 104.

[0025] The memory 103 stores, for example, a control program 103a and threshold information 103b for the mobile robot 1. The control program 103a may be supplied from a computer-readable storage medium or downloaded via a predetermined communication network. The control program 103a is a program that causes the main control unit 104 to realize various functions (described later) that control each unit of the mobile robot 1.

[0026] As described below, the threshold information 103b is a threshold for the vibration period of the mobile robot 1, which is a condition for the vibration damping device 201 to perform vibration damping. That is, as described below, the vibration damping device 201 may damp the vibration of the mobile robot 1 under the control of the vibration damping device control unit 104e, on the condition that the vibration period of the mobile robot 1 is equal to or greater than the threshold value defined in the threshold information 103b. The threshold information 103b may define different thresholds depending on the manner of movement of the mobile robot 1. Specifically, for example, different thresholds may be defined depending on the speed of movement of the mobile robot 1, or the threshold may be defined so that the higher the speed of movement of the mobile robot 1, the larger the threshold. Also, for example, different thresholds may be defined depending on the gait of the mobile robot 1. Here, a gait may be a walking pattern that represents the order and timing of leg movements during walking, and may include, for example, a regular gait, a symmetrical gait, a wave gait, a parallelogram gait, a tripod (alternating three-point contact) gait, an amble gait, etc.

[0027] The main control unit 104 executes a control program for the mobile robot 1 stored in the memory 103. As a result, the main control unit 104 functions as an environmental information acquisition unit 104a, a vibration detection processing unit 104b, a self-position estimation unit 104c, a leg unit control unit 104d, a vibration control device control unit 104e, and the like.

[0028] The environmental information acquisition unit 104a acquires information (environmental information) indicating the environment around the mobile robot 1 detected by the environmental sensor 301 from the environmental sensor 301. The environmental information may be image data of a moving image or a still image, information indicating the distance (depth) to an object (obstacle), or the like, depending on the type of the environmental sensor 301. The environmental information acquisition unit 104a may supply the acquired environmental information to the self-position estimation unit 104c, the leg unit control unit 104d, etc.

[0029] The vibration detection processing unit 104b executes a process for detecting vibrations occurring in the mobile robot 1 based on the output value of the IMU 302. The vibration detection result by the vibration detection processing unit 104b may be information that quantitatively indicates the vibration, for example, the vibration period. Specifically, for example, the vibration detection processing unit 104b executes frequency analysis on the output value (angular velocity signal, acceleration signal, etc.) of the IMU 302 to generate each frequency component, and then calculates the vibration period occurring in the mobile robot 1 based on the frequency components.

[0030] The self-position estimation unit 104c estimates, for example, the current position of the mobile robot 1 in real space. For example, the self-position estimation unit 104c may estimate the current position of the mobile robot 1 using an algorithm such as V-SLAM (Visual Localization and Mapping) by referring to image data of the surroundings of the mobile robot 1 acquired by the environmental sensor 301 and distance information indicating the distance to objects located around the mobile robot 1 detected by the environmental sensor 301. Alternatively, the self-position estimation unit 104c may estimate the current position of the mobile robot 1 using a known method such as dead reckoning using output values ​​acquired from an encoder 402 of the leg unit 400 (described later). In the mobile robot 1 according to this embodiment, the vibration suppression device 201 is disposed between the robot main body 100 and the environmental sensor 301, so that vibrations occurring in the environmental sensor 301 can be more efficiently reduced, and delays in the self-position estimation calculation can be reduced by separating the self-position estimation calculation from the vibration elimination process.

[0031] The leg unit control unit 104d controls the leg units 400 based on predetermined movement commands that define the movement mode (including gait) and path of the mobile robot 1. Here, the content of the movement commands may be generated by the main control unit 104, or may be acquired from another information processing device operated by a user via the communication unit 102. As shown in FIG. 2, each of the leg units 400a to 400d has at least one joint, and each joint is provided with a motor 401a to 401d that rotationally drives the joint and an encoder 402a to 402d that detects the rotational angle position of the motor 401a to 401d. The leg unit control unit 104d generates a control signal based on the predetermined movement command, environmental information acquired by the environmental information acquisition unit 104a, and information such as the self-position estimated by the self-position estimation unit 104c, and supplies the control signal to each of the motors 401a to 401d to control the rotational drive of each of the motors 401a to 401d. Furthermore, the leg unit control unit 104d may acquire output values ​​indicating the rotational angle positions of the motors 401a-401d from the encoders 402a-402d, and then calculate the rotational speeds of the motors 401a-401d based on the output values. Information indicating the rotational speeds of the motors 401a-401d may be used to calculate the speed of the mobile robot 1, as will be described later.

[0032] The vibration control unit 104e controls the vibration control unit 201 to damp vibrations occurring in the mobile robot 1. Here, vibration damping may include not only completely eliminating vibrations but also at least partially reducing vibrations. Specifically, the vibration control unit 104e generates a control signal for driving the vibration control unit 201 at a period identical (including substantially identical) to the vibration period of the mobile robot 1 and in the opposite phase, and supplies the control signal to the vibration control unit 201. As a result, the vibration control unit 201 is driven at a period identical to the vibration period of the mobile robot 1 and in the opposite phase, thereby reducing vibrations occurring in the mobile robot 1.

[0033] The vibration control unit 104e may control the vibration control unit 201 to perform vibration control on the condition that the vibration period of the mobile robot 1 is equal to or greater than a predetermined threshold. The predetermined threshold may be, for example, a value stored in the memory 103 as threshold information 103b. The threshold may be determined according to the movement mode of the mobile robot 1. Specifically, different values ​​may be determined according to the movement speed or gait of the mobile robot 1. The vibration control unit 104e may calculate the movement speed of the mobile robot 1 based on, for example, the output value of the IMU 302. More specifically, the movement speed may be calculated by integrating the acceleration signal, which is the output value of the IMU 302. Alternatively, the vibration control unit 104e may calculate the movement speed of the mobile robot 1 based on the rotational angle positions of the motors 401a to 401d, which are the output values ​​of the encoders 402a to 402d of the leg units 400a to 400d.

[0034] (3) Operation processing 3 is an operational flow showing an example of vibration suppression processing executed by the mobile robot 1 according to this embodiment. In this vibration suppression processing, for example, the leg unit control unit 104d controls each of the leg units 400a to 400d, causing the mobile robot 1 to move. As a result, vibrations generated in the leg units 400 and the robot main body 100 are propagated to the head unit 300 via the neck unit 200. The IMU 302 included in the head unit 300 outputs angular velocity signals and acceleration signals as detection results of the movement of the mobile robot 1 at a predetermined cycle.

[0035] (S11) First, the vibration detection processing unit 104b executes a process of detecting vibrations occurring in the mobile robot 1 based on the output value of the IMU 302. Specifically, the vibration detection processing unit 104b calculates the period of vibrations occurring in the mobile robot 1 by executing frequency analysis on the output value (angular velocity signal, acceleration signal, etc.) of the IMU 302.

[0036] (S12) Next, the vibration damping device control unit 104e acquires threshold information 103b from the memory 103. At this time, the vibration damping device control unit 104e may acquire the speed of the mobile robot 1 and then acquire threshold information 103b associated with the speed from the memory 103. The speed of the mobile robot 1 may be calculated, for example, by integrating an acceleration signal that is an output value of the IMU 302, or may be calculated based on the output value of the encoder 402 of the leg unit 400. Alternatively, the vibration damping device control unit 104e may acquire a movement command supplied to the leg unit control unit 104d, and then identify threshold information 103b associated with information included in the movement command and acquire the threshold information 103b.

[0037] (S13) Next, the vibration control unit 104e determines whether the vibration period calculated by the vibration detection processing unit 104b in step S11 is equal to or greater than the threshold indicated by the threshold information 103b acquired in step S12. If it is determined that the vibration period calculated by the vibration detection processing unit 104b in step S11 is not equal to or greater than the threshold indicated by the threshold information 103b acquired in step S12 (S13; No), vibration control by the vibration control unit 201 is not performed, and the process returns to step S11. Then, detection of vibrations of the mobile robot 1 is performed again (S11).

[0038] (S14) On the other hand, if it is determined that the vibration period calculated by the vibration detection processing unit 104b in step S11 is equal to or greater than the threshold value indicated by the threshold information 103b acquired in step S12 (S13; Yes), the vibration control unit 104e generates a control signal having the same period and opposite phase as the vibration period calculated by the vibration detection processing unit 104b in step S11, and supplies this control signal to the vibration control unit 201. As a result, the vibration control unit 201 drives the vibration period of the mobile robot 1 with the same period and opposite phase as the vibration period of the mobile robot 1 based on the control signal, thereby reducing the vibration of the mobile robot 1. Then, the process returns to step S11, and detection of the vibration of the mobile robot 1 is executed again.

[0039] [Variations] (1) First Modification 4 is a schematic diagram illustrating an example of the overall configuration of a mobile robot 2 according to a first modified example of this embodiment. The mobile robot 2 according to the first modified example is configured as a six-legged walking robot. That is, as shown in FIG. 4, unlike the mobile robot 1 according to the first embodiment, it has leg units 410 instead of leg units 400.

[0040] The leg units 410 are an example of a movement mechanism, and are configured to be able to move the mobile robot 1, for example, under control of the main control unit 104 of the control circuit 101 of the robot main body 100. The leg units 410 are configured as leg units for six-legged walking, and include six leg units 410a to 410f. Leg unit 410a is connected to the front left side of the robot main body 100, leg unit 410b is connected to the front right side of the robot main body 100, leg unit 410c is connected to the rear left side of the robot main body 100, and leg unit 410d is connected to the rear right side of the robot main body 100. Furthermore, leg unit 410e is connected to the center left side of the robot main body 100, and leg unit 410f is connected to the center right side of the robot main body 100.

[0041] (2) Second Modification 5 is a schematic diagram illustrating an example of the overall configuration of a mobile robot 3 according to a second modification of this embodiment. The mobile robot 3 according to the second modification is configured as a crawler type. That is, as shown in FIG. 5, the mobile robot 3 differs from the mobile robot 1 according to the first embodiment in that it has crawlers 420 instead of leg units 400. Note that crawlers may also be called tracks or caterpillars.

[0042] The crawler 420 is an example of a movement mechanism, and is configured to be able to move the mobile robot 1, for example, under control of the main control unit 104 of the control circuit 101 of the robot main body 100. The crawler 420 has a configuration in which multiple wheels 420a are surrounded by belts 420b. Depending on their function, the multiple wheels 420a can be classified as drive wheels, rollers, guide wheels, etc. The crawler-type mobile robot 3 is a robot that moves over uneven ground using the crawler 420, and has advantages such as a relatively simple mechanism compared to leg-type robots, being capable of high-speed travel, and being highly energy efficient because it supports the vehicle body weight.

[0043] (3) Third Modification 6 is a schematic diagram illustrating an example of the overall configuration of a mobile robot 4 according to a third modification of this embodiment. The mobile robot 3 according to the third modification is configured as a wheeled robot. That is, as shown in FIG. 6, unlike the mobile robot 1 according to the first embodiment, the mobile robot 4 has a wheel mechanism 430 instead of the leg unit 400.

[0044] The wheel mechanism 430 is an example of a moving mechanism, and is configured to be able to move the mobile robot 1, for example, under control of the main control unit 104 of the control circuit 101 of the robot main body 100. The wheel mechanism 430 has front wheels 430a and rear wheels 430b. The wheeled mobile robot 4 is a robot that moves on uneven ground using the wheel mechanism 430, and has advantages such as a relatively simple mechanism compared to legged robots, being capable of high-speed travel, and being highly energy efficient because it supports the body load.

[0045] (4) Fourth Modification 7 is a schematic diagram for explaining an example of the overall configuration of a mobile robot 5 according to a fourth modified example of this embodiment. In the mobile robot 5 according to the fourth modified example, a neck unit 200 and a head unit 300 are provided inside the robot body 100. An opening 105 is provided in the robot body 100, and the neck unit 200 and the head unit 300 are housed within the opening 105. In particular, the neck unit 200 is connected to the bottom surface within the opening 105, and the head unit 300 is connected to the top of the neck unit 200. In other words, the vibration control device 201 included in the neck unit 200 is disposed between the robot body 100 and the environmental sensor 301.

[0046] (5) Other As described above, in this disclosure, legged locomotion mechanisms, crawler locomotion mechanisms, and wheeled locomotion mechanisms are given as examples. In this disclosure, the locomotion mechanisms possessed by a mobile robot may be configured by appropriately combining these legged locomotion mechanisms, crawler locomotion mechanisms, and wheeled locomotion mechanisms.

[0047] The above-described embodiments are intended to facilitate understanding of the present invention and are not intended to limit the present invention. The elements of the embodiments, as well as their arrangement, materials, conditions, shapes, sizes, etc., are not limited to those illustrated and can be modified as appropriate. Furthermore, configurations shown in different embodiments can be partially substituted or combined with each other. [Explanation of symbols]

[0048] 1, 2, 3, 4, 5...mobile robot, 100...robot body, 101...control circuit, 102...communication unit, 103...memory, 103a...control program, 103b...threshold information, 104...main control unit, 104a...environmental information acquisition unit, 104b...vibration detection processing unit, 104c...self-position estimation unit, 104d...leg unit control unit, 104e...vibration control device control unit, 200...neck unit, 201...vibration control device, 300...head unit, 301...environmental sensor, 302...IMU, 400, 400a to 400d...leg units, 401, 401a to 401d...motors, 402, 402a to 402d...encoders

Claims

1. A mobile robot, The robot body, a movement mechanism configured to be able to move the robot body; an environmental sensor unit that detects the environment around the mobile robot; a vibration detection unit that detects vibrations occurring in the mobile robot; a vibration suppression unit disposed between the robot body and the environment sensor unit, the vibration suppression unit having a vibration suppression actuator that suppresses the vibration detected by the vibration detection unit; A mobile robot comprising:

2. 2. The mobile robot according to claim 1, wherein the actuator has one to six degrees of freedom.

3. 3. The mobile robot according to claim 1, wherein the vibration detection unit is provided inside a unit in which the environmental sensor unit is provided.

4. The mobile robot according to claim 1 or 2, wherein the vibration detection unit is provided inside the robot body.

5. 5. The mobile robot according to claim 1, wherein the locomotion mechanism is a leg-type locomotion mechanism, a crawler-type locomotion mechanism, a wheel-type locomotion mechanism, or a combination thereof.

6. The mobile robot according to claim 1 , wherein the vibration suppression unit performs the vibration suppression when a period of the vibration detected by the vibration detection unit is equal to or greater than a predetermined threshold value.

7. 7. The mobile robot according to claim 6, wherein the predetermined threshold value is determined according to a movement mode of the mobile robot.

8. A vibration control method for a mobile robot, comprising: The mobile robot is The robot body, a movement mechanism configured to be able to move the robot body; an environmental sensor unit that detects the environment around the mobile robot; a vibration detection unit that detects vibrations occurring in the mobile robot; a vibration suppression unit disposed between the robot body and the environment sensor unit, the vibration suppression unit having a vibration suppression actuator that suppresses the vibration detected by the vibration detection unit; Equipped with The vibration damping method includes: detecting vibrations occurring in the mobile robot by the vibration detection unit; controlling the actuator to perform vibration damping on the detected vibration; A vibration damping method comprising:

9. A program for causing a computer to execute a vibration control method for a mobile robot, comprising: The mobile robot is The robot body, a movement mechanism configured to be able to move the robot body; an environmental sensor unit that detects the environment around the mobile robot; a vibration detection unit that detects vibrations occurring in the mobile robot; a vibration suppression unit disposed between the robot body and the environment sensor unit, the vibration suppression unit having a vibration suppression actuator that suppresses the vibration detected by the vibration detection unit; Equipped with The computer, controlling the vibration detection unit to detect vibrations occurring in the mobile robot; controlling the actuator to perform vibration damping on the detected vibration; A program to execute.

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