JP3555948B2 - Mobile robot device, operation control device and operation control method for mobile robot device - Google Patents

Description

  The present invention relates to a mobile robot device having a large number of degrees of freedom, an operation control device and an operation control method of the mobile robot device, and in particular, a trunk, a leg connected to the trunk and having a foot, and The present invention relates to a mobile robot device having an arm connected to the trunk, an operation control device of the mobile robot device, and an operation control method.

  More specifically, the present invention relates to a mobile robot device that stabilizes and controls the posture of a moving body using ZMP (Zero Moment Point) as a posture stability discrimination criterion, an operation control device of the mobile robot device, and an operation control method. In particular, movements that control the robot as a whole during the fall and fall to minimize the damage suffered by the robot as much as possible, and recover from a standing posture such as lying on his back or prone by stable operation with relatively little torque. The present invention relates to a robot device, an operation control device of a mobile robot device, and an operation control method.

  A mechanical device that performs a motion resembling a human motion using an electric or magnetic action is called a “robot”. It is said that the robot is derived from the Slavic word "ROBOTA (slave machine)". In Japan, robots began to spread from the late 1960's, but most of them were industrial robots (industrial robots) such as manipulators and transfer robots for the purpose of automation and unmanned production work in factories. Met.

  Recently, it has been designed based on a pet-type robot that imitates the body mechanism and movement of a four-legged animal such as a dog or cat, or a body mechanism or movement of an animal that walks two-legged upright such as a human. Research and development on legged mobile robots such as the "humanoid" and "humanoid" robots have been progressing, and expectations for their practical use are increasing.

  The significance of researching and developing a two-legged upright legged mobile robot called a humanoid or humanoid will be understood from the following two viewpoints, for example.

  One is a human science perspective. That is, through a process of creating a robot having a structure similar to a human lower limb and / or upper limb, devising a control method thereof, and simulating a human walking motion, a mechanism of natural human motion such as walking can be achieved. Can be elucidated by engineering. These findings could be greatly reduced to advances in various other disciplines that address human motor mechanisms, such as ergonomics, rehabilitation engineering, or sports science.

  The other is the development of a practical robot that supports life as a human partner, that is, supports human activities in various situations in a living environment and other daily lives. In various aspects of the human living environment, this type of robot needs to learn from humans to learn how to adapt to humans or the environment, each of which has a different personality, and to further grow in functionality. At this time, it is considered that the robot having the "human form", that is, the same shape or the same structure as a human, functions more effectively in performing smooth communication between the human and the robot.

  For example, when teaching a robot how to get through a room while avoiding obstacles that should not be stepped on, the partner who teaches like a crawler type or quadruped type robot has a completely different structure than myself. A bipedal walking robot having a similar appearance should be much easier for the user (operator) to teach and for the robot to learn (for example, see Non-Patent Document 1).

  There have already been proposed a number of techniques relating to posture control and stable walking for a type of robot that performs legged movement by biped walking. Stable “walking” here can be defined as “moving using the legs without falling over”.

  The posture stability control of the robot is very important in avoiding the falling of the robot. This is because falling means that the robot interrupts the work being performed, and considerable effort and time is spent in getting up from the falling state and resuming the work. In addition, above all, there is a risk that the fall may cause fatal damage to the robot body itself or the object on the other side that collides with the fallen robot. Therefore, in the design and development of a legged mobile robot, posture stability control during walking or other legged work is one of the most important technical issues.

  During walking, gravity, inertial force, and these moments act on the road surface from the walking system due to gravity and acceleration caused by the walking motion. According to the so-called "Dalambert principle", they balance the floor reaction force and the floor reaction force moment as a reaction from the road surface to the walking system. As a consequence of the mechanical inference, there is a point where the pitch and roll axis moments are zero on or inside the supporting polygon formed by the sole and the road surface, that is, "ZMP (Zero Moment Point)".

  Many proposals relating to posture stability control of a legged mobile robot and prevention of falling during walking use this ZMP as a criterion for determining walking stability. The bipedal walking pattern generation based on the ZMP standard has an advantage that a sole landing point can be set in advance, and the kinematic constraint condition of the toe according to the road surface shape can be easily considered. In addition, using ZMP as a stability determination criterion means that a trajectory, not a force, is treated as a target value in motion control, so that technical feasibility is improved (for example, see Non-Patent Document 2). thing).

  In general, a bipedal walking robot such as a humanoid has a higher center of gravity and a narrower ZMP stable area during walking than a quadrupedal walking. Therefore, the problem of the posture change due to the change of the road surface condition is particularly important in a bipedal walking robot.

  There have already been some proposals using ZMP as a posture stability determination standard for a bipedal walking robot.

  For example, a legged mobile robot can perform stable walking by matching a point on the floor at which ZMP becomes zero with a target value (for example, see Patent Literature 1).

  Further, the legged mobile robot is configured such that the ZMP is located inside the supporting polyhedron (polygon) or at a position having at least a predetermined margin from the end of the supporting polygon at the time of landing or leaving the floor. Even after receiving the above, there is a margin of the ZMP for a predetermined distance, and the stability of the body during walking is improved (for example, see Patent Document 2).

  Further, the walking speed of the legged mobile robot can be controlled by the ZMP target position (for example, see Patent Document 3). That is, using the previously set walking pattern data, the leg joints are driven so that the ZMP coincides with the target position, and at the same time, the inclination of the upper body is detected, and the walking pattern set according to the detected value is used. Change the data ejection speed. In this case, when the robot leans forward, for example, by stepping on unknown irregularities, the posture can be recovered by increasing the discharge speed. Further, since the ZMP is controlled to the target position, there is no problem even if the discharge speed is changed during the two-leg supporting period.

  Further, the landing position of the legged mobile robot can be controlled by the ZMP target position (for example, see Patent Document 4). In other words, the legged mobile robot detects a deviation between the ZMP target position and the actually measured position, and drives one or both of the legs to eliminate the deviation, or detects a moment around the ZMP target position and detects it. By driving the legs so that is zero, stable walking is realized.

  Further, the inclination posture of the legged mobile robot can be controlled by the ZMP target position (for example, see Patent Document 5). That is, a moment around the ZMP target position is detected, and when a moment is generated, the leg is driven so that the moment becomes zero, thereby performing a stable walking.

  The posture stability control of a robot using ZMP as a stability discrimination criterion basically consists in searching for a point where the moment becomes zero inside a support polygon formed by a sole and a road surface.

  As described above, in legged mobile robots, maximum efforts have been made to prevent the robot from tipping over during walking or other movement patterns, such as by introducing ZMP as a posture stability criterion. Have been.

  Needless to say, the state of falling means that the robot interrupts the work being executed, and considerable labor and time are required to get up from the falling state and resume the work. Above all, there is a risk that the fall may cause fatal damage to the robot body itself or to an object on the other side that collides with the fallen robot.

  Despite performing maximum posture stabilization control to prevent falling, inadequate control or unexpected external factors (for example, collision with unexpected objects, road surface conditions such as protrusions or depressions on the floor, obstacles For example, due to the appearance of an object), the stability of the posture is lost, and the movable leg alone cannot support the robot, and the robot may fall down.

  In particular, in the case of a robot that performs legged movement with two feet, such as a humanoid, the position of the center of gravity is high and the standing state itself is unstable in the first place. When the robot falls, there is a danger that the robot itself or the other party colliding with the fall will cause fatal damage.

  For example, in a situation where a legged mobile robot is likely to fall, damage to the robot due to the fall or damage to an object on the other side with which the robot collides when the fall can be reduced as much as possible (for example, Patent Document 6). checking).

  However, it is not enough to simply control the robot's center of gravity at the time of landing when falling down, and it is not sufficient to control the robot only with the legs in order to minimize damage when it actually falls. The present inventors think that it is important to discuss how to operate the entire body including the fuselage and the arms, and not the body.

  Further, in the case of an upright walking type legged mobile robot, a reference posture in consideration of a body motion such as walking is a standing posture standing up with two feet. For example, the most stable state (that is, the minimum point of instability) among the standing postures can be positioned as the basic standing posture.

  In such a basic standing posture, in order to maintain the posture stably, it is necessary to execute posture stabilization control and generate torque of a joint axis motor such as a leg according to a control instruction. In other words, since the standing posture is never stable in the no-power state, it is considered that it is preferable that the robot starts from the physically most stable on-floor posture such as a supine position or a prone position.

  However, even if the robots with the above-floor postures are turned on, if the robots cannot rise up autonomously, the operator must lend a hand and perform operations such as lifting the body, which is troublesome.

  Also, when the robot temporarily stands and performs walking or other autonomous legged work, basically try to move using the legs without falling, but do not dare to fall. It can be lost. When a robot operates in a human living environment including various obstacles and unexpected situations, "falling over" is inevitable. In the first place, human beings fall down. Even in such a case, it is troublesome if the operator must lend a hand to lift the machine.

  If the robot could not get up on its own every time it was on the floor, the robot would not be able to work in an unmanned environment, that is, the work would not be self-sufficient, and it would be completely autonomous It cannot be placed in the environment.

JP-A-5-305579 JP-A-5-305581 JP-A-5-305558 JP-A-5-305585 JP-A-5-305586 JP-A-11-48170 Takanishi, "Control of Biped Robots" (Automotive Society of Japan Kanto Branch <Taka Plastics> No. 25, 1996 APRIL) This is described in "LEGGED LOCATION ROBOTS" by Miomir Vukobratovic (Ichiro Kato, "Walking Robots and Artificial Feet" (Nikkan Kogyo Shimbun)).

  An object of the present invention is to provide an excellent mobile robot device having a trunk, a leg provided with a leg connected to the trunk, and an arm connected to the trunk, and an operation control device for the mobile robot. And an operation control method.

  A further object of the present invention is to provide an excellent mobile robot device, an operation control device of the mobile robot device, and an operation control capable of appropriately stabilizing and controlling the posture of a moving body by using ZMP as a posture stability determination criterion. It is to provide a method.

  A further object of the present invention is to reduce the damage to the robot as much as possible by controlling the motion of the entire body in the process of falling and falling, and to stably stand from a floor posture such as a supine or prone position with stable operation with relatively little torque. An object of the present invention is to provide an excellent mobile robot device, an operation control device of the mobile robot device, and an operation control method that can be recovered.

The present invention has been made in consideration of the above problems, and a first aspect thereof includes a link structure in which a plurality of links are connected in a length direction, and a foot connected to the link structure. In a mobile robot device having a plurality of legs having, when returning from a falling state of the mobile robot device,
Means for searching for the narrowest supporting polygon from among the grounding polygons formed by the floor contact links, in an on-floor posture where two or more links including the center of gravity link at which the center of gravity of the mobile robot device is located,
Means for determining whether the narrowest support polygon is sufficiently narrow to allow ZMP to be moved into a ZMP stable region formed by the foot;
Means for causing the mobile robot device to rise from the above-floor posture when the narrowest support polygon is determined to be sufficiently small;
It is a mobile robot apparatus characterized by comprising:

According to a second aspect of the present invention, there is provided a mobile robot device including a link structure in which a plurality of links are connected in a length direction, and when the mobile robot device returns from a falling state,
First means for searching for a narrowest supporting polygon from ground contact polygons formed by floor contact links in an on-floor posture where two or more links including a center of gravity link at which the center of gravity of the mobile robot device is located are on the floor; ,
Second means for leaving two or more links among the links constituting the grounding polygon that are not involved in the narrowest supporting polygon and bending one or more of the leaving links to form a narrower grounding polygon;
Third means for determining whether a ZMP can be set in the ground polygon formed by the second means,
In response to determining that the ZMP can be set by the third means, moving the ZMP to the ground polygon and further determining whether the newly formed supporting polygon is sufficiently narrow. Means,
Fifth means for raising the mobile robot apparatus in response to determining that the supporting polygon is sufficiently narrow by the fourth means;
It is a mobile robot apparatus characterized by comprising:

According to a third aspect of the present invention, there is provided an operation control device for controlling a series of operations related to falling and rising of the mobile robot device in the mobile robot device having a movable leg, wherein the mobile robot device includes a plurality of links. Consists of a link structure that connects in the length direction,
At the time of a fall, in a posture on the floor where two or more links including the center of gravity link serving as the center of gravity of the mobile robot device touches the floor, the narrowest support polygon among the grounding polygons formed by the touching floor contacting the floor surface Means for searching for
Means for setting a ZMP at a position where the number of links not involved in the minimum supporting polygon is the maximum and performing a tipping operation;
Means for searching for a link that can leave the bed in the falling posture of the mobile robot device;
Means for raising all the links that can get out of the bed and performing a rising motion;
An operation control device for a mobile robot device, comprising:

Further, a fourth aspect of the present invention is a mobile robot apparatus having a trunk, a leg connected to the trunk, and an arm connected to the trunk,
A support polygon detection unit configured to detect a first support polygon formed by a plurality of ends where the leg, the trunk, and / or the arm touches the floor;
A support polygon changing means for reducing the area of the first support polygon by bending the leg in the trunk direction;
ZMP movement control means for determining whether or not the ZMP in the changed first support polygon can be moved to a grounded polygon formed by the sole of the leg, and
When the ZMP movement control means determines that the ZMP can be moved, the ZMP is basically moved from the falling posture while maintaining the ZMP from within the first support polygon within the ground contact polygon formed by the sole surface. Control means for transitioning the mobile robot device to a posture,
It is a mobile robot apparatus characterized by comprising:

According to a fifth aspect of the present invention, at least a torso, one or more arm links connected above the torso via a first joint, and a lower joint below the torso via a second joint A first leg link to be provided, and a second leg link connected to a tip end of the first leg link via a third joint,
Means for contacting the tip of the arm link and the foot of the tip of the second leg link to form a first support polygon;
After moving the second joint above the third joint in the direction normal to the floor contact surface while keeping the tip of the arm link and the foot on the floor, the area of the first support polygon Means for subsequently reducing the ZMP into the ground polygon formed by the foot;
Means for erecting the mobile robot device while maintaining a ZMP within the grounding polygon formed by the feet;
It is a mobile robot apparatus characterized by comprising:

  It is necessary to realize a rising operation in order for the mobile robot device to start up from a floor posture such as a supine posture or a prone posture, or for self-sufficiency of a work in which a worker stands up autonomously when falling and resumes work. is necessary.

  However, when trying to get up due to an unplanned trajectory, an excessive external force moment is applied, and the joint actuator requires a high output torque. As a result, it is necessary to increase the size of the motor, and the driving power consumption increases accordingly. In addition, the manufacturing cost increases as the weight of the body increases. The rise in weight further makes the rising operation difficult. Alternatively, there may be a situation where the stability of the posture cannot be maintained due to an external force moment generated in the process of the rising motion, and the posture cannot be raised in the first place.

  Therefore, in the present invention, the mobile robot device performs a rising operation having an operation pattern in which the external force moment is minimized. This can be realized by combining the postures that minimize the ZMP support polygon in a time-series manner.

  In addition, the mobile robot device according to the present invention includes a plurality of pitch axes arranged in series in the height direction such as a shoulder joint pitch axis, a trunk pitch axis, a hip joint pitch axis, and a knee joint pitch axis. Link structure). Therefore, the plurality of joint pitch axes are synchronously and cooperatively driven in a predetermined sequence to realize a rising operation by an operation pattern that minimizes the ZMP support polygon.

  ADVANTAGE OF THE INVENTION According to the mobile robot apparatus which concerns on this invention, since it returns to an upright posture from a fall posture while making the area of a support polygon small, the joint actuators, such as a leg part, can implement a rising motion with comparatively moderate torque. it can.

  Advantageous Effects of Invention According to the present invention, an excellent mobile robot apparatus, an operation control apparatus and an operation control method for a mobile robot apparatus that can appropriately stabilize and control the posture of a moving body using ZMP as a posture stability determination standard Can be provided.

  Further, according to the present invention, the damage to the robot is reduced as much as possible by controlling the motion of the entire body in the course of falling and falling, and the standing posture from the floor such as lying on the back or prone by stable operation with relatively little torque. It is possible to provide an excellent mobile robot device, an operation control device of the mobile robot device, and an operation control method that can recover the above.

  Further objects, features, and advantages of the present invention will become apparent from more detailed descriptions based on embodiments of the present invention described below and the accompanying drawings.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

A. Mechanical Structure of Legged Mobile Robot FIG. 1 and FIG. 2 show that the “humanoid” or “humanoid” legged mobile robot 100 used in the embodiment of the present invention is standing upright and forward. The view from above is shown. As shown in the figure, the legged mobile robot 100 includes a torso, a head, left and right upper limbs, and two left and right lower limbs performing legged movement. For example, a control unit built in the torso (Not shown) controls the operation of the aircraft in a comprehensive manner.

  Each of the left and right lower limbs includes a thigh, a knee joint, a shin, an ankle, and a foot, and is connected at a substantially lowermost end of the trunk by a hip joint. Each of the left and right upper limbs is composed of an upper arm, an elbow joint, and a forearm, and is connected at the left and right side edges above the trunk by a shoulder joint. The head is connected to the center of the uppermost end of the trunk by a neck joint.

  The control unit is equipped with a controller (main control unit) that processes external controls from various sensors (described later) and drive control of each joint actuator that constitutes this legged mobile robot, and a power supply circuit and other peripheral devices. It is a housing. The control unit may include a communication interface and a communication device for remote control.

  The legged mobile robot thus configured can realize bipedal walking by controlling the whole body in a coordinated manner by the control unit. Such bipedal walking is generally performed by repeating a walking cycle divided into the following operation periods. That is,

(1) Right leg lifted, left leg supports single leg (2) Right leg touches both legs support period (3) Left leg lifts, right leg supports single leg period (4) Left leg touches left leg Support period

  Walking control in the legged mobile robot 100 is realized by planning a target trajectory of the lower limb in advance and correcting the planned trajectory in each of the above periods. That is, in the two-leg support period, the correction of the lower limb trajectory is stopped, and the waist height is corrected to a constant value using the total correction amount for the planned trajectory. In the single leg support period, a corrected trajectory is generated so that the relative positional relationship between the ankle and the waist of the corrected leg is returned to the planned trajectory.

  In general, the attitude stabilization control of the fuselage, including the correction of the trajectory of the walking motion, is performed by interpolation calculation using a fifth-order polynomial so that the position, velocity, and acceleration for reducing the deviation from ZMP are continuous. . ZMP is used as a criterion for determining the stability of walking. The stability discrimination standard based on ZMP is based on the principle of “Dallambert” that gravity and inertia force from the walking system to the road surface and these moments balance the floor reaction force and the floor reaction force moment as a reaction from the road surface to the walking system. based on. As a result of the mechanical inference, there is a ZMP in which the pitch axis and the roll axis moment become zero inside the supporting polygon (that is, the ZMP stable area) formed by the sole contact point and the road surface.

  FIG. 3 schematically shows a configuration of the degrees of freedom of the joints included in the legged mobile robot 100. As shown in the figure, the legged mobile robot 100 connects an upper limb including two arms and a head 1, a lower limb including two legs for realizing a moving operation, and an upper limb and a lower limb. This is a structure including a plurality of limbs and a trunk.

  The neck joint (Neck) that supports the head has four degrees of freedom: a neck joint yaw axis 1, first and second neck joint pitch axes 2A and 2B, and a neck joint roll axis 3.

  Each arm has, as its degrees of freedom, a shoulder joint pitch axis 4 at the shoulder (Shoulder), a shoulder joint roll axis 5, an upper arm yaw axis 6, an elbow joint pitch axis 7 at the elbow (Elbow), and a wrist ( (Wrist) and a hand part. The hand is actually a multi-joint / multi-degree-of-freedom structure including a plurality of fingers.

  The trunk (Trunk) has two degrees of freedom: a trunk pitch axis 9 and a trunk roll axis 10.

  Further, each leg constituting the lower limb includes a hip joint yaw axis 11, a hip joint pitch axis 12, a hip joint roll axis 13, a knee joint pitch axis 14 in a knee (Knee), and an ankle (Ankle) in a hip joint (Hip). ), An ankle joint pitch axis 15, an ankle joint roll axis 16, and a foot.

  However, it does not mean that the legged mobile robot 100 for entertainment must be equipped with all the degrees of freedom described above, or that the present invention is not limited to this. It goes without saying that the degree of freedom, that is, the number of joints, can be appropriately increased or decreased according to design / manufacturing constraints and required specifications.

  Each degree of freedom of the legged mobile robot 100 as described above is actually implemented using an actuator. It is preferable that the actuator is small and light because of requirements such as removing excess bulges from the appearance and approximating the human body shape, and performing posture control on an unstable structure such as bipedal walking. . In this embodiment, a small AC servo actuator of a type directly connected to a gear and of a type in which the servo control system is integrated into a single motor control unit and incorporated in a motor unit is mounted (for this type of AC servo actuator, for example, Japanese Patent Application Laid-Open No. 2000-299970, which has already been assigned to the applicant). In the present embodiment, the passive characteristics of the drive system itself required by a robot of a type that places importance on physical interaction with humans are obtained by employing a reduced speed gear as the directly connected gear.

B. Control System Configuration of Legged Mobile Robot FIG. 4 schematically shows a control system configuration of the legged mobile robot 100. As shown in the figure, the legged mobile robot 100 has mechanism units 30, 40, 50R / L and 60R / L representing human limbs, and adaptive control for realizing a cooperative operation between the mechanism units. (Where R and L are suffixes indicating right and left, respectively. The same applies hereinafter).

  The operation of the entire legged mobile robot 100 is totally controlled by the control unit 80. The control unit 80 transmits and receives data and commands to and from a main control unit 81 composed of main circuit components (not shown) such as a CPU (Central Processing Unit) and a memory, and a power supply circuit and each component of the robot 100. A peripheral circuit 82 including an interface (both not shown) is provided.

  In realizing the present invention, the installation location of the control unit 80 is not particularly limited. In FIG. 4, it is mounted on the trunk unit 40, but may be mounted on the head unit 30. Alternatively, the control unit 80 may be provided outside the legged mobile robot 100 to communicate with the body of the legged mobile robot 100 by wire or wirelessly.

Each joint degree of freedom in the legged mobile robot 100 shown in FIG. 3 is realized by an actuator corresponding to each joint. That is, the head unit 30 includes the neck joint yaw axis actuators A ₁ , the first and second neck joint yaw axis actuators 1 and 2 representing the neck joint yaw axis 1, the first and second neck joint pitch axes 2A and 2B, and the neck joint roll axis 3, respectively. The second neck joint pitch axis actuators A _2A and A _2B and the neck joint roll axis actuator A ₃ are provided.

Further, the trunk unit 40 is provided with a trunk pitch axis actuator A ₉ and a trunk roll axis actuator A ₁₀ representing the trunk pitch axis 9 and the trunk roll axis 10, respectively.

The arm unit 50R / L is subdivided into an upper arm unit 51R / L, an elbow joint unit 52R / L, and a forearm unit 53R / L. The shoulder joint pitch axis 4, shoulder joint roll axis 5, upper arm The shoulder pitch axis actuator A ₄ , the shoulder roll axis actuator A ₅ , the upper arm yaw axis actuator A ₆ , and the elbow joint pitch axis actuator A ₇ representing the yaw axis 6, the elbow joint pitch axis 7 and the wrist joint yaw axis 8, respectively. , wrist joint yaw axis actuator A ₈ is deployed.

The leg unit 60R / L is subdivided into a thigh unit 61R / L, a knee unit 62R / L, and a shin unit 63R / L. The hip joint yaw axis 11, the hip joint pitch axis 12, and the hip joint A hip joint yaw axis actuator A ₁₁ , a hip joint pitch axis actuator A ₁₂ , a hip joint roll axis actuator A ₁₃ that expresses each of the roll axis 13, the knee joint pitch axis 14, the ankle joint pitch axis 15, and the ankle joint roll axis 16, the knee joint pitch An axis actuator A ₁₄ , an ankle joint pitch axis actuator A ₁₅ , and an ankle joint roll axis actuator A ₁₆ are provided.

The actuators A ₁ , A ₂ , A ₃ ... Used for the respective joints are more preferably small-sized AC servo actuators of the type directly connected to a gear and integrated in a motor unit with a single-chip servo control system (described above). ).

  Sub-control units 35, 45, 55, and 65 for actuator drive control are provided for each mechanism unit such as the head unit 30, the trunk unit 40, the arm unit 50, and each leg unit 60.

  An acceleration sensor 95 and a posture sensor 96 are provided on the trunk 40 of the body. The acceleration sensor 95 is disposed in each of the X, Y, and Z axis directions. By arranging the acceleration sensor 95 on the waist of the body, the waist, which is a part where the mass operation amount is large, is set as the control target point, and the posture and acceleration at that position are directly measured, and the posture stability control based on ZMP is performed. Can be performed.

  In addition, grounding confirmation sensors 91 and 92 and acceleration sensors 93 and 94 are disposed on the legs 60R and 60L, respectively. The ground contact confirmation sensors 91 and 92 are configured by attaching a pressure sensor to the sole, for example, and can detect whether the sole has landed on the basis of the presence or absence of a floor reaction force. The acceleration sensors 93 and 94 are arranged at least in the X and Y axis directions. By arranging the acceleration sensors 93 and 94 on the left and right feet, the ZMP equation can be assembled directly with the feet closest to the ZMP position.

  When the acceleration sensor is placed only on the waist, which is a part where the mass operation amount is large, only the waist is set as the control target point, and the state of the foot must be relatively calculated based on the calculation result of this control target point. It is necessary to satisfy the following conditions between the foot and the road surface.

(1) The road surface does not move under any force or torque.
(2) The coefficient of friction against translation on the road surface is sufficiently large and no slip occurs.

  On the other hand, in the present embodiment, a reaction force sensor system (such as a floor reaction force sensor) that directly applies ZMP and force is provided on a foot portion that is a contact portion with a road surface, and local coordinates used for control and the coordinates thereof are used. The acceleration sensor for directly measuring is provided. As a result, the ZMP equation can be assembled directly with the foot closest to the ZMP position, and more precise posture stabilization control that does not depend on the preconditions described above can be realized at high speed. As a result, even on a gravel or a carpet with long fluff that the road surface moves when force or torque is applied, or on a residential tile where slippage tends to occur due to a lack of sufficient friction coefficient for translation, Stable walking (exercise) can be guaranteed.

  The main control unit 80 can dynamically correct the control target in response to the outputs of the sensors 91 to 96. More specifically, a whole body motion pattern in which the upper limb, the trunk, and the lower limb of the legged mobile robot 100 are driven in a coordinated manner by performing adaptive control on each of the sub-control units 35, 45, 55, and 65. To achieve.

The whole body motion of the robot 100 on the body includes setting of a foot motion, a ZMP trajectory, a trunk motion, an upper limb motion, a waist height, and the like. Transfer to the sections 35, 45, 55, 65. Then, in each of the sub-control section 35, 45 ... interprets the command received from the main control unit 81 outputs a drive control signal to the actuators _{A 1, A 2, A 3} .... Here, “ZMP” refers to a point on the floor where the moment due to the floor reaction force during walking becomes zero, and “ZMP trajectory” refers to, for example, ZMP during the walking operation of the robot 100. Means a moving trajectory.

C. Movement system basic state transition of legged mobile robot The control system of the legged mobile robot 100 according to the present embodiment defines a plurality of basic postures. Each basic attitude is defined in consideration of the stability of the airframe, energy consumption, and transition to the next state, and the motion of the airframe can be efficiently controlled by the form of transition between the basic attitudes.

  FIG. 5 shows a basic state transition of the motion system of the legged mobile robot 100 according to the present embodiment. As shown in the figure, the legged mobile robot has a basic supine posture, a basic standing posture, a basic walking posture, a basic sitting posture, and a basic prone posture, respectively. Are defined in consideration of the stability of the aircraft, energy consumption, and transition to the next state.

  These basic attitudes are positioned on the platform of the operation control program of the aircraft. Further, the legged mobile robot performs various performances using whole body movements such as walking, jumping, and dancing in a standing posture, and the device control program is positioned as an application that operates on the platform. These application programs are loaded at any time from an external storage, and are executed by the main control unit 81.

  FIG. 6 shows a basic supine posture of the legged mobile robot 100. In the present embodiment, when the power of the body is turned on, it takes a basic supine posture, and can be started from the most stable state in mechanical motion without fear of falling over. The legged mobile robot returns to the basic supine posture not only at the time of activation but also at the end of the system operation. Therefore, the operation starts in the most stable state of the machine kinematically and ends in the most stable state, so that the operation operation of the legged mobile robot is self-contained.

  Of course, even when the aircraft is overturned, after returning to the basic supine position after a predetermined motion on the floor, the specified standing motion is executed, and the original posture at the time of work interruption is performed via the basic standing position. Can be recovered.

  Further, the legged mobile robot 100 according to the present embodiment has, as a basic posture on the floor, a basic prone posture as shown in FIG. 7 in addition to the basic supine posture. This basic prone posture is the most mechanically kinematically stable state of the body, similar to the basic supine posture, and can maintain the posture stability even in a weakened state in which power is cut off. For example, when the aircraft falls due to an unexpected external force or the like in a legged work, it is unknown whether the aircraft falls in a supine or prone state. Therefore, the present embodiment defines two basic floor postures in this manner. .

  A transition can be made reversibly between the basic supine posture and the basic prone posture through various floor postures. Conversely, the state can be smoothly transitioned to various floor postures based on the basic supine posture and the basic prone posture.

  The basic supine posture is the most stable basic posture in mechanical kinematics, but when legged work is considered, a smooth state transition cannot be performed. Therefore, a basic standing posture as shown in FIG. 8 is defined. By defining the basic standing posture, it is possible to smoothly shift to the subsequent leg work.

  The basic standing posture is the most stable state in the standing state, and is a posture in which the computer load and power consumption for the posture stabilization control are minimized or minimized, and for maintaining the upright state by extending the knee. Minimizes motor torque. The state can be smoothly transitioned from the basic standing posture to various standing postures, for example, a dance performance using the upper limbs can be demonstrated.

  On the other hand, the basic standing posture is excellent in posture stability, but is not optimized for shifting to legged work such as walking. Thus, the legged mobile robot according to the present embodiment defines a basic walking posture as shown in FIG. 9 as another basic posture in the standing state.

  In the basic standing posture, the pitch axes 12, 14, and 15 of the hip joint, the knee joint, and the ankle joint are driven so as to slightly lower the center of gravity of the airframe, thereby shifting to the basic walking posture. In the basic walking posture, it is possible to smoothly perform transitions to various legged movements including a normal walking movement. However, since an extra torque is required to maintain this posture by the amount of bending of the knee, the basic walking posture consumes more power than the basic standing posture.

  The basic standing posture is a posture in which the ZMP position of the body is near the center of the ZMP stable region, the bending angle of the knee is small, and the energy consumption is low. On the other hand, in the basic walking posture, the ZMP position is near the center of the stable region, but the knee bending angle is relatively large in order to ensure high road surface adaptability and high external force adaptability.

  Further, in the legged mobile robot 100 according to the present embodiment, a basic sitting posture is further defined. In this basic sitting posture (not shown), when sitting on a predetermined chair, the computer load and the power consumption for the posture stabilization control are minimized or minimized. The above-described basic supine posture, basic prone posture, and basic standing posture can reversibly transition to the basic posture. Further, the user can smoothly transition from the basic sitting posture and the basic standing posture to various sitting postures, and can perform various performances using only the state in the sitting posture, for example.

D. Posture stabilization control of the legged mobile robot Next, in the legged mobile robot 100 according to the present embodiment, posture stabilization processing at the time of legged work, that is, execution of a whole-body cooperative movement including a foot, a waist, a trunk, and a lower limb movement. The procedure of the posture stabilization process at the time will be described.

  The posture stability control according to the present embodiment uses ZMP for posture stability control. The posture stability control of a robot using ZMP as a stability discrimination criterion basically consists in searching for a point where the moment becomes zero inside a support polygon formed by a sole and a road surface. That is, a ZMP equation describing a balance relationship of each moment applied to the robot body is derived, and the target trajectory of the body is corrected so as to cancel a moment error appearing on the ZMP equation.

  In the present embodiment, a region where the mass operation amount is maximum, for example, the waist, is set as the local coordinate origin as a control target point on the robot body. Then, a measuring means such as an acceleration sensor is arranged at the control target point, and the posture and acceleration at that position are directly measured to perform posture stability control based on ZMP. Further, by arranging an acceleration sensor on the foot which is a contact portion with the road surface, the local coordinates used for control and the coordinates are directly measured, and the ZMP equation is directly assembled with the foot closest to the ZMP position.

D-1. Introduction of ZMP Equation The legged mobile robot 100 according to the present embodiment is an aggregate of infinite, that is, continuous mass points. In this case, however, the amount of calculation for stabilization processing is reduced by replacing the model with an approximate model having a finite number of discrete mass points. More specifically, the legged mobile robot 100 physically having the multi-joint degree of freedom configuration shown in FIG. 3 is handled by replacing it with a multi-mass point approximation model as shown in FIG. The illustrated approximation model is a linear and non-interfering multi-mass approximation model.

  10, the O-XYZ coordinate system represents roll, pitch, and yaw axes in an absolute coordinate system, and the O'-X'Y'Z 'coordinate system represents roll, pitch, and the like in a motion coordinate system that moves with the robot 100. Each yaw axis is shown. However, the meanings of the parameters in the figure are as follows. It should also be understood that symbols with a dash (') describe a motion coordinate system.

The multi-mass point model shown in FIG, i is a subscript representing a mass given to i-th, m _i is the i-th material point mass, r _i 'is i-th material point of the position vector (where motion coordinates System). The machine center of gravity of the legged mobile robot 100 according to the present embodiment exists near the waist. That is, the waist is a mass point where the mass operation amount becomes the maximum, in FIG. 10, the mass m _h, its position vector (although moving coordinate system) _{r h '(r hx',} r hy ', r hz '). In addition, the position vector (however, the motion coordinate system) of the ZMP of the airframe is r _zmp ′ (r _zmpx ′, r _zmpy ′, r _zmpz ′).

The world coordinate system O-XYZ is an absolute coordinate system and is invariable. In the legged mobile robot 100 according to the present embodiment, acceleration sensors 93, 94, and 96 are disposed on the lower back and the legs of both legs, respectively. _q is detected directly. On the other hand, in the motion coordinate system, that is, in the local coordinate system of the body, OX'Y'Z 'moves with the robot.

  The multi-mass model is a representation of a robot in the form of a wireframe model. As can be seen from FIG. 10, the multi-mass point approximation model is set with each of the shoulders, both elbows, both wrists, trunk, waist, and both ankles as mass points. In the illustrated non-rigid multi-mass approximation model, the moment equation is described in the form of a linear equation, which does not interfere with the pitch and roll axes. The multi-mass point approximation model can be generally generated by the following processing procedure.

(1) The mass distribution of the entire robot 100 is obtained.
(2) Set a mass point. The method of setting the mass may be either manual input by a designer or automatic generation according to a predetermined rule.
(3) for each of the regions i, obtains the center of gravity, is applied to the mass to the appropriate position of the center of gravity and mass m _i.
(4) the mass points m _i, centered on the mass point position r _i, to display as a sphere having a radius proportional to its mass.
(5) The masses that are actually connected, that is, the spheres are connected.

The rotation angles (θ _hx , θ _hy , θ _hz ) in the waist information of the multi-mass model shown in FIG. 10 define the posture of the waist of the legged mobile robot 100, that is, the rotation of the roll, pitch, and yaw axes. (FIG. 11 shows an enlarged view of the periphery of the lumbar region of the multi-mass model, so it should be confirmed).

The ZMP equation of the fuselage describes a balance relationship of each moment applied at the control target point. As shown in FIG. 5 represent the body in a number of mass points m _i, when the these control target points, obtaining the sum of the moments applied at all the control target point m _i Formula is ZMP equation.

  The ZMP equation of the aircraft described in the world coordinate system (O-XYZ) and the local coordinate system (O-X'Y'Z ') of the aircraft are as follows.

The above equation, the sum of the moments of ZMP around produced by the acceleration component applied at each mass point m _i (radius r _i -r _ZMP), the sum of external force moment M _i applied to each of the mass points m _i, It describes that the sum of moments around the ZMP generated by the external force F _k (the point of action of the k-th external force F _k is s _k ) is balanced.

  This ZMP balance equation includes a total moment compensation amount, that is, a moment error component T. By keeping this moment error at zero or within a predetermined tolerance, the attitude stability of the aircraft is maintained. In other words, correcting the body motion (foot motion or the trajectory of each part of the upper body) so that the moment error becomes zero or less than the allowable value is the essence of the posture stability control using the ZMP as a stability determination criterion. is there.

  In the present embodiment, since the acceleration sensors 96, 93 and 94 are provided on the waist and the left and right feet, respectively, the ZMP is directly and accurately performed using the acceleration measurement results at these control target points. A balance equation can be derived. As a result, high-speed and more strict posture stability control can be realized.

D-2. Whole Body Coordinated Posture Stability Control FIG. 12 is a flowchart showing a processing procedure for generating a body motion capable of stable walking in the legged mobile robot 100 by using ZMP as a stability determination criterion. However, in the following description, the joint positions and movements of the legged mobile robot 100 are described using a linear / non-interfering multi-mass point approximation model as shown in FIGS.

  First, the foot motion is set (step S1). The foot motion is motion data in which two or more aircraft poses are connected in chronological order.

  The motion data is composed of, for example, joint space information indicating displacement of each joint angle of the foot and Cartesian space information indicating joint positions. The motion data can be manually input on a console screen, or can be constructed on a direct teaching (direct teaching) to an airframe, for example, on an authoring system for motion editing.

  Next, a ZMP stable area is calculated based on the set foot motion (step S2). The ZMP is a point at which the moment applied to the airframe becomes zero, and basically exists on or inside the side of the supporting polygon formed by the sole contact point and the road surface. The ZMP stable region is a region set further inside the supporting polygon, and the ZMP can be accommodated in this region to make the aircraft highly stable.

  Then, a ZMP trajectory during the foot motion is set based on the foot motion and the ZMP stable area (step S3).

  In addition, for each part of the upper body (above the hip joint) of the body, a group is set such as a waist, a trunk, an upper limb, and a head (step S11).

  Then, a desired trajectory is set for each part group (step S12). Similar to the case of the foot, the setting of the desired start of the upper body should be done by manual input on the console screen or direct teaching (direct teaching) to the aircraft, for example, building on the authoring system for motion editing Can be.

  Next, the group setting of each part is adjusted (re-grouping) (step S13), and priorities are given to these groups (step S14). The priority here refers to the order of input to the processing calculation for performing the attitude stabilization control of the airframe, and is assigned, for example, according to the mass operation amount. As a result, a desired trajectory group with priority for each part of the upper body of the aircraft is completed.

  In addition, a mass that can be used for moment compensation is calculated for each of the body groups of the upper body (step S15).

  Then, based on the foot motion, the ZMP trajectory, and the desired activation group for each upper body part group, the exercise pattern of each part group is input to the posture stabilization process in accordance with the priority set in step S14.

  In this posture stabilization processing, first, an initial value 1 is substituted for a processing variable i (step S20). Then, the moment amount on the target ZMP, that is, the total moment compensation amount at the time of setting the target trajectory for the i-th part group from the top is calculated (step S21). For a part for which the target trajectory has not been calculated, the desired trajectory is used.

  Next, the amount of moment compensation is set using the mass that can be used for the moment compensation of the part calculated in step S15 (step S22), and the moment compensation amount is calculated (step S23).

  Next, using the calculated moment compensation amount of the i-th part, a ZMP equation for the i-th part is derived (step S24), and the moment compensation movement of the part is calculated (step S25). It is possible to obtain the target trajectory for the i-th part from the top in the priority order.

  By performing such processing for all the part groups, a whole body movement pattern capable of stable movement (for example, walking) is generated.

  Since the acceleration sensors 96, 93, and 94 are provided on the waist and the left and right feet, respectively, the above ZMP balance equation is directly and accurately derived using the acceleration measurement results at these control target points. be able to. As a result, the posture stabilization control based on the ZMP stability determination criterion can be executed at high speed and more strictly according to the processing procedure shown in FIG.

E. FIG. Falling Operation of the Legged Mobile Robot As described in the preceding section D, the legged mobile robot 100 according to the present embodiment is basically based on the ZMP stability discrimination criterion during walking or other standing work. Attitude stabilization control is performed to minimize the occurrence of a situation in which the aircraft falls.

  However, if it becomes impossible to avoid a fall, a fall operation having an operation pattern that minimizes damage to the body is performed. For example, in the above-described ZMP balance equation, when an excessive external force F or an external force moment M is applied to the aircraft, the moment error component T cannot be canceled only by the aircraft operation, and the attitude cannot be maintained.

  FIG. 13 is a flowchart illustrating a schematic processing procedure of motion control during legged work in the legged mobile robot 100 according to the present embodiment.

  During the operation of the airframe, the ZMP balancing equation (using the sensor outputs of the ground contact confirmation (floor reaction force) sensors 91 and 92 and the acceleration sensors 93 and 94 provided on the left and right feet and the acceleration sensor 96 provided on the waist) is used. ), And the lumbar and lower limb trajectories are always calculated (step S31).

  For example, when an external force is applied to the body, it is determined whether the next waist and lower limb trajectory can be planned, that is, whether the moment error due to the external force can be eliminated by the action plan of the foot ( Step S32). Whether the waist and lower limb trajectories can be planned is determined in consideration of the movable angle of each joint of the leg, the torque of each joint actuator, joint force, angular velocity, angular acceleration, and the like. Needless to say, when an external force is applied, the moment error may be eliminated not only by the next step but also by several steps of leg steps.

  At this time, if planning of the foot is possible, walking and other legged movements are continued (step S33).

  On the other hand, when the planning of the foot becomes impossible because an excessive external force or an external force moment is applied to the body, the legged mobile robot 100 starts to fall (step S34).

  In the case of an upright walking type legged robot as shown in FIG. 1 and FIG. 2, since the position of the center of gravity is high, if the robot is accidentally dropped on the floor when falling, it is fatal to the robot itself or the opponent who collides due to falling. Risk of permanent damage.

  Therefore, in the present embodiment, a predetermined overturning operation is performed by changing the trajectory of the aircraft planned before the overturn to a posture that minimizes the ZMP support polygon. Basically, a falling motion is searched for based on the following two policies.

(1) The variation ΔS / Δt of the area S of the support polygon of the body per time t is minimized.
(2) The support polygon when the floor falls is maximized.

  Here, minimizing the amount of change ΔS / Δt corresponds to maintaining (or reducing) the support area at the time of falling (however, in the case of reducing, a driving force may be required). By maintaining the support area when the body falls, the impact moment applied to the body can be dissipated. FIG. 14 illustrates the principle of maintaining the support area when the body falls. As shown in the figure, just as the sphere rolls, the support surface receives the impact moment while maintaining the area of the support surface to be minimum. As shown, the same effect can be obtained even if the support surface moves. For example, when the impact moment received from the floor at the time of landing is obtained and exceeds an allowable value, the overturning method in which the body rolls so as to keep the area of the supporting polygon constant is preferable.

  Further, that the supporting polygon at the time of falling on the floor is maximized, as shown in FIG. 15, is equivalent to interference of an impact force by receiving with a wider supporting polygon.

  16 and 17, when the legged mobile robot 100 falls backward, that is, toward the supine position, an operation of minimizing the change amount ΔS / Δt of the supporting polygon, that is, maintaining the supporting area at the time of falling, is realized. An example is shown. This is a similar operation similar to the passive operation in judo and other martial arts, and can appropriately dissipate the impact force moment at the time of falling. As shown in FIG. 17, the amount of change ΔS / Δt of the support polygon is minimized by leaving the feet. When the center of gravity of the airframe is at the waist, the ZMP can be set at a position where the number of links not involving the smallest supporting polygon is the largest. After such a fall / landing operation, all the links that can be released are released, that is, in the example shown, both the lower limb and the trunk are lifted, the upper body and the lower limb are simultaneously released, and the feet and hands are lifted. Since a smaller grounded polygon can be formed in fewer steps by landing on the floor, a faster and more efficient rising operation can be realized.

  18 and 19, when the legged mobile robot 100 falls down toward the front, that is, the prone posture, an operation of minimizing the change amount ΔS / Δt of the support polygon, that is, maintaining the support area at the time of falling down is realized. The example is shown when viewed from the side and the diagonally right front. This is a similar operation similar to the forward rotation operation in mechanical gymnastics or the like, and can appropriately dissipate an impact force moment at the time of falling. As shown in each figure, the amount of change ΔS / Δt of the supporting polygon is minimized by leaving the foot.

  By adopting the above-mentioned overturning method, the impact received from the floor surface at the time of falling can be dispersed to the whole body, so that damage can be minimized.

  FIG. 20 shows, in the form of a flowchart, a processing procedure for the legged mobile robot 100 according to the present embodiment to perform the overturning operation due to the inability to plan the foot. The overturning operation is realized by synchronously and cooperatively driving the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14, which are connected in the height direction, in accordance with the basic policy described above. You. Such a processing procedure is actually realized by executing a predetermined machine operation control program in the main control unit 81 and controlling driving of each unit.

  First, a link that minimizes the change amount ΔS / Δt of the area S of the support polygon of the body per time t is searched (step S41).

  Next, a search is made for a target landing point of the link selected in step S41 that minimizes the amount of change ΔS / Δt (step S42). By keeping the support area of the fuselage against the floor at a minimum, the impact moment can be dissipated (see above and FIG. 14).

  Then, the landing of the link selected in the preceding step at the target landing point depends on the limitations of the aircraft hardware (movable angle of each joint, torque of each joint actuator, joint force, angular velocity, angular acceleration, etc.). It is mainly determined whether or not execution is possible based on the impact force moment (step S43).

  If it is determined that the link selected in the preceding step cannot be landed on the target landing point, the time variation Δt is increased by a predetermined value (step S44), and then the step is performed. Returning to S41, the link is reselected and the target landing point of the link is reset.

  On the other hand, if the link selected in the preceding step can be landed on the target landing point, the selected link is landed on the target landing point (step S45).

  Next, it is determined whether or not the potential energy of the body is minimum, that is, whether or not the overturning operation has been completed (step S46).

  If the potential energy of the fuselage is not yet the minimum, the time variation Δt is further increased by a predetermined value (step S47), and the next target landing point is set so as to enlarge the support polygon (step S47). S48). By enlarging the supporting polygon, it is possible to reduce the impact force applied to the body at the time of landing (see the above and FIG. 15).

  Then, the landing of the selected link at the target landing point can be executed due to constraints of the aircraft hardware (movable angles of each joint, torque of each joint actuator, joint force, angular velocity, angular acceleration, etc.). Whether or not the impact force is mainly determined (step S49). If it is determined that it is impossible to land the link selected in the preceding step at the target landing point, the process returns to step S41 to reselect the link and to set the target landing point of the link. Is reset.

  On the other hand, when it is possible to land the link selected in the preceding step at the target landing point, the process proceeds to step S45 to land the selected link at the target landing point.

  Then, when the potential energy of the aircraft is minimized (step S46), it means that the landing of the aircraft on the floor has been completed, and the entire processing routine ends.

  Next, the overturning operation of the legged mobile robot 100 will be described with reference to the actual operation.

  In FIG. 21, the legged mobile robot 100 includes a plurality of substantially parallel joint axes connected in the height direction such as the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14. In this example, the link structure is modeled as a link structure, and the joint pitch axes are driven in a synchronously emphasized manner to fall over toward a supine posture. Basically, by setting as a target a portion having a link where the number of exit links is the maximum, the impact force received from the floor surface is reduced.

  It is assumed that the robot stands only at the sole that is the link end of the link structure (FIG. 21A).

  At this time, the application of the external force or the external force moment makes it impossible to cancel the moment error term T of the ZMP balancing equation, and the ZMP is supported in response to the ZMP deviating outside the ZMP stable region formed only by the sole. The falling motion is started while maintaining the polygon.

  In the overturning operation, first, a link that minimizes the amount of change ΔS / Δt per unit time t of the area S of the supporting polygon of the body is searched for, and the amount of change ΔS / Δt is minimized by a link including the hand. Search for the target landing point on the hand. Then, whether landing of the selected link at the target landing point is feasible due to constraints of the aircraft hardware (movable angle of each joint, torque of each joint actuator, joint force, angular velocity, angular acceleration, etc.) Is determined.

  If the link can be executed on the hardware of the machine, another link will land in addition to the sole link that has already landed. Then, the ZMP is moved into the minimum support polygon formed by these landing links (FIG. 21 (2)).

  Next, as long as the machine hardware permits, the landing point is moved to expand the support polygon (FIG. 21 (3)).

  Then, when it is no longer possible to move the landing point due to the limitations of the body hardware such as the movable angle of each joint, the torque of each joint actuator, the joint force, angular velocity, angular acceleration, etc. It is determined whether it is possible to land the leaving link sandwiched between the two.

  If it is possible to land the landing links between the landing links on the machine hardware, the landing links are landed to increase the number of landing links (FIG. 21D).

  Further, the landing point is moved and the supporting polygon is enlarged as far as the machine hardware permits (FIG. 21 (5)).

  Finally, one or more links from one end side of the link structure composed of a plurality of substantially parallel joint axes connected in the height direction and two or more links from the other end are separated from the floor, and With one or more of the links located at the middle, the ZMP within the supporting polygon is formed while the foot is further landed, and the posture in which the supporting polygon is maximized is formed. In this posture, if the potential energy of the body is minimum, the overturning operation is completed.

  FIGS. 22 to 38 and FIGS. 39 to 55 show how the actual machine falls from the standing position to the supine position.

  In this case, as the link that minimizes the variation ΔS / Δt of the area S of the support polygon of the fuselage per time t, the fuselage link including the hip joint pitch axis is selected, and the target landing point is searched for. (See FIGS. 22 to 31 and FIGS. 39 to 48). With the knee joint in a folded position, the amount of change in the supporting polygon at the time of landing is minimized, that is, ΔS / Δt is minimized.

  Next, a trunk link including the trunk pitch axis 9 and the shoulder pitch axis 4 is selected as a link for minimizing the variation ΔS / Δt of the area S of the support polygon of the fuselage per time t, and the target landing thereof is selected. Search for the floor point and fall further behind the aircraft. At this time, since the hip joint pitch axis 12 has already landed, the torso link including the trunk pitch axis 9 and the shoulder joint pitch axis 4 is landed on this as the center of rotation (FIGS. 32 to 33 and FIG. 49-FIG. 50).

  Next, the head link connected by the neck joint pitch axis 2 is selected as the link that minimizes the variation ΔS / Δt of the area S of the support polygon of the fuselage per time t, and the target landing point is set. Search for and fall further behind the aircraft. At this time, since the neck joint pitch axis 2 has already been landed, the head is landed with this as the center of rotation (see FIGS. 34 to 38 and FIGS. 51 to 55). In this posture, since the potential energy of the body is minimal, the overturning operation is completed.

  In FIG. 56, the legged mobile robot 100 includes a plurality of substantially parallel joints connected in the height direction such as the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14. The operation is modeled as a link structure composed of shafts, and the joint pitch axes are driven in a synchronously emphasized manner to fall toward a prone posture.

  It is assumed that the robot stands only at the sole that is the link end of the link structure (FIG. 56 (1)).

  At this time, the application of the external force or the external force moment makes it impossible to cancel the moment error term T of the ZMP balancing equation, and the ZMP is supported in response to the ZMP deviating outside the ZMP stable region formed only by the sole. The falling motion is started while maintaining the polygon.

  In the overturning operation, first, a link that minimizes the amount of change ΔS / Δt per unit time t of the area S of the supporting polygon of the body is searched for, and the amount of change ΔS / Δt is minimized by a link including the hand. Search for the target landing point on the hand. Then, whether landing of the selected link at the target landing point is feasible due to constraints of the aircraft hardware (movable angle of each joint, torque of each joint actuator, joint force, angular velocity, angular acceleration, etc.) Is determined.

  If the link can be executed on the hardware of the machine, another link will land in addition to the sole link that has already landed. Then, the ZMP is moved into the minimum support polygon formed by these landing links (FIG. 56 (2)).

  Next, as long as the aircraft hardware permits, the landing point is moved to enlarge the support polygon (FIG. 56 (3)).

  Then, when it is no longer possible to move the landing point due to the limitations of the body hardware such as the movable angle of each joint, the torque of each joint actuator, the joint force, angular velocity, angular acceleration, etc. It is determined whether it is possible to land the leaving link sandwiched between the two.

  If it is possible to land the leaving links between the landing links on the body hardware, these are landed to increase the number of landing links (FIG. 56 (4)).

  Further, the landing point is moved and the supporting polygon is enlarged as far as the machine hardware permits (FIG. 56 (5)).

  Finally, one or more links from one end side of the link structure composed of a plurality of substantially parallel joint axes connected in the height direction and two or more links from the other end are separated from the floor, and With one or more of the links located at the middle, the ZMP within the supporting polygon is formed while the foot is further landed, and the posture in which the supporting polygon is maximized is formed. In this posture, if the potential energy of the body is minimum, the overturning operation is completed.

  FIGS. 57 to 73 and FIGS. 74 to 90 show how the actual machine falls from the standing posture to the supine posture.

  In this case, the hand of the arm link including the shoulder joint pitch axis 4 is selected as the link that minimizes the change amount ΔS / Δt of the area S of the support polygon of the body per time t, and the target landing point is searched. Then, it falls down in front of the fuselage (see FIGS. 57 to 70 and FIGS. 74 to 87).

  At this time, in the shortest time increment Δt, in order to minimize the amount of change ΔS of the supporting polygon at the time of landing, the knee joint pitch axis 14 is set to the folded posture, and the place where the hand touches the floor is increased. Set to a position close to.

  Next, a leg link including the knee joint pitch axis 14 is selected as a link that minimizes the amount of change ΔS / Δt of the area S of the support polygon of the fuselage per time t, and the target landing point is searched. And fall further in front of the aircraft. At this time, since the foot has already landed, the lower leg turns around the ankle pitch axis as the center of rotation, and the knees land (see FIGS. 70 to 71 and FIGS. 88 to 89). That).

  Further, the user moves the hands and knees as landing points away from the soles to enlarge the support polygon as long as the fuselage hardware permits (see FIGS. 72 and 89). As a result, the torso link also lands following the hand and the knee (see FIGS. 73 and 90). In this posture, since the potential energy of the body is minimal, the overturning operation is completed.

F. Operation for getting up from the floor posture In order to start up from the floor posture such as the supine posture or the prone posture, or for the self-completion of the work of getting up independently and resuming the work when falling down, the legged mobile robot 100 It is necessary to realize a rising operation.

  However, when trying to get up due to an unplanned trajectory, an excessive external force moment is applied, and the joint actuator requires a high output torque. As a result, it is necessary to increase the size of the motor, and the driving power consumption increases accordingly. In addition, the manufacturing cost increases as the weight of the body increases. The rise in weight further makes the rising operation difficult. Alternatively, there may be a situation where the stability of the posture cannot be maintained due to an external force moment generated in the process of the rising motion, and the posture cannot be raised in the first place.

  Therefore, in the present embodiment, the legged mobile robot 100 performs a rising motion having an operation pattern in which the external force moment is minimized. This can be realized by combining the postures that minimize the ZMP support polygon in a time-series manner.

  Further, the legged mobile robot 100 according to the present embodiment has a height similar to the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 (see FIG. 3). A link structure in which a plurality of pitch axes are connected in series in a direction (when viewed from the side). Therefore, the plurality of joint pitch axes 4 to 14 are synchronously and cooperatively driven in a predetermined sequence to realize a rising operation by an operation pattern that minimizes the ZMP support polygon.

F-1. The Operation Figure 91 rising from the base supine posture, the legged mobile robot 100 according to this embodiment is a shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, a knee joint pitch axis 14 synchronously emphatically the The processing procedure for performing the rising operation by driving is shown in the form of a flowchart. Such a processing procedure is actually realized by executing a predetermined machine operation control program in the main control unit 81 and controlling driving of each unit.

  In FIG. 92, the legged mobile robot 100 according to this embodiment drives the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 in a synchronously emphasized manner, and the posture in which the patient is lying on his back. The appearance of performing a rising motion from a motion is shown by a joint link model. Note that the legged mobile robot 100 according to the present embodiment includes the trunk pitch axis 9, but in a legged mobile robot that does not include the trunk pitch axis, the plurality of joint pitch axes are synchronously driven to lie in a supine position. FIG. 93 shows a state of performing the rising operation from the beginning. However, in the illustrated link structure, the center of gravity position of the entire body is set at a link connecting the trunk joint and the hip joint, and this link is hereinafter referred to as a “center of gravity link”. Note that the “center-of-gravity link” is used in the narrow sense in the above definition, but in a broad sense, any link that has the center-of-gravity position of the entire body exists. For example, in an airframe that does not have a trunk axis, a link including a trunk tip where the center of gravity of the entire airframe is located corresponds to this.

  Hereinafter, the rising operation of the aircraft from the basic supine posture will be described with reference to the flowchart shown in FIG.

  First, in the posture on the floor, a posture with the smallest potential energy is searched (step S1). This corresponds to a basic supine posture, and as shown in FIG. 92 (1) and FIG. 93 (1), the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, the knee joint All links connecting the pitch shafts 14 are in contact with the floor. FIGS. 94 and 112 show the state of the actual machine at this time. By taking the posture with the smallest potential energy, it is possible to measure the inclination and shape of the road surface and to confirm whether or not the user can get up.

  In this basic supine posture, the narrowest supporting polygon is searched for within the ground contact polygon formed by the floor contact link (step S52). At this time, it is determined whether or not a ZMP trajectory can be planned when at least two or more links are lifted off from one end of the body. The planning possibility of the ZMP can be determined in consideration of the movable angle of the link structure, the torque, joint force, angular velocity, angular acceleration, and the like of each joint actuator connecting the link.

  Next, two or more links that are not involved in the narrowest supporting polygon among the grounding polygons are lifted off (step S53).

  Step S53 corresponds to FIG. 92 (2) and FIG. 93 (2). On the actual machine, the lower body side including the center-of-gravity link connecting the trunk joint and the hip joint is extracted as a support polygon, and two or more other links from the shoulder joint to the trunk joint are taken off as links not involved in the support polygon. I do.

  The operation of the actual machine at this time is shown in FIGS. 95 to 96 and FIGS. 113 to 114. In the illustrated example, first, the left and right arms are lifted, and then the trunk joint pitch axis actuator A9 is driven to raise the body. By lifting the arm first, the moment can be reduced and the required maximum torque can be reduced.

  Next, one or more outgoing links are bent from one end and the end of the link end is landed to form a narrower ground contact polygon (step S54).

  Step S54 corresponds to FIG. 92 (3) and FIG. 93 (3). On an actual machine, in a state where two or more links including the shoulder joint are off the floor, the link is bent along the shoulder joint pitch axis, and the hand, which is the end of the link end, is brought into contact with the floor. Then, by gradually approaching the hand to the trunk pitch axis side, which is the machine body weight center position, a grounding polygon narrower than the original on-floor posture is formed.

The operation of the actual machine at this time is shown in FIGS. 97 to 101 and FIGS. 115 to 119. In the illustrated example, by driving the left and right shoulder joint roll axis A _5, after spread left and right arms just beside, from once rotated 180 degrees the direction of the arm portion by the drive of the upper arm yaw axis A ₆ (FIG. 98 to FIG. 99, FIG. 116 to view 117), by driving the shoulder joint pitch axis a _4, gradually lowers the arms. Then, a smaller ground contact polygon is formed by landing on the hand (FIGS. 101 and 119).

  When a new ground polygon is formed in this way, it is checked whether ZMP can be set for the ground polygon (step S55). This is determined in consideration of the movable angle of the link structure, the torque, joint force, angular velocity, angular acceleration, and the like of each joint actuator connecting the link. Then, the ZMP is moved to the ground polygon to form a new support polygon (step S56).

  Here, it is determined whether or not the support polygon has become sufficiently narrow (step S57). This determination is made by determining whether the center of gravity link connecting the trunk pitch axis and the hip joint pitch axis can be released from the floor, or whether the ZMP can be moved into a ZMP stable region that can be formed only by the feet. Is determined in consideration of the movable angle of the joint, the torque, joint force, angular velocity, angular acceleration, and the like of each joint actuator connecting the link. The detailed procedure for determining whether the supporting polygon has become sufficiently narrow will be described later.

  In the posture of the actual machine shown in FIGS. 101 and 119, the supporting polygon is not yet sufficiently narrow. Therefore, after the landing point is moved to reduce the supporting polygon (step S50), the process returns to step S52 to retry forming a narrower supporting polygon.

  In the posture shown in FIGS. 101 and 119, the narrowest supporting polygon is searched for in the ground contact polygon formed by the floor contact link (step S52). This time, it is determined whether or not ZMP can be planned when at least two or more links have left the floor from the other end of the aircraft. The planning possibility of the ZMP can be determined in consideration of the movable angle of the link structure, the torque, joint force, angular velocity, angular acceleration, and the like of each joint actuator connecting the link.

  Next, two or more links that are not involved in the narrowest supporting polygon among the floor contact polygons are separated from the floor (step S53). This corresponds to FIGS. 92 (4) to (5) and FIGS. 93 (4) to (5). On the actual machine, two or more links continuous from the other end including the knee joint pitch axis are separated from the floor as links not involved in the support polygon.

  Then, one or more outgoing links are bent from one end and the end of the link end is landed to form a narrower ground contact polygon (step S54).

The operation of the actual machine at this time is shown in FIGS. 102 to 105 and FIGS. 120 to 123. In the illustrated example, first, by raising the right leg by the drive of the right leg of the hip joint pitch axis A _12, by bending the right leg by the drive of the knee joint actuator A _14, for landing the sole. Then, by raising the right leg by the drive of the hip joint pitch axis A ₁₂ of the leg, by bending the left leg by the drive of the knee joint actuator A _14, for landing the sole. In this way, by gradually approaching the sole to the side of the hip joint pitch axis 12, which is the center of gravity of the machine, it is possible to form a ground contact polygon narrower than the original posture on the floor.

  When a new ground polygon is formed in this way, it is checked whether ZMP can be set for the ground polygon (step S55). This is determined in consideration of the movable angle of the link structure, the torque, joint force, angular velocity, angular acceleration, and the like of each joint actuator connecting the link. Then, the ZMP is moved to the ground polygon to form a new support polygon (step S56).

  Here, it is determined again whether or not the supporting polygon has become sufficiently narrow (step S57). This determination is made by determining whether the center of gravity link connecting the trunk pitch axis and the hip joint pitch axis can be released from the floor, or whether the ZMP can be moved into a ZMP stable region that can be formed only by the feet. Is determined in consideration of the movable angle of the joint, the torque, joint force, angular velocity, angular acceleration, and the like of each joint actuator connecting the link. In the posture of the actual machine shown in FIGS. 105 and 123, it is determined that a sufficiently narrow supporting polygon is formed. Regarding the angle of the arm when the supporting polygon is reduced, it is desirable that the angle formed by the central axis of the arm and the vertical line lowered from the shoulder axis to the floor surface is within a predetermined angle based on the torque amount.

  Then, in response to the support polygon of the fuselage becoming sufficiently narrow, the center of gravity link is lifted off with the ends of both link ends of the support polygon touching the floor, and the landing links at both link ends are used. While maintaining the ZMP in the support polygon to be formed, the distance between the ends of both link ends forming the support polygon is reduced, and the ZMP is moved to the other end of the link structure (step S58). ). This corresponds to FIGS. 92 (6) to (7) and FIGS. 93 (6) to (7).

  On the actual machine, the center-of-gravity link connecting the trunk pitch axis and the hip joint pitch axis is lifted off with the hand and sole as the ends of both link ends of the ground polygon contacting each other. Is gradually reduced, and the ZMP is moved toward the sole. The operation of the actual machine at this time is shown in FIGS. 106 to 109 and FIGS. 124 to 127.

  Then, in response to the ZMP rushing into the grounding polygon formed by only the second predetermined number or less of floor contact links from the other end of the link structure, the ZMP was housed in the grounding polygon. The first predetermined number or more links are left from one end of the link structure as it is, and the left links are extended in the length direction to complete the rising operation (step S59). This corresponds to FIGS. 92 (8) and 93 (8).

  On the actual machine, in response to the ZMP rushing into the grounding polygon formed by the sole, the ZMP is accommodated in the grounding polygon, and the ZMP is moved from the shoulder pitch axis 4 to the knee pitch axis 14. The rising motion is completed by releasing the link and extending the link in the length direction. The operation of the actual machine at this time is shown in FIGS. 110 to 111 and FIGS. 128 to 129.

  When extending the leaving link in the longitudinal direction, which is the final stage of getting up, it is efficient to operate the airframe actively by using the knee joint pitch axis having a larger mass operation amount.

  In step S53, if two or more links not involved in the smallest support polygon cannot be lifted off, an attempt is made to release two or more landing links inside the largest support polygon (step S53). S61).

  If step S61 cannot be executed, the rising operation is stopped (step S64). If step S61 can be executed successfully, the landing point is further moved to further reduce the supporting polygon (step S62).

  If step S62 cannot be executed, the rising operation is stopped (step S64). If step S62 can be executed successfully, it is checked whether the ZMP can be moved to a stable area that can be formed by the foot (step S63). The detailed procedure for determining whether the supporting polygon has become sufficiently narrow will be described later. If the ZMP cannot be moved within the stable area, the process returns to step S61, and the same processing for reducing the supporting polygon is repeatedly executed. If the ZMP can be moved within the stable region, the process proceeds to step S58, and the operation of returning to the basic posture is performed.

  By the way, in steps S53 to S54, as shown in FIGS. 97 to 98 and FIGS. 115 to 116, the shoulder roll shaft is The left and right arms are spread right beside by using this. This unnecessarily increases the volume used for the legged mobile robot 100 to get up and perform work. Therefore, the series of operations shown in FIGS. 96 to 101 and FIGS. 113 to 119 are replaced with the operations shown in FIGS. 130 and 131 in which the shoulder roll axis is not operated and the elbow pitch axis is bent instead. The left and right hands may be landed behind the torso with a small used volume.

  In the rising operation procedure described above, it is necessary to determine in steps S57 and S63 whether or not the support polygon has become sufficiently narrow. FIG. 173 shows, in the form of a flowchart, a processing procedure for determining whether or not the support polygon has become sufficiently narrow.

First, the ZMP deviation ε (ε _x , ε _y , ε _z ), that is, the center position (x ₀ , y ₀ , z ₀ ) of the stable region where the foot can be formed and the current ZMP position (x, y, z) Is obtained (step S71).

Next, a value obtained by multiplying the ZMP deviation ε (ε _x , ε _y , ε _z ) by a predetermined gain G (G _x , G _y , G _z ) is used as the current waist position r (r _{hx (t)} , r ₎ . _{hy (t)} , _{rhz (t)} ) and the target waist position r ( _{rhx (t + Δt)} , _{rhy (t + Δt)} , _{rhz (t + Δt) at} the next time t = t + Δt. _{) (= r (r hx (} t), r hy (t), r hz (t)) + G (G x, G y, G z) × ε (ε x, ε y, ε z) to) ( Step S72).

  Then, it is determined whether or not the current support polygon can be formed at the next target waist position (step S73). This determination is made by calculating the next target waist position while maintaining the landing point of the landing link. That is, inverse kinematics calculation is performed from the waist position and the landing point, and it is determined that the calculation is feasible if it is within the movable angle and within the allowable torque of the joint actuator.

  If the current support polygon cannot be formed at the next target waist position, it is determined that it is impossible to move the ZMP within the stable area where the foot can be formed, and the entire processing routine ends.

  On the other hand, if the current support polygon can be formed at the next target waist position, further, the ZMP when the hip is moved to the next target waist position (that is, the next) is calculated (step S74).

  Next, it is determined whether or not ZMP exists in a stable area where a foot can be formed (step S75). If the determination result is affirmative, it is determined that the ZMP can be moved into the stable area where the foot can be formed (step S76), and the entire processing routine ends. On the other hand, if the determination result is negative, the next waist position is set to the current waist position, the next ZMP is set to the current ZMP, and the process returns to step S71 to repeat the same processing.

In the operation examples shown in FIGS. 130 and 131, the length of the upper arm is l ₁ , the length of the forearm is l ₂ , the shoulder roll angle is α, the elbow pitch angle is beta, and the length from the shoulder to the hand is l. _{12. If} the angle between the line connecting the shoulder and the hand is γ, and the height of the shoulder is h (FIG. 132), the following formula should be satisfied during the operation period in which the left and right hands land on the back of the torso. By operating the elbow pitch shaft 7, the hand does not collide with the floor surface.

  The rising motion pattern shown in FIG. 92 is based on a link structure in which the body of the legged mobile robot is connected to the shoulder pitch axis, the trunk pitch axis, the hip joint pitch axis, and the knee pitch axis in the height direction of the body. Modeling shows a rising motion. FIG. 133 shows a standing motion in which a legged mobile robot is generalized to a link structure in which a plurality of joint axes having substantially parallel joint degrees of freedom are connected in the length direction.

  The link structure shown in the figure is configured by connecting a plurality of joint axes having substantially parallel joint degrees of freedom in the longitudinal direction. A rising operation from a posture above the floor where all the links are in contact with the floor is realized by using links A, B, C, D, E and F.

  However, the links A to F need not be single links, and a plurality of links are actually connected via a joint axis. However, during the rising operation, the link does not operate and the link does not operate. This also includes the case where the straightness between them is maintained and the user acts as if it were a single link. For example, link A includes the links from the link end to the h-th link, link B includes the links from the h-th to the i-th link, link C includes the links from the i-th to the j-th link, and link D includes the j-th link. The link E includes links from the k-th to the l-th link, and the link F includes links from the l-th to the m-th link (or the other end of the link).

  First, a ground polygon is formed between the F-th link and the A-th link, and ZMP is set in the ground polygon (FIG. 133 (1)).

  Next, ZMP is set in the ground polygon between the E-th link and the A-th link (FIG. 133 (2)). At this time, the movement of the F-th link may be used, such as releasing two or more links from the link ends.

  Next, a narrower ground polygon is newly formed between the F-th link and the A-th link, and ZMP is set in the ground polygon (FIG. 133 (3)). For example, the F-th link that is leaving the floor is bent and its end is landed to form a new ground polygon.

  Next, a ground contact polygon is newly formed between the F-th link and the D-th or C-th link, and a ZMP is set in the ground polygon (FIG. 133 (4)). At this time, the movement of the A-th link may be used, such as releasing two or more links from the other link end.

  Next, the D-th link is grounded, a new ground polygon is formed by the F-th link and the A-th link, and ZMP is set in the ground polygon (FIG. 133 (5)). For example, the A-th link that is leaving the floor is bent and its end is landed to form a new ground polygon.

  Next, a ground polygon is newly formed by the F-th link and the A-th link, and ZMP is set in the ground polygon (FIG. 133 (6)). For example, with the end points of both link ends still landing, the D-th link during landing is released.

  Next, the ZMP is moved into the supporting polygon formed only by the A-th link by matching the end points of both link ends F and A (FIG. 133 (7)).

  Finally, each link is moved to the basic standing posture while setting the ZMP in the supporting polygon formed only by the A-th link (FIG. 133 (8)).

F-2. The Operation Figure 134 rising from base prone posture, the legged mobile robot 100 according to this embodiment is a shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, a knee joint pitch axis 14 synchronously emphatically The state of driving and performing a rising motion is shown by a joint link model.

  The legged mobile robot 100 according to the present embodiment can basically rise from the prone posture in accordance with the processing procedure shown in the flow chart form in FIG. 91 in the same manner as when rising from the supine posture. Hereinafter, the operation of raising the aircraft from the basic prone position will be described with reference to the flowchart shown in FIG.

  First, in the posture on the floor, the posture with the smallest potential energy is taken (step S51). This corresponds to a basic prone posture, and as shown in FIG. 134 (1), the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14, which are used for the rising motion, are respectively connected. All the links that you make are on the floor. The state of the actual machine at this time is shown in FIGS. 135 and 154.

  In this basic prone position, the narrowest supporting polygon is searched for in the grounding polygon formed by the floor contact link (step S52). At this time, it is determined whether or not ZMP can be planned when at least two or more links are lifted off from one end of the body. The planning possibility of the ZMP can be determined in consideration of the movable angle of the link structure, the torque, joint force, angular velocity, angular acceleration, and the like of each joint actuator connecting the link.

  Next, two or more links that are not involved in the narrowest supporting polygon among the grounding polygons are lifted off (step S53). Step S53 corresponds to FIG. 134 (2). On the actual machine, the lower body side including the center-of-gravity link connecting the trunk joint and the hip joint is extracted as a support polygon, and two or more other links from the shoulder joint to the trunk joint are taken off as links not involved in the support polygon. I do.

The operation of the actual machine at this time is shown in FIGS. 136 to 144 and FIGS. 155 to 163. In the illustrated example, first, by operating the shoulder roll axis actuator A ₅ of both arms of the left and right, and grinded on the floor by pivoting by approximately 90 degrees to the shoulder roll axis (Fig. 136 to view 137, and Figure 155～ Figure 156), then, by operating the upper arm yaw axis actuator a _6, each arm portion is rotated by about 180 degrees to the upper arm yaw axis (Fig. 138 and Fig. 157). Then, further actuates the shoulder roll axis actuator A _5, swirled by approximately 90 degrees to the shoulder roll axis Inhale, each arm portion is moved to the side of the head (Fig 138～ view 141 and, FIG. 157 to FIG. 160).

  In the series of operations shown in FIGS. 136 to 141 and FIGS. 165 to 170, the left and right arms are shaped like drawing a semicircle on the floor. At this time, the presence or absence of an obstacle on the road surface around the machine body can be detected to secure a safe working area required for the rising operation.

  Next, one or more outgoing links are bent from one end and the end of the link end is landed to form a narrower ground contact polygon (step S54). Step S54 corresponds to FIG. 134 (3).

  Then, when a new ground polygon is formed, it is checked whether a ZMP can be set for the ground polygon (step S55). This is determined in consideration of the movable angle of the link structure, the torque, joint force, angular velocity, angular acceleration, and the like of each joint actuator connecting the link. Then, the ZMP is moved to the ground polygon to form a new support polygon (step S56).

On the actual machine, with the elbow pitch axis 7 fixed and the left and right arms straight extended, this time, the shoulder pitch axis actuator A ₄ , the trunk pitch axis actuator A ₉ , the hip pitch axis A ₁₂ , and the knee joint pitch axis actuator a ₁₄ is actuated, both knees of the right and left hand forms a support polygon consisting of closed links posture grounded (Fig. 142 to view 144 and Fig. 161 to view 163,).

  144 and 153, the supporting polygon is not yet sufficiently narrow. Therefore, the landing point is moved to reduce the supporting polygon (step S60). Regarding the angle of the arm when the supporting polygon is reduced, it is desirable that the angle formed by the central axis of the arm and the vertical line lowered from the shoulder axis to the floor surface is within a predetermined angle based on the torque amount.

  On the actual machine, a narrower support polygon is formed by gradually approaching the hand to the sole, which is the other landing point, while keeping the left and right arms straight (FIGS. 145 to 145). 148, and FIGS. 164 to 167).

  Here, it is determined whether or not the support polygon has become sufficiently narrow (step S57). This determination is made by determining whether the center of gravity link connecting the trunk pitch axis and the hip joint pitch axis can be released from the floor, or whether the ZMP can be moved into a ZMP stable region that can be formed only by the feet. Is determined in consideration of the movable angle of the joint, the torque, joint force, angular velocity, angular acceleration, and the like of each joint actuator connecting the link. 148 and 165, it is determined that a sufficiently narrow supporting polygon is formed.

  Then, in response to the support polygon of the fuselage having become sufficiently narrow, the ZMP is maintained within the support polygon formed by the landing links at both link ends, and the two link ends forming the support polygon are maintained. The distance between the ends is reduced, and the ZMP is moved to the other end of the link structure (step S58). This corresponds to FIGS. 134 (6) to 134 (7).

  On the actual machine, with the hand and sole as the ends of both link ends of the grounding polygon touching the floor, the distance between the hand and sole is gradually reduced, and the ZMP is moved toward the sole. To go. The operation of the actual machine at this time is shown in FIGS. 149 to 150 and FIGS. 168 to 169.

  Then, in response to the ZMP rushing into the grounding polygon formed by only the second predetermined number or less of floor contact links from the other end of the link structure, the ZMP was housed in the grounding polygon. The first predetermined number or more links are left from one end of the link structure as it is, and the left links are extended in the length direction to complete the rising operation (step S59). This corresponds to FIG. 134 (8).

  On the actual machine, in response to the ZMP rushing into the grounding polygon formed by the sole, the ZMP is accommodated in the grounding polygon, and the ZMP is moved from the shoulder pitch axis 4 to the knee pitch axis 14. The rising motion is completed by releasing the link and extending the link in the length direction. The operation of the actual machine at this time is shown in FIGS. 151 to 153 and FIGS. 170 to 172.

  When extending the leaving link in the longitudinal direction, which is the final stage of getting up, it is efficient to operate the airframe actively by using the knee joint pitch axis having a larger mass operation amount.

F-3. Another example of the rising operation In the rising operation shown in FIG. 91, by performing a chronological combination of postures in which the ZMP supporting polygon is minimized, a rising operation having an operation pattern in which the external force moment is minimized is performed. And In this operation, in the process of successively forming smaller supporting polygons, a step change operation of a hand or a foot is used. However, in order to realize the step change operation, it is necessary that the hand or the foot part gets out of the floor, and there must be two or more links that are not involved in the supporting polygon, and the step change operation may be performed depending on the attitude of the aircraft. In some cases, the rising operation itself breaks down (step S64 in FIG. 91).

  On the other hand, in the process of successively forming smaller supporting polygons, if the stepping operation of the hand or the foot cannot be realized, the rising operation is performed by using the drag operation of the hand or the foot. Can be reduced. In the following, in the process of successively forming smaller supporting polygons, a rising operation using a step change operation of a hand or a foot and a drag operation will be described.

  FIG. 174 shows, in the form of a flowchart, a rising operation using a step change operation of a hand or a foot and a drag operation. Hereinafter, the rising operation procedure will be described. FIG. 175 to FIG. 191 sequentially show how the airframe rises up from the basic prone position while using the hand or foot stepping operation or the dragging operation. Hereinafter, each drawing will be referred to as appropriate.

  First, in the posture on the floor, the posture with the smallest potential energy is taken (step S81). This corresponds to the basic prone posture, and the state of the actual machine at this time is shown in FIG.

  However, in a case where the user rises up continuously with the overturning operation, the step-up operation can be completed in a short time by omitting step S81 (described later).

  In this basic prone position, the narrowest supporting polygon is searched for in the grounding polygon formed by the floor contact link (step S82). At this time, it is determined whether or not ZMP can be planned when at least two or more links are lifted off from one end of the body. The planning possibility of the ZMP can be determined in consideration of the movable angle of the link structure, the torque, joint force, angular velocity, angular acceleration, and the like of each joint actuator connecting the link.

  Here, it is determined whether or not two or more of the links not involved in the smallest supporting polygon can be left (step S83). If two or more links that are not involved in the minimum support polygon can be released from the floor, the process proceeds to the next step S84, where a smaller grounded polygon is formed by the stepping operation of the hand or the foot. On the other hand, if it is not possible to leave the floor, the process proceeds to step S91, and a smaller grounded polygon is formed using the drag operation of the hand or foot.

  In step S84, two or more of the links that are not involved in the smallest supporting polygon are released from the floor, and the exit links are bent and landed to form a smaller grounded polygon (step S85).

  For example, in FIG. 179 to FIG. 181 and FIG. 184 to FIG. 186, while the robot rising while touching both hands and feet touches the left foot and the right foot, FIG. 175, FIG. 182 to FIG. 183, FIG. As shown in FIG. 5, the exit link is bent and landed to form a smaller ground contact polygon.

  Then, when a new ground polygon is formed, it is checked whether ZMP can be set for the ground polygon (step S86). This is determined in consideration of the movable angle of the link structure, the torque, joint force, angular velocity, angular acceleration, and the like of each joint actuator connecting the link. Then, the ZMP is moved to the ground polygon to form a new support polygon (step S87). If the ZMP cannot be set for the contact polygon, the process returns to step S83 to check again whether to perform the step change operation or the drag operation of the hand or the foot.

  Here, it is determined whether or not the support polygon has become sufficiently narrow (step S88). This determination is made by determining whether the center of gravity link connecting the trunk pitch axis and the hip joint pitch axis can be released from the floor, or whether the ZMP can be moved into a ZMP stable region that can be formed only by the feet. Is determined in consideration of the movable angle of the joint, the torque, joint force, angular velocity, angular acceleration, and the like of each joint actuator connecting the link.

  Then, in response to the support polygon of the fuselage having become sufficiently narrow, the ZMP is maintained within the support polygon formed by the landing links at both link ends, and the two link ends forming the support polygon are maintained. The distance between the ends is reduced, and the ZMP is moved to the other end of the link structure (step S89).

  On the actual machine, with the hand and sole as the ends of both link ends of the grounding polygon touching the floor, the distance between the hand and sole is gradually reduced, and the ZMP is moved toward the sole. To go. 188 to 189 show the operation of the actual machine at this time.

  Then, in response to the ZMP rushing into the grounding polygon formed by only the second predetermined number or less of floor contact links from the other end of the link structure, the ZMP was housed in the grounding polygon. A first predetermined number or more of links are left from one end of the link structure as they are, and the left links are extended in the length direction to complete the rising operation (step S90).

  On the actual machine, in response to the ZMP rushing into the grounding polygon formed by the sole, the ZMP is accommodated in the grounding polygon, and the ZMP is moved from the shoulder pitch axis 4 to the knee pitch axis 14. The rising motion is completed by releasing the link and extending the link in the length direction. The operation of the actual machine at this time is shown in FIGS.

  When extending the leaving link in the longitudinal direction, which is the final stage of getting up, it is efficient to operate the airframe actively by using the knee joint pitch axis having a larger mass operation amount.

  On the other hand, if it is determined in step S83 that two or more of the links that do not participate in the smallest support polygon cannot be released from the floor, the largest support polygon is used to perform the drag operation of the hand or the foot. It is checked whether or not two or more links in the innermost floor can be separated from the floor (step S91).

  Here, if it is not possible to leave two or more landing links within the maximum supporting polygon, it is determined whether or not the landing point can be further moved to reduce the supporting polygon. I do. If the supporting polygon cannot be reduced, the rising operation is stopped (step S95). That is, the rising operation fails.

  On the other hand, if two or more landing links inside the largest support polygon can be separated from the floor, two or more landing links inside the largest support polygon should be separated from the floor (step). S92) The landing point is moved using the drag operation of the hand or the foot, and the supporting polygon is reduced (step S93).

  For example, as shown in FIGS. 176 to 178 and FIGS. 187 to 188, the robot rising while grounding both hands and feet gradually drags the support polygon while dragging toward the feet with both hands on the ground. To smaller.

  Thereafter, it is determined whether or not the support polygon has become sufficiently narrow (step S88). Then, in response to the support polygon of the fuselage having become sufficiently narrow, the ZMP is maintained within the support polygon formed by the landing links at both link ends, and the two link ends forming the support polygon are maintained. The distance between the ends is reduced, and the ZMP is moved to the other end of the link structure (step S89).

  Then, in response to the ZMP rushing into the grounding polygon formed by only the second predetermined number or less of floor contact links from the other end of the link structure, the ZMP was housed in the grounding polygon. A first predetermined number or more of links are left from one end of the link structure as they are, and the left links are extended in the length direction to complete the rising operation (step S90).

  FIG. 199 shows, in the form of a flowchart, a detailed processing procedure for searching for the link in which the number of links not involving the smallest supporting polygon is the largest in step S83 and the site thereof.

  First, in steps S101 and S102, variables i and j and an array type variable M are initialized. Next, ZMP is set at the j-th part of the i-th link (step S103).

  Here, it is determined whether the ZMP space is stable (step S104). If the ZMP space is stable, the number of links that are not involved in the smallest supporting polygon is calculated (step S105), and the number of exit links at the j-th part of the i-th link is substituted for L. If L is larger than M (step S106), L (i, j) is substituted for M (A, B) (step S107).

  On the other hand, if the ZMP space is not stable, if L is not larger than M, or if L (i, j) is substituted for M (A, B), j is incremented by 1 (step S108), and j Is greater than or equal to the total number of parts J (step S109). If j has not yet reached the total number of parts J, the process returns to step S103, and the same processing as described above is repeatedly executed.

  Next, i is incremented by 1 (step S110), and it is determined whether i exceeds the total number of links I (step S111). If i has not reached the total number of links, the process returns to step S102, and the same processing as described above is repeatedly executed.

  If i exceeds the total number of links I, the link is substituted into A and the part is substituted into B, and this processing routine is terminated.

  As described above, in a case where the robot rises continuously from the overturning operation, the step S81 can be omitted to complete the rising operation in a short time.

  For example, when the center of gravity of the fuselage is at the waist, the ZMP can be set at a position where the number of links not involving the smallest supporting polygon is the largest. After such a fall / landing operation, release all links that can be released, that is, lift both the lower limbs and the trunk, lift off the upper body and lower limbs at the same time, and land the feet, hands, etc. By doing so, a smaller grounded polygon can be formed in fewer steps, so that a faster and more efficient rising operation can be realized.

  FIGS. 192 to 198 show a series of operations of the airframe in the case of performing a rising operation following a falling operation.

  From the standing posture shown in FIG. 192, the overturning operation starts toward the rear of the aircraft as shown in FIGS. 192 to 193, and as shown in FIG.

  In the example shown in FIG. 194, the ZMP is set in the body where the number of links not involving the smallest supporting polygon is the largest. Also, what is characteristic is that, unlike the example described with reference to FIGS. 23 to 38 and FIGS. 39 to 55, the falling motion ends in a state where the legs are not on the basic supine and the legs are out of the floor. It is in the point.

In the subsequent rising operation, as shown in FIG. 195, all the links that can be separated from the floor, that is, the legs and the body are released from the floor, and the rising operation is started. Here, by driving the pitch axis actuator of the hip joint and / or the trunk, the upper body is raised as shown in FIGS. 196 to 197. Then, by raising the right leg by the drive of the right leg of the hip joint pitch axis A _12, by bending the right leg by the drive of the knee joint actuator A _14, for landing the sole. Then, by raising the right leg by the drive of the hip joint pitch axis A ₁₂ of the leg, by bending the left leg by the drive of the knee joint actuator A _14, for landing the sole. In this manner, by gradually approaching the sole to the side of the hip joint pitch axis 12, which is the machine center of gravity, it is possible to form a ground contact polygon narrower than the original on-floor posture as shown in FIG. 198. .

  When the rising operation is performed continuously with the overturning operation, a smaller grounded polygon can be formed in fewer steps as compared with the example described with reference to FIGS. 23 to 38 and FIGS. That is, it should be sufficiently understood that according to this embodiment, a narrow grounded polygon can be formed more efficiently, and the rising operation is speeded up.

  The present invention has been described in detail with reference to the specific embodiments. However, it is obvious that those skilled in the art can modify or substitute the embodiment without departing from the spirit of the present invention.

  The gist of the present invention is not necessarily limited to products called “robots”. That is, as long as the mechanical device performs a motion similar to a human motion using an electric or magnetic action, the present invention similarly applies to a product belonging to another industrial field such as a toy. Can be applied.

  In short, the present invention has been disclosed by way of example, and the contents described in this specification should not be interpreted in a limited manner. In order to determine the gist of the present invention, the claims described at the beginning should be considered.

FIG. 1 is a view showing a state in which a legged mobile robot provided for carrying out the present invention stands upright, as viewed from the front. FIG. 2 is a view showing a state in which the legged mobile robot provided for carrying out the present invention stands upright, as viewed from the rear. FIG. 3 is a diagram schematically illustrating a joint degree of freedom configuration included in the legged mobile robot. FIG. 4 is a diagram schematically illustrating a control system configuration of the legged mobile robot 100. FIG. 5 is a diagram showing a basic state transition of the motion system of the legged mobile robot 100. FIG. 6 is a diagram illustrating a basic supine posture of the legged mobile robot 100. FIG. 7 is a diagram showing a basic prone posture of the legged mobile robot 100. FIG. 8 is a diagram illustrating a basic standing posture of the legged mobile robot 100. FIG. 9 is a diagram illustrating a basic walking posture of the legged mobile robot 100. FIG. 10 is a diagram illustrating a multi-mass point approximation model of the legged mobile robot 100. FIG. 11 is an enlarged view of the periphery of the waist of the multi-mass model. FIG. 12 is a flowchart illustrating a processing procedure for generating a body motion capable of stably walking in the legged mobile robot 100. FIG. 13 is a flowchart showing a schematic processing procedure for controlling the operation of the body of the legged mobile robot 100 during legged work. FIG. 14 is a diagram for explaining the principle of maintaining the support area when the body falls. FIG. 15 is a diagram for explaining the principle of maximizing the support polygon when the body falls on the floor. FIG. 16 is a diagram for explaining an operation of maintaining a support area at the time of falling when the legged mobile robot 100 falls backward, that is, in a supine position. FIG. 17 is a diagram for explaining an operation of maintaining a support area at the time of falling when the legged mobile robot 100 falls backward, that is, toward a supine posture. FIG. 18 is a diagram for explaining an operation of maintaining a support area at the time of falling when the legged mobile robot 100 falls forward, that is, in a prone position. FIG. 19 is a diagram for explaining an operation of maintaining a supporting area when the legged mobile robot 100 falls forward or in a prone position. FIG. 20 is a flowchart illustrating a processing procedure for the legged mobile robot 100 according to the embodiment of the present invention to perform a fall operation due to the inability to plan the foot. FIG. 21 shows a legged mobile robot 100 including a plurality of substantially parallel joint axes connected in the height direction such as a shoulder joint pitch axis 4, a trunk pitch axis 9, a hip joint pitch axis 12, and a knee joint pitch axis 14. FIG. 10 is a diagram illustrating an operation of modeling as a link structure and driving each joint pitch axis in a synchronously emphasizing manner to fall toward a supine posture. FIG. 22 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 23 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 24 is a side view showing a state where the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 25 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 26 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 27 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 28 is a side view showing how the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 29 is a side view showing how the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 30 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 31 is a side view showing a state in which the legged mobile robot 100 falls from a standing posture to a supine posture. FIG. 32 is a side view showing how the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 33 is a side view showing how the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 34 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 35 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 36 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 37 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 38 is a side view showing how the legged mobile robot 100 falls from a standing posture to a supine posture. FIG. 39 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 40 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 41 is a perspective view showing how the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 42 is a perspective view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 43 is a perspective view showing how the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 44 is a perspective view showing that the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 45 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 46 is a perspective view showing how the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 47 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 48 is a perspective view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 49 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 50 is a perspective view showing how the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 51 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture. FIG. 52 is a perspective view showing a state in which the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 53 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the supine posture. FIG. 54 is a perspective view showing how the legged mobile robot 100 falls from a standing posture to a supine posture. FIG. 55 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the supine posture. 56, the legged mobile robot 100 includes a plurality of substantially parallel joint axes connected in the height direction such as a shoulder joint pitch axis 4, a trunk pitch axis 9, a hip joint pitch axis 12, and a knee joint pitch axis 14. It is a figure which modeled as a link structure, and showed the operation | movement which drives each joint pitch axis in a synchronous emphasis and falls down to a prone posture. FIG. 57 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 58 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 59 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 60 is a side view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 61 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 62 is a side view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 63 is a side view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 64 is a side view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 65 is a side view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 66 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 67 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 68 is a side view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 69 is a side view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 70 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 71 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 72 is a side view showing a state in which the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 73 is a side view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 74 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 75 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture. FIG. 76 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 77 is a perspective view showing a state in which the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 78 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 79 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 80 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 81 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 82 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 83 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 84 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 85 is a perspective view showing a state in which the legged mobile robot 100 falls from a standing posture to a prone posture. FIG. 86 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 87 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 88 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 89 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 90 is a perspective view showing a state where the legged mobile robot 100 falls from the standing posture to the prone posture. FIG. 91 shows a legged mobile robot 100 according to an embodiment of the present invention, in which the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 are driven in a synchronously emphasized manner to get up. Is a flowchart showing a processing procedure for performing the processing. FIG. 92 shows a legged mobile robot 100 according to an embodiment of the present invention, in which the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 are driven in a synchronously emphasized manner and the supine posture. FIG. 8 is a diagram showing a state of performing a rising motion from a joint link model. FIG. 93 is a diagram showing a state in which a legged mobile robot without a trunk pitch axis performs a rising operation from a supine posture by synchronous driving of a plurality of joint pitch axes. FIG. 94 is a side view showing a state in which the legged mobile robot 100 gets up from the basic supine posture. FIG. 95 is a side view showing a state in which the legged mobile robot 100 gets up from the basic supine posture. FIG. 96 is a side view showing a state in which the legged mobile robot 100 gets up from the basic supine posture. FIG. 97 is a side view showing a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 98 is a side view showing a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 99 is a side view showing a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 100 is a side view showing a state in which the legged mobile robot 100 rises from a basic supine posture. FIG. 101 is a side view showing a state in which the legged mobile robot 100 gets up from a basic supine posture. FIG. 102 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG. 103 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG. 104 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG. 105 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG. 106 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG. 107 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG. 108 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG. 109 is a side view showing how the legged mobile robot 100 rises from the basic supine posture. FIG. 110 is a side view showing how the legged mobile robot 100 rises from the basic supine posture. FIG. 111 is a side view showing a state in which the legged mobile robot 100 gets up from the basic supine posture. FIG. 112 is a perspective view showing a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 113 is a perspective view showing a state in which the legged mobile robot 100 rises from a basic supine posture. FIG. 114 is a perspective view showing a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 115 is a perspective view showing a state in which the legged mobile robot 100 rises from a basic supine posture. FIG. 116 is a perspective view showing how the legged mobile robot 100 rises from the basic supine position. FIG. 117 is a perspective view showing a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 118 is a perspective view showing a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 119 is a perspective view showing how the legged mobile robot 100 rises from the basic supine posture. FIG. 120 is a perspective view showing a state in which the legged mobile robot 100 rises from a basic supine posture. FIG. 121 is a perspective view showing a state in which the legged mobile robot 100 rises from a basic supine posture. FIG. 122 is a perspective view showing a state in which the legged mobile robot 100 rises from a basic supine posture. FIG. 123 is a perspective view showing a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 124 is a perspective view showing a state where the legged mobile robot 100 rises from the basic supine posture. FIG. 125 is a perspective view showing a state in which the legged mobile robot 100 rises from a basic supine posture. FIG. 126 is a perspective view showing a state where the legged mobile robot 100 rises from the basic supine posture. FIG. 127 is a perspective view illustrating a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 128 is a perspective view showing a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 129 is a perspective view illustrating a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 130 is a diagram showing a modified example of a series of operations for landing right and left hands behind the trunk. FIG. 131 is a diagram showing a modified example of a series of operations for landing the left and right hands behind the trunk. FIG. 132 is a view for explaining the operation of the arm shown in FIGS. 130 and 131. FIG. 133 is a diagram in which the legged mobile robot shown in FIG. 92 is replaced with a link structure and generalized. FIG. 134 shows a prone posture in which the legged mobile robot 100 according to an embodiment of the present invention drives the shoulder joint pitch axis 4, the trunk pitch axis 9, the hip joint pitch axis 12, and the knee joint pitch axis 14 in a synchronously emphasized manner. FIG. 8 is a diagram showing a state of performing a rising motion from a joint link model. FIG. 135 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG. 136 is a side view showing how the legged mobile robot 100 rises from the basic supine posture. FIG. 137 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG. 138 is a side view showing how the legged mobile robot 100 rises from the basic supine posture. FIG. 139 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG. 140 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG. 141 is a side view showing a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 142 is a side view showing a state where the legged mobile robot 100 rises from the basic supine posture. FIG. 143 is a side view showing a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 144 is a side view showing a state in which the legged mobile robot 100 rises from the basic supine posture. FIG. 145 is a side view showing a state where the legged mobile robot 100 rises from the basic supine posture. FIG. 146 is a side view showing how the legged mobile robot 100 rises from the basic supine posture. FIG. 147 is a side view showing how the legged mobile robot 100 rises from the basic supine posture. FIG. 148 is a side view showing a state where the legged mobile robot 100 rises from the basic supine posture. FIG. 149 is a side view showing how the legged mobile robot 100 rises from the basic supine posture. FIG. 150 is a side view showing how the legged mobile robot 100 gets up from the basic supine posture. FIG. 151 is a side view showing a state in which the legged mobile robot 100 gets up from the basic supine posture. FIG. 152 is a side view showing a state where the legged mobile robot 100 rises from the basic supine posture. FIG. 153 is a side view showing a state where the legged mobile robot 100 rises from the basic supine posture. FIG. 154 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 155 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 156 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 157 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 158 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 159 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 160 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 161 is a perspective view illustrating a state in which the legged mobile robot 100 rises from the basic prone position. FIG. 162 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 163 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 164 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 165 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 166 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 167 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 168 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 169 is a perspective view illustrating a state in which the legged mobile robot 100 rises from the basic prone position. FIG. 170 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 171 is a perspective view illustrating a state in which the legged mobile robot 100 rises from the basic prone position. FIG. 172 is a perspective view showing how the legged mobile robot 100 rises from the basic prone position. FIG. 173 is a flowchart showing a processing procedure for determining whether the support polygon has become sufficiently narrow. FIG. 174 is a flowchart illustrating a rising operation using a step change operation and a drag operation of a hand or a foot. FIG. 175 is a side view showing a state in which the legged mobile robot 100 rises from the basic prone posture while utilizing the stepping operation and the dragging operation of the hand and the foot. FIG. 176 is a side view showing a state in which the legged mobile robot 100 rises from the basic prone posture while using the stepping operation of the hand and the foot and the dragging operation. FIG. 177 is a side view showing a state in which the legged mobile robot 100 rises from the basic prone position while utilizing the stepping operation and the dragging operation of the hand and the foot. FIG. 178 is a side view showing a state in which the legged mobile robot 100 rises up from the basic prone posture while using the step change operation and the drag operation of the hand and the foot. FIG. 179 is a side view showing a state in which the legged mobile robot 100 rises up from the basic prone posture while using the step change operation and the drag operation of the hand and the foot. FIG. 180 is a side view showing a state in which the legged mobile robot 100 rises from the basic prone position while utilizing the stepping operation and the dragging operation of the hand and the foot. FIG. 181 is a side view showing a state in which the legged mobile robot 100 rises from the basic prone posture while using the stepping operation of the hand and the foot and the dragging operation. FIG. 182 is a side view showing a state in which the legged mobile robot 100 rises up from the basic prone posture while utilizing the step change operation and the drag operation of the hand and the foot. FIG. 183 is a side view showing a state in which the legged mobile robot 100 rises from the basic prone position while utilizing the stepping operation of the hand and the foot and the dragging operation. FIG. 184 is a side view showing a state in which the legged mobile robot 100 rises up from the basic prone posture while using the step change operation and the drag operation of the hand and the foot. FIG. 185 is a side view showing a state in which the legged mobile robot 100 rises up from the basic prone posture while using the step change operation and the drag operation of the hand and the foot. FIG. 186 is a side view showing a state in which the legged mobile robot 100 rises from the basic prone posture while utilizing the stepping operation of the hand and the foot and the dragging operation. FIG. 187 is a side view showing a state in which the legged mobile robot 100 rises from the basic prone posture while utilizing the stepping operation of the hand and the foot and the dragging operation. FIG. 188 is a side view showing a state in which the legged mobile robot 100 rises up from the basic prone posture while using the step change operation and the drag operation of the hand and the foot. FIG. 189 is a side view showing a state in which the legged mobile robot 100 rises up from the basic prone posture while using the step change operation and the drag operation of the hand and the foot. FIG. 190 is a side view showing a state in which the legged mobile robot 100 rises from the basic prone position while utilizing the stepping operation and the dragging operation of the hand and the foot. FIG. 191 is a side view illustrating a state in which the legged mobile robot 100 rises from the basic prone posture while using the stepping operation of the hand and the foot and the dragging operation. FIG. 192 is a diagram illustrating a series of operations of the aircraft in a case where the user gets up consecutively with the overturning operation. FIG. 193 is a diagram illustrating a series of operations of the aircraft in a case where the user gets up consecutively with the overturning operation. FIG. 194 is a diagram illustrating a series of operations of the aircraft in a case where the user gets up consecutively with the overturning operation. FIG. 195 is a diagram illustrating a series of operations of the aircraft in a case where the user gets up consecutively with the overturning operation. FIG. 196 is a diagram illustrating a series of operations of the aircraft in a case where the user gets up consecutively with the overturning operation. FIG. 197 is a diagram illustrating a series of operations of the aircraft in a case where the user gets up consecutively with the overturning operation. FIG. 198 is a diagram illustrating a series of operations of the aircraft in a case where the user gets up consecutively with the overturning operation. FIG. 199 is a flowchart showing a processing procedure for searching for a link having the maximum number of links not involving the smallest supporting polygon and its site.

Explanation of reference numerals

DESCRIPTION OF SYMBOLS 1 ... Neck joint yaw axis 2A ... 1st neck joint pitch axis 2B ... 2nd neck joint (head) pitch axis 3 ... Neck joint roll axis 4 ... Shoulder joint pitch axis 5 ... Shoulder joint roll axis 6 ... Upper arm yaw axis 7: Elbow joint pitch axis 8: Wrist joint yaw axis 9 ... Trunk pitch axis 10 ... Trunk roll axis 11 ... Hip joint yaw axis 12 ... Hip joint pitch axis 13 ... Hip joint roll axis 14 ... Knee joint pitch axis 15 ... Ankle joint pitch Axis 16: Ankle joint roll axis 30: Head unit, 40: Trunk unit 50: Arm unit, 51: Upper arm unit 52: Elbow joint unit, 53: Forearm unit 60: Leg unit, 61: Thigh unit 62: Knee joint unit, 63: Shin unit 80: Control unit, 81: Main control unit 82: Peripheral circuit 91, 92: Ground contact confirmation sensor 93, 94: Acceleration sensor 95: Attitude sensor 9 ... acceleration sensor 100 ... legged mobile robot

Claims (10)

In a mobile robot device composed of a plurality of links,
A leg having a foot,
When returning to the basic posture from the overturned state of the mobile robot device,
Means for searching for the narrowest supporting polygon from among the grounding polygons formed by the floor contact links in an on-floor position where two or more links touch the floor;
Means for determining whether the ZMP can be moved into a stable region formed by the foot,
Means for raising the mobile robot apparatus from the above-floor posture when it is determined that the ZMP can be moved into a stable area formed by the feet by the determination means;
A mobile robot device comprising: If the determining means determines that the ZMP cannot be moved to the stable area formed by the foot, the support polygon is further reduced by moving the landing point of the landing link. Repeat the return operation from the fall state to the basic posture,
If the landing point of the landing link cannot be moved, or if the supporting polygon cannot be further reduced, the rising operation from the overturning state is stopped.
The mobile robot device according to claim 1, wherein: In a mobile robot device including a link structure in which a plurality of links are connected,
When returning to the basic posture from the overturned state of the mobile robot device,
First means for searching for a narrowest supporting polygon from ground contact polygons formed by floor contact links in an on-floor posture where two or more links including a center of gravity link at which the center of gravity of the mobile robot device is located are on the floor; ,
Second means for leaving two or more links among the links constituting the grounding polygon that are not involved in the narrowest supporting polygon and bending one or more of the leaving links to form a narrower grounding polygon;
Third means for determining whether a ZMP can be set in the ground polygon formed by the second means,
In response to determining that the ZMP can be set by the third means, moving the ZMP to the ground polygon and further determining whether the newly formed supporting polygon is sufficiently narrow. Means,
Fifth means for raising the mobile robot apparatus in response to determining that the supporting polygon is sufficiently narrow by the fourth means;
A mobile robot device comprising: The first means searches for a narrower supporting polygon while keeping the center of gravity link in a floor-contact state,
The mobile robot device according to claim 3, wherein: The fifth means determines whether or not the support polygon has become sufficiently narrow based on whether or not the center-of-gravity link can be separated from the floor while the ends of the links constituting the grounded polygon are in contact with the floor.
The mobile robot device according to claim 3, wherein: The link structure is configured by connecting at least a shoulder joint pitch axis, a trunk pitch axis, a hip joint pitch axis, and a knee pitch axis,
The fifth means includes:
Means for leaving the center-of-gravity link that connects the trunk pitch axis and the hip joint pitch axis in a state where the hands and soles as the ends of the links constituting the grounding polygon are in contact with the floor,
Means for moving the ZMP to the sole by reducing the distance between the hand and the sole as the ends of the links forming the grounding polygon with the center of gravity link off the floor,
In response to the ZMP rushing into the grounding polygon formed by the sole, the link from the shoulder pitch axis to the knee pitch axis is released while the ZMP is housed in the grounding polygon. Means for erecting the mobile robot apparatus by extending the exit link,
The mobile robot device according to claim 3, further comprising: The means for extending the exit link operates positively using a knee joint pitch axis having a larger mass operation amount;
The mobile robot device according to claim 6, wherein: The mobile robot device includes a hand or a foot as a link,
The second means determines whether or not two or more of the links not involved in the smallest supporting polygon can leave the floor when forming a narrower ground contact polygon, and when the determination result is positive. To use the step change operation in the hand or foot, if the determination result is negative, use the drag operation with the floor in the hand or foot,
The mobile robot device according to claim 3, wherein: In a mobile robot apparatus having a trunk and a leg connected to the trunk and an arm connected to the trunk,
A support polygon detecting unit configured to detect a support polygon formed from a plurality of ends where the leg, the trunk, and / or the arm touches the floor;
By bending the legs in the trunk direction, a support polygon changing means for reducing the area of the support polygon,
ZMP movement control means for determining whether or not the ZMP in the changed supporting polygon can be moved into a stable area formed by the foot,
When the ZMP movement control means determines that the ZMP can be moved into the stable region, the mobile robot moves from a falling posture to a basic standing posture while maintaining the ZMP within the ground contact polygon formed by the sole surface. Control means for transitioning the device;
A mobile robot device comprising: At least a torso, one or more arm links connected above the torso via a first joint, and a first leg link connected below the torso via a second joint; A mobile robot device comprising: a second leg link connected to a distal end of one leg link via a third joint;
Means for contacting the tip of the arm link and the foot of the tip of the second leg link to form a first support polygon;
After moving the second joint above the third joint in the direction normal to the floor contact surface while keeping the tip of the arm link and the foot on the floor, the area of the first support polygon is increased. Means for subsequently reducing the ZMP into the ground polygon formed by the foot;
Means for erecting the mobile robot device while maintaining a ZMP within the grounding polygon formed by the feet;
A mobile robot device comprising:

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