JP2003236783A - Bipedal walking transfer device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a bipedal walking transfer device capable of performing a walking control in real time according to environmental information by acquiring the environmental information for each walking. <P>SOLUTION: This bipedal walking transfer device comprises drive means for swinging articulate parts and a walking control device 30 generating gait pattern data by a gait pattern generating part 31 according to a motion instruction and drivingly controlling the drive means by a control part 32 based on the gait pattern data. The gait pattern generating part 31 detects the attitude of a robot based on sensor information from sensors 24, 23L, and 23R detecting the states of the articulate parts during walking and, based on the attitude, generates an angle instruction value in real time as final gait pattern data by using target values by the motion instruction and the present values of the sensor information. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bipedal locomotion device for bipedal locomotion such as a bipedal humanoid robot.

[0002]

2. Description of the Related Art Conventionally, a so-called bipedal humanoid robot is
Walking pattern set in advance (hereinafter referred to as gait)
Biped walking is realized by generating data, controlling walking according to the gait data, and walking the legs in a predetermined walking pattern. At that time, in order to stabilize the walking posture, the combined moment of the floor reaction force and the gravity on the sole of the robot becomes zero (hereinafter,
ZMP (Zero Moment Point)
By so-called ZMP compensation that converges to the target value, the robot is stabilized according to the ZMP standard.

[0003]

By the way, in the conventional bipedal humanoid robot, the robot is operated by a single walking control method on the condition that the robot walks on a road surface such as a flat road where environmental information is known. It is designed to realize bipedal walking. Therefore, under such preconditions, irregular terrain such as unevenness on the road surface should be treated as a disturbance in gait control, and a compensator should be provided separately from the gait data generator. Disturbance is absorbed and removed.

However, there is a limit in dealing with an unknown disturbance element only by the compensator, and the stability of biped walking of the robot may be impaired. Further, regarding the walking control method, it is difficult for the walking stabilization by only a single walking control method to promptly deal with environmental changes such as road surface conditions.

Therefore, it is possible to stabilize the walking by creating a motion plan in real time by actively acquiring and recognizing environmental information such as the posture of the robot and the road surface to be walked. However, such walking control is not performed in the conventional bipedal walking robot.

In view of the above points, the present invention provides a bipedal locomotion device which acquires environmental information for each walk and performs walking control in real time corresponding to this environmental information. Is intended.

[0007]

According to the first aspect of the present invention, the above object is achieved by a main body, a knee portion in the middle of which the lower portion of the main body can swing in two axial directions, and a foot portion in the lower end. And a drive means for swinging the swingable joints of the foot, lower leg, and thigh of the leg, and a gait generator that targets the motion command in response to the motion command. A bipedal locomotion system including gait data including an angular trajectory, a target angular velocity, and a target angular acceleration, and a walking control device that drives and controls each of the driving means by a controller based on the gait data. In the device, the gait generator of the walking control device is a sensor for detecting a state of each joint during walking and / or a sensor for detecting angular velocity, angular acceleration, or a foot force sensor mounted on the robot. The posture of the robot is detected based on the information and The motor commands the target value and the sensor information of the current value from the angle command value biped walking mobile apparatus and generates in real time as the final gait data by based on, is achieved.

In the bipedal locomotion device according to the present invention, preferably, the gait generator stores a gait library storing a gait module, which is an element of walking of the robot, and gait data concerning the next gait. A selection unit that selects and reads the corresponding gait module from the gait library when generating, and a compensator that synthesizes the gait modules selected by the selection unit in real time to generate final gait data. , Are provided.

In the bipedal locomotion device according to the present invention, preferably, the gait module stored in the gait library is composed of at least one angular trajectory pattern.

In the bipedal locomotion device according to the present invention, preferably, the angular trajectory patterns forming the gait module are classified with the ZMP value, the angular momentum around the center of gravity, and the angular acceleration as indexes.

In the bipedal locomotion device according to the present invention, preferably, the selection unit detects the posture of the robot from the sensor information after the end of the previous walk, and the target end state of the next walk according to the motion command. The motion plan up to is performed, and the gait module necessary for realizing this motion plan is read from the gait library.

Further, according to the second aspect of the present invention, the above object is to provide a leg having a main body and a knee portion at an intermediate portion which can swing in two axial directions on both lower sides of the main body and a foot portion at a lower end. A bipedal locomotion device including a leg portion and a driving unit that swings a swingable joint portion of each of a leg portion, a lower leg portion, and a thigh portion of the leg portion, and a gait corresponding to a motion command. Gait data including a desired angular trajectory, a desired angular velocity, and a desired angular acceleration is generated by a generation unit, and the walking control of a bipedal locomotion device in which the control unit drives and controls each of the driving means based on the gait data. In the device, the gait generator of the walking control device,
The posture of the robot is detected based on the sensor for detecting the state of each joint portion during walking and / or the sensor information from the angular velocity and angular acceleration detection sensors and the foot force sensor mounted on the robot, Based on the target value based on the motion command and the current value of the sensor information, an angle command value as final gait data is generated in real time based on the walking control device of the bipedal walking type moving device.

In the gait control device for a bipedal locomotion device according to the present invention, preferably, the gait generator stores a gait library in which a gait module, which is an element of walking of a robot, and a next gait. When generating gait data,
The gait library includes a selection unit that selects and reads a corresponding gait module, and a compensator that synthesizes the gait modules selected by the selection unit in real time to generate final gait data. .

In the gait control device for a bipedal locomotion device according to the present invention, preferably, the gait module stored in the gait library is composed of at least one angular trajectory pattern.

In the gait controller of the bipedal locomotion device according to the present invention, preferably, the angular trajectory pattern constituting the gait module has a ZMP value, an angular momentum around the center of gravity,
The angular acceleration is classified as an index.

In the walking control device of the bipedal walking type moving device according to the present invention, preferably, the selection unit detects the posture of the robot from the sensor information after the end of the previous walking and detects the next walking by the motion command. A motion plan up to the target terminal state is made, and the gait module necessary for realizing this motion plan is read from the gait library.

According to the above configuration, when the bipedal walking type moving device performs a walking motion, the gait generator of the walking controller is based on the sensor information from the sensors provided in each part when the robot is walking. The posture of the robot is detected, and an angle command value as final gait data is generated based on this posture. Therefore, the gait generator, during the walking motion of the robot,
By always generating the gait data in real time based on the posture of the robot, it becomes possible to perform a stable and reliable walking motion even on a road surface where environmental information is unknown.

The gait generator stores a gait library that stores gait modules, which are elements of walking of the robot, and a corresponding gait module from the gait library when gait data relating to the next gait is generated. If a gait library is provided in advance, the gait library is provided with a selection unit that selects and reads the gait module and a compensator that synthesizes the gait modules selected by the selection unit in real time to generate final gait data. Since the modules are stored, when the gait generator generates gait data, desired gait data can be generated by reading the gait modules that are the elements from the gait library and combining them. it can. This reduces the calculation amount of the gait generator, and makes it possible to generate gait data quickly.

When the gait module stored in the gait library is composed of at least one angular trajectory pattern, the gait module itself is composed of at least one angular trajectory pattern. It is possible to synthesize various gait data.

When the angular trajectory patterns forming the gait module are classified by using the ZMP value, the angular momentum around the center of gravity, and the angular acceleration as indexes, the gait generator selects the gait module from the library. When the gait module is searched by using the ZMP value, the angular momentum around the center of gravity, and the angular acceleration as an index, the gait module can be quickly searched and read.

After the end of the previous walk, the selecting unit detects the posture of the robot from the sensor information and makes a motion plan up to the target terminal end state of the next walk according to the motion command to realize this motion plan. When the gait module necessary for this purpose is read from the gait library, the selection unit makes a motion plan for the next gait based on the sensor information for each gait and selects the corresponding gait module. Therefore,
The compensator can generate gait data in real time based on the gait module selected by the selector for each walk.

[0022]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will now be described in detail based on the embodiments shown in the drawings. 1 and 2 are
1 shows a configuration of an embodiment of a bipedal walking robot to which a bipedal walking device according to the present invention is applied. In FIG. 1, a bipedal walking robot 10 includes an upper body 11 that is a main body.
And the knee part 1 in the middle attached to both sides of the lower part of the upper body 11.
Two legs 13L and 13R with 2L and 12R, and a foot 14 attached to the lower end of each leg 13L and 13R
L and 14R are included.

Here, the leg portions 13L and 13R are respectively composed of six joint portions, that is, joint portions 15L and 15R for rotating the leg portions of the waist relative to the body 11, and the roll direction (x-axis) of the waist. (Joint) joints 16L and 16R, joints 17L and 17R in the waist pitch direction (around the y-axis), knee 12
L and 12R joints 18L and 18R in the pitch direction, and joints 1 in the pitch direction of the ankle with respect to the feet 14L and 14R
9L, 19R, ankle roll direction joints 20L, 2
It is equipped with 0R. Each joint 15L, 15R to 2
Each of 0L and 20R is composed of a joint driving motor.

In this way, the lumbar joint is the joint part 1 described above.
5L, 15R, 16L, 16R, 17L, 17R, and the ankle joints are joint parts 19L, 19R, 20
It will be composed of L and 20R. Further, the hip joint and the knee joint are connected by thigh links 21L and 21R, and the knee joint and the ankle joint are connected by lower leg links 22L and 22R.

As a result, the left and right legs 13L and 13R and the legs 14L and 14R of the bipedal walking robot 10 are provided.
Are given 6 degrees of freedom, and these 12 joints are driven and controlled by driving motors at appropriate angles, angular velocities and angular accelerations during walking, so that the legs 13L, 13R, and feet can be controlled. A desired motion is given to the entire parts 14L and 14R so that the parts can be arbitrarily walked in a three-dimensional space.

Further, the legs 14L and 14R are made of ZM.
The P detection sensors 23L and 23R are provided. This ZMP
The detection sensors 23L and 23R are respectively provided on the foot portions 14L and 14L.
The ZMP, which is the center point of the sole reaction force at 14R, is detected, and the actual ZMP value is output.

Furthermore, each joint has an angle detection sensor 24 such as a rotary encoder corresponding to the driving means.
(Described later) are provided. In addition, the upper body 11 is illustrated as a box shape in the illustrated case, but may actually include a head and both hands.

FIG. 2 is a bipedal walking robot 1 shown in FIG.
The electrical configuration of 0 is shown. In FIG. 2, the bipedal walking robot 10 includes the above-mentioned drive means, that is, the above-mentioned joint portions, that is, the joint drive motors 15L, 15R to 20L, 2.
The walking control device 30 that drives and controls the 0R is provided. As the coordinate system of the bipedal walking robot 10, an xyz coordinate system in which the front-rear direction is the x direction (forward +), the lateral direction is the y direction (inward +), and the vertical direction is the z direction (upward +) is used. To do.

The walking control device 30 includes a gait generator 31 for generating gait data corresponding to a motion command, and a driving means, that is, each of the joints, that is, a joint drive, based on the gait data. Motor 15L, 15R to 20L, 20R
And a control unit 32 for driving and controlling

The gait generator 31 responds to a motion command inputted from the outside by target angular trajectories and targets of the joints 15L, 15R to 20L, 20R required for the biped robot 10 to walk. Gait data including angular velocity and target angular acceleration is generated. Here, the gait generator 31 includes a selector 33 and a compensator 3 as shown in FIG.
4 and.

The selection unit 33 is arranged so that the angle detecting sensor 24 is operated after the previous walking is completed, that is, after the end of the swinging ground contact shock absorption.
And sensor information from the ZMP detectors 23L and 23R and / or angular velocity, angular acceleration detection sensor, and foot force sensor to obtain the angular value of each joint of the robot, the angular momentum around the center of gravity, the angular acceleration, and the ZMP value. Then, the posture of the robot is detected.

Here, the selection unit 33 uses the gait library 3
3a. The gait library 33a stores a gait module 33b as posture data which is an element of the walking motion of the robot in advance. The gait module 33b is composed of, for example, at least one angular trajectory pattern. Then, each angular trajectory pattern is classified using the ZMP value as the sensor information, the angular momentum around the center of gravity of the robot, and the angular acceleration as indexes.

Then, the selection unit 33 makes a motion plan by calculating the initial posture, the final posture and the initial angular momentum required for the motion of the robot during the monopod support period, and according to this motion plan, the monopod support is performed. The gait module 33b that gives the motion of the both-leg supporting period necessary to realize the two-leg supporting period posture necessary to realize the initial period posture is retrieved from the gait library 33a, read out, and output to the compensating unit 34.

The compensating section 34 synthesizes these gait modules 33b in real time by at least one gait module 33b from the selecting section 33 to obtain the final angle command value of each joint as gait data. To generate.
Further, the compensator 34 is configured to operate the ZMP detection sensor 23
Based on the measured ZMP values from L and 23R, the ZMP target value compensation of the gait data synthesized in real time is performed. In this way, the gait generator 31 outputs the final angle command value of each joint to the controller 32 as gait data for each walk.

The control section 32 generates a control signal for each joint drive motor based on the angle command value as gait data from the compensating section 34 and the sensor information from the angle detection sensor 24, and controls this. The joint drive motors of the joints of the robot 10 are driven and controlled according to the signals.

The bipedal walking robot 10 according to the embodiment of the present invention is configured as described above, and walks as shown in the flowchart of FIG. In the flowchart of FIG. 4, first, in step ST1, the gait generator 31 of the walking control device 30 specifies the target end state of the robot for the next walk when the previous walk is completed, In step ST2, an operation plan is started.

Then, in step ST3, the selection unit 33 of the gait generator 31 receives the sensor information from the angle detection sensor 24 and the ZMP detection sensors 23L and 23R and / or the angular velocity / angular acceleration detection sensor, the sole force. Based on the information from the sensor, the current angle value of each joint of the robot, angular momentum around the center of gravity, angular velocity, and ZMP value are detected. After that, in step ST4, the selection unit 33 calculates the angular momentum of each joint of the robot necessary for making a transition from the current initial state of the robot to the target end state, from these detected values.

As a result, in step ST5, the selection unit 33 causes the detected values in step ST3 and
On the basis of each momentum in 4, the gait module 33b stored in the gait library 33a is searched using the detected value as an index, and at least one corresponding gait module 33b is selected and read, or the detected value is detected. Based on, the gait is calculated and generated in real time. As a result, the operation plan ends in step ST6.

Subsequently, the compensating section 34 starts the operation of the robot in step ST7, and in step ST8, the gait module 33b selected and read by the selecting section 33 in the operation plan is synthesized in real time. Then, the angle of each joint of the robot and the ZMP target value are calculated, and in step ST9, based on the sensor information from the angle detection sensor 24 and the ZMP detection sensors 23L and 23R, the ZMP actual measurement value and each ZMP measurement value at that time are calculated. Detects each momentum of the joint. In step ST5, when the gait is generated in real time by dynamics calculation, the above synthesis may not be performed.

Then, in step ST10, the compensator 34 compares the calculated angular momentum and ZMP target value of each joint with the detected angular momentum and ZMP actual value of each joint. Here, if there is no error between the calculated value and the detected value in step ST10, the compensating unit 34 proceeds to step ST11.
At, it is determined whether ZMP compensation is possible. If ZMP compensation is not possible, the operation plan is made again at step ST12, and the process returns to step ST3. If ZMP compensation is possible in step ST11, the compensator 34 performs ZMP compensation in step ST13 to change angular velocity and angular velocity without changing the angular motion trajectory of each joint of the robot. Correct the error by adjusting only the acceleration.

Then, when there is no error between the calculated value and the detected value in step ST10, and after the error is corrected in step ST13, the compensating section 34 proceeds to step ST1.
At 4, it is determined whether or not the current state of the robot is the target end state according to the motion plan. If it is not the target end state, the process returns to step ST8 again. Also, step S
In T14, if the target termination state is reached, the walking control device 30 completes the robot operation in step ST15 and ends one walk. With the above, the walking control for one walking of the robot ends, but the walking control device 30
Repeats the above operation in real time every time the robot walks.

Thus, according to the bipedal walking robot 10 according to the embodiment of the present invention, when the robot walks,
Since the posture of the robot at that time is detected and the walking data for realizing the motion command is generated in real time,
Even when walking on a road surface or the like where environmental information is unknown, stable bipedal walking can always be realized. Thus, for example, even on a road surface with complicated unevenness, the gait data is generated by constantly detecting the posture of the robot and referring to the posture of the robot, thereby stabilizing the walking motion by the bipedal walking device. Can be done reliably.

In the embodiment described above, the leg portion 12
Although L and 12R have 6 degrees of freedom and the arms 13L and 13R have 5 degrees of freedom, the present invention is not limited to this, and may have a smaller degree of freedom or a larger degree of freedom. Further, in step ST15, a gait may be generated in real time by dynamic calculation based on the sensor information. In this case, real-time gait synthesis may not be executed.

[0044]

As described above, according to the present invention, the gait generator of the walking controller is provided in each part when the robot is walking when the bipedal walking device performs a walking motion. The posture of the robot is detected based on the sensor information from the sensor, and the angle command value as the final gait data is generated based on this posture. Therefore, the gait generator always generates the gait data in real time based on the posture of the robot during the walking motion of the robot, so that the walking motion can be performed reliably and stably even on the road surface where the environmental information is unknown. Will be possible. As described above, according to the present invention, an extremely excellent bipedal locomotion device is provided, which acquires environmental information for each walk and performs real-time walking control corresponding to the environmental information. It

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a mechanical configuration of an embodiment of a bipedal walking robot according to the present invention.

FIG. 2 is a block diagram showing an electrical configuration of the bipedal walking robot of FIG.

FIG. 3 is a block diagram showing a configuration of a walking control device in the bipedal walking robot shown in FIG.

FIG. 4 is a flowchart showing walking control of the bipedal walking robot of FIG.

[Explanation of symbols]

10 Biped Robot 11 Main Body 12L, 12R Knee 13L, 13R Leg 14L, 14R Foot 15L, 15R to 20L, 20R Joint (joint drive motor) 21L, 21R Thigh 22L, 22R Lower leg 23L, 23R ZMP detection sensor 24 sensor 30 gait controller 31 gait generator 32 controller 33 selector 33a gait library 33b gait module 34 compensator

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hiroaki Kitano             2-18-3 Nishikosenba Town, Kawagoe City, Saitama Prefecture F term (reference) 3C007 AS36 CS08 KS21 KS24 KS34                       KX12 KX13 WA03 WA13 WB04                       WB07

Claims (10)

[Claims] 1. A main body, a leg portion having a knee portion and a foot portion at a lower end in the middle, which are swingable biaxially on both sides of a lower portion of the main body, a foot portion, a lower leg portion, and a large portion of the leg portion. The gait data including the target angular trajectory, the target angular velocity, and the target angular acceleration is generated by the gait generator corresponding to the driving means for rocking the rockable joints of the thigh and the motion command. In a bipedal locomotion device provided with a walking control device that drives and controls each of the driving means by a control unit based on gait data, a gait generating unit of the walking control device includes The posture of the robot is detected based on the sensor that detects the state during walking and / or the sensor information from the angular velocity / angular acceleration detection sensor and the foot force sensor mounted on the robot, and the movement command is issued based on this posture. Target value and current value of sensor information Biped walking mobile apparatus and generates an angle command value of the final gait data in real time. 2. A gait library in which the gait generator stores a gait module which is an element of walking of a robot,
When generating the gait data for the next gait, the selection unit that selects and reads the corresponding gait module from the gait library and the gait module selected by the selection unit are combined in real time to obtain the final gait. The bipedal locomotion device according to claim 1, further comprising: a compensator that generates volume data. 3. The biped locomotion device according to claim 2, wherein the gait module stored in the gait library comprises at least one angular trajectory pattern. 4. The bipedal walking according to claim 3, wherein the angular trajectory patterns forming the gait module are classified by using the ZMP value, the angular momentum around the center of gravity, and the angular acceleration as indexes. Mobile device. 5. The selection unit detects the posture of the robot from the sensor information after the end of the previous walk, and makes a motion plan up to the target end state of the next walk according to a motion command,
The biped locomotion device according to claim 2, wherein a gait module necessary for realizing this motion plan is read from a gait library. 6. A body, a leg portion having a knee portion and a foot portion at a lower end in the middle, which are swingable in two axial directions on both sides of a lower portion of the body, a foot portion, a lower leg portion, and a large portion of the leg portion. Regarding a bipedal locomotion device including drive means for respectively swinging the swingable joints of the thighs, a gait generator generates a target angular trajectory, a target angular velocity, and a target angular acceleration in response to a motion command. In a gait control device of a bipedal walking type mobile device that generates gait data including, and controls each of the driving means by a control unit based on the gait data, , The posture of the robot is detected on the basis of sensor information for detecting a state of each joint portion during walking and / or a sensor for detecting angular velocity and angular acceleration mounted on the robot, and a foot force sensor, Target value by exercise command based on And generating an angle command value of the final gait data in real time from the current value of the sensor information, walk controller of the biped walking mobile system. 7. A gait library in which the gait generator stores a gait module which is an element of walking of a robot,
When generating the gait data for the next gait, the selection unit that selects and reads the corresponding gait module from the gait library and the gait module selected by the selection unit are combined in real time to obtain the final gait. The walking control device for the bipedal walking device according to claim 6, further comprising: a compensating unit that generates volume data. 8. The gait control of the bipedal locomotion device according to claim 7, wherein the gait module stored in the gait library comprises at least one angular trajectory pattern. apparatus. 9. The bipedal walking according to claim 8, wherein the angular trajectory patterns forming the gait module are classified by using ZMP values, angular momentum around the center of gravity, and angular acceleration as indexes. Walker control device for mobile devices. 10. The selection unit detects the posture of the robot from the sensor information after the end of the previous walk, and makes a motion plan up to the target end state of the next walk according to a motion command,
The gait control device for a bipedal locomotion device according to any one of claims 7 to 9, wherein a gait module necessary for realizing this motion plan is read from a gait library.