Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
1998-06-10
2001-10-09
Gordon, Paul P. (Department: 2121)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C318S568120
Reexamination Certificate
active
06301524
ABSTRACT:
TECHNICAL FIELD TO WHICH THE INVENTION RELATES TO
The present invention relates to a gait generation system of a legged mobile robot, and more particularly to a system for generating or determining a gait freely on a real-time basis.
BACKGROUND ART OF THE INVENTION
In a conventional gait generation of a legged mobile robot, as taught in Japanese Laid-Open Patent Application No. Hei 5 (1993)—285,868, various gaits in time-series data including that for walking straight or that for turning are designed using an offline computer. The data are then loaded to a memory of a microcomputer mounted on the robot which outputs the data successively to be processed during walking.
Moreover, Japanese Laid-Open Patent Application No. Sho 62 (1987)—97,006 (Japanese Patent Publication No. Hei 5 (1993)—62,363) proposes to prepare similar locomotion pattern time-series data beforehand using an offline computer and to load the data to the memory of the on-board microcomputer which outputs the data successively during walking, and to interpolate the adjacent time-series data to shorten the time interval (i.e., increase the sampling rate).
Since, however, the gait data have been prepared beforehand, the prior-art techniques fail to generate a gait freely on a real-time basis during walking such that the robot may, for example, change its stride or the angle of turning as desired.
A first object of the present invention is to solve the drawbacks of the prior art and to provide a gait generation system of a legged mobile robot which generates, freely on a real-time basis, a gait taking onto account the floor reaction force such that a desired stride or a desired angle of turning, etc is realized.
A second object of the present invention is to solve the drawbacks of the prior art and to provide a gait generation system of a legged mobile robot which generates a gait freely on a real-time basis such that a displacement and a (displacement) velocity of a robot portion are continuous at the boundary of the gaits thus generated.
A third object of the present invention is to solve a drawback of the prior art and to provide a gait generation system of a legged mobile robot which controls the locomotion of the robot based on a gait generated on a real time basis.
DISCLOSURE OF THE INVENTION
In order to achieve the first and second objects, the present invention provides a system for generating a gait of a legged mobile robot having at least a body and a plurality of leg links each connected to the body through a joint, comprising standard gait storing means for storing, in memory, a plurality of standard gaits, for at least one walking step, each comprising a set of parameters including a parameter relating to a floor reaction force, gait demanding means for making a demand for gait, and gait generating means for generating an approximated gait which satisfies the demand for gait by selecting one or a plurality of the standard gaits in response to the demand for gait, and by conducting approximation based on the selected standard gait or gaits.
It is configured such that said gait generating means generates the approximated gait by calculating a weighted average of the selected gaits.
It is configured such that said gait generating means generates the approximated gait by using a parameter sensitivity of the selected gait or gaits.
It is configured such that said gait generating means generates the approximated gait by calculating a weighted average of the selected gaits and by using a parameter sensitivity of the selected gait or gaits.
It is configured such that said gait generating means includes storing means for determining an amount of change in one parameter relative to a unit amount of change in another parameter in at least one of the standard gaits, as the parameter sensitivity of the selected gait and for storing the parameter sensitivity in memory, and generates the approximated gait by using the stored parameter sensitivity.
It is configured such that said gait means incudes describing means for describing a relationship of perturbation of one parameter relative to the parameter relating to the floor reaction force in the standard gaits, and corrects the approximated gait based on the described relationship of perturbation to generate gaits which satisfy the demand for gait in such a manner that at least displacements and velocities in the generated gaits are continuous at a boundary of the gaits.
It is configured such that the perturbation of the one parameter is a perturbation of a horizontal body position.
It is configured such the relationship is described by a linear model.
It is configured such that the relationship is described by an inverted pendulum model.
It is configured such that the relationship is described by time-series tabulated data.
It is configured such that said gait generating means generates the approximated gait without considering the parameter if it is under a predetermined condition.
It is configured such that said gait generating means includes joint angle command calculating means for calculating a joint angle command of the robot based on the generated gait, and joint controlling means for controlling the joint of the robot such that it traces the calculated joint angle command.
It is configured such that said joint angle command calculating means includes detecting means for detecting a state of the robot, and correcting means for correcting a position and a posture of the robot in response to the detected state, and calculates the joint angle command such that the corrected position and the orientation are effected.
REFERENCES:
patent: 5325031 (1994-06-01), Tilden
patent: 5357433 (1994-10-01), Takenaka et al.
patent: 5402050 (1995-03-01), Ozawa
patent: 5428563 (1995-06-01), Takenaka
patent: 5432417 (1995-07-01), Takenaka et al.
patent: 5594644 (1997-01-01), Hasegawa et al.
patent: 5642467 (1997-06-01), Stover et al.
patent: 5807011 (1998-09-01), Hong et al.
patent: 5808433 (1998-09-01), Tagami et al.
patent: 5842533 (1998-12-01), Takeuchi
patent: 5872893 (1999-02-01), Takenaka et al.
patent: 5-62363 (1993-09-01), None
patent: 5-285868 (1993-11-01), None
patent: 5-305585 (1993-11-01), None
patent: 5-318339 (1993-12-01), None
patent: 5-324115 (1993-12-01), None
Stitt, et al., Distal learning applied to biped robots, May 1994, pp. 137-142.*
Communication—Search Report of Jan. 27, 2000.
English translation of Abstract of JP 5-285868.
English translation of Abstract of JP 5-62363.
English translation of Abstract of JP 5-305585.
English translation of Abstract of JP 5-318339.
English translation of Abstract of JP 5-324115.
Cabrera Zoila
Gordon Paul P.
Honda Giken Kogyo Kabushiki Kaisha
Lyon & Lyon LLP
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