# US 12,594,669 B2 · Robot control method, robot control system, and computer readable medium

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- Number: US 12,594,669 B2
- Document ID: US12594669B2
- Status: Granted
- Kind: B2
- Application number: 18/462,583
- Filed: 2023-09-07
- Published: 2024-04-18
- Granted: 2026-04-07
- Earliest claimed: 2022-10-05
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Kazuya Yamamoto
- Web page: https://patentgrep.com/patent/US12594669B2

## CPC

- B25J 9/162: {Mobile manipulator, movable base with manipulator arm mounted on it}
- B25J 3/00: Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J 9/1602: {characterised by the control system, structure, architecture}
- B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis}
- B25J 9/1664: {characterised by motion, path, trajectory planning}
- B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence)
- G05B 2219/40264: Human like, type robot arm
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

Pilot posture information indicating a posture of a pilot is input, and action control is executed on a bipedal robot capable of switching modes between a walk mode and a stand mode based on the pilot posture information. The above action control includes stand transition control, the stand transition control including calculating reference posture information indicating a reference posture of the bipedal robot based on initial posture information indicating an initial posture of the bipedal robot corresponding to an initial posture of the pilot and foot position information indicating current foot positions of the bipedal robot, and controlling a posture of the bipedal robot based on the pilot posture information and the calculated reference posture information when the modes are switched from the walk mode to the stand mode.

## Claims

### Claim 1

A robot control method comprising:
inputting pilot posture information indicating a current posture of a pilot; and
executing action control of a bipedal robot capable of switching modes between a walk mode corresponding to a swing phase and a stand mode corresponding to a stance phase based on the pilot posture information, wherein
the action control includes stand transition control, the stand transition control including calculating reference posture information indicating a reference posture of the bipedal robot based on initial posture information indicating an initial posture of the bipedal robot corresponding to an initial posture of the pilot established during an initial calibration phase prior to any walking operation and foot position information indicating current foot positions of the bipedal robot, and controlling a change in posture of the bipedal robot based on the pilot posture information and the calculated reference posture information in response to switching from the walk mode to the stand mode,
the pilot posture information includes a position and an angle of a waist of the pilot,
the reference posture information, the initial posture information, and information indicating the posture of the bipedal robot in the stand transition control include a position of a zero moment point of the bipedal robot, a height of a center of gravity of the bipedal robot, and an angle of the bipedal robot's waist,
the stand transition control further comprises generating command values using both the calculated reference posture information and the initial posture information established during the initial calibration phase, and
both the initial posture information of the bipedal robot and the initial posture of the pilot from the initial calibration phase serve as persistent baselines that are combined with the pilot posture information throughout operation.

### Claim 2

A robot control system comprising:
a processor configured to:
receive pilot posture information indicating a current posture of a pilot; and
execute action control of a bipedal robot capable of switching modes between a walk mode corresponding to a swing phase and a stand mode corresponding to a stance phase based on the pilot posture information, wherein
the processor is configured to calculate reference posture information indicating a reference posture of the bipedal robot based on initial posture information indicating an initial posture of the bipedal robot corresponding to an initial posture of the pilot established during an initial calibration phase prior to any walking operation and foot position information indicating current foot positions of the bipedal robot, and control a change in posture of the bipedal robot based on the pilot posture information and the calculated reference posture information in response to switching from the walk mode to the stand mode,
the pilot posture information includes a position and an angle of a waist of the pilot,
the reference posture information, the initial posture information, and information indicating the posture of the bipedal robot in the stand transition control include a position of a zero moment point of the bipedal robot, a height of a center of gravity of the bipedal robot, and an angle of the bipedal robot's waist,
the stand transition control further comprises generating command values using both the calculated reference posture information and the initial posture information established during the initial calibration phase, and
both the initial posture information of the bipedal robot and the initial posture of the pilot from the initial calibration phase serve as persistent baselines that are combined with the pilot posture information throughout operation.

### Claim 3

A non-transitory computer readable medium storing a program for causing a computer to execute robot control comprising:
inputting pilot posture information indicating a current posture of a pilot; and
executing action control of a bipedal robot capable of switching modes between a walk mode corresponding to a swing phase and a stand mode corresponding to a stance phase based on the pilot posture information, wherein
the action control includes stand transition control, the stand transition control including calculating reference posture information indicating a reference posture of the bipedal robot based on initial posture information indicating an initial posture of the bipedal robot corresponding to an initial posture of the pilot established during an initial calibration phase prior to any walking operation and foot position information indicating current foot positions of the bipedal robot, and controlling a change in posture of the bipedal robot based on the pilot posture information and the calculated reference posture information in response to switching from the walk mode to the stand mode,
the pilot posture information includes a position and an angle of a waist of the pilot,
the reference posture information, the initial posture information, and information indicating the posture of the bipedal robot in the stand transition control, include a position of a zero moment point of the bipedal robot, a height of a center of gravity of the bipedal robot, and an angle of the bipedal robot's waist,
the stand transition control further comprises generating command values using both the calculated reference posture information and the initial posture information established during the initial calibration phase, and
both the initial posture information of the bipedal robot and the initial posture of the pilot from the initial calibration phase serve as persistent baselines that are combined with the pilot posture information throughout operation.