Moving body, legged mobile robot, and control program

A legged mobile robot equipped with a base body, a plurality of legs extending from the base body, a motor as a source of power of the plurality of legs, a current measuring means for measuring a current of the motor, a control system power source, and a control system having a plurality of control units to execute functions by a power supplied from the control system power source via a control system electric line, the control system including, as the control units, a main control unit for sequentially setting a primary desired current of the motor;

• and a first sub-control unit for receiving a primary desired current from the main control unit via a first communication line, storing and holding the newest primary desired current as a secondary desired current, and adjusting a current supplied from a driving power source to the motor via a driving system electric line so that the current of the motor coincides with the newest secondary desired current, comprising:
• variable measuring means for measuring the changing amount of the secondary desired current or a deviation between a current measured by the current measuring means and the newest primary desired current set by the main control unit as a variable;
• determining means for determining whether or not an absolute value of the variable measured by the variable measuring means exceeds a threshold;
• and
• correcting means for correcting a current from the driving system power source to the motor to be adjusted by the first sub-control unit after the determining means determines that the absolute value of the variable exceeds the threshold in order to inhibit the changing amount of the current.

A control program for providing various functions to a moving body equipped with a motor as a source of power, an output measuring means for measuring an output of the motor, and a control system having a plurality of control units to execute functions by a power supplied from a control system power source via a control system electric line, the control system including, as the control units, a main control unit for sequentially setting a primary desired output of the motor;

• and a first sub-control unit for receiving a primary desired output from the main control unit via a first communication line, storing and holding the newest primary desired output as a secondary desired output, and adjusting a power supplied from a driving system power source to the motor via a driving system electric line so that the output of the motor coincides with the newest secondary desired output, comprising:
• a variable measuring function for measuring the changing amount of the secondary desired output or a deviation between an output measured by the output measuring means and the newest primary desired output set by the main control unit as a variable;
• a determining function for determining whether or not an absolute value of the variable measured by the variable measuring function exceeds a threshold;
• and
• a correcting function for correcting a power supply from the driving system power source to the motor to be adjusted by the first sub-control unit after the determining function determines that the absolute value of the variable exceeds the threshold in order to inhibit changing amount of the power supply.

A control program for providing various functions to a legged mobile robot equipped with a base body, a plurality of legs extending from the base body, a motor as a source of power of the plurality of legs, a current measuring means for measuring a current from the motor, a control system power source, and a control system having a plurality of control units to execute functions by a power supplied from the control system power source via a control system electric line, the control system including, as the control units, a main control unit for sequentially setting a primary desired current of the motor;

• and a first sub-control unit for receiving a primary desired current from the main control unit via a first communication line, storing and holding the newest primary desired current as a secondary desired current, and adjusting a current supplied from a driving power source to the motor via a driving system electric line so that the current of the motor coincides with the newest secondary desired current, comprising:
• variable measuring function for measuring the changing amount of the secondary desired current or a deviation between a current measured by a current measuring means and the newest primary desired current set by the main control unit as a variable;
• determining function for determining whether or not an absolute value of the variable measured by the variable measuring means exceeds a threshold;
• and
• correcting function for correcting a current from the driving system power source to the motor to be adjusted by the first sub-control unit after the determining means determines that the absolute value of the variable exceeds the threshold in order to inhibit the changing amount of the current.