US 6,289,265 B1Granted

Controller for legged mobile robot

AssigneeHonda Giken Kogyo Kabushiki Kaisha

InventorsToru Takenaka, Tadaaki Hasegawa, Takashi Matsumoto

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Abstract

The posture inclination of the robot is detected, a moment of compensating total floor reaction force about a desired total floor reaction force central point is determined therefrom to be distributed to each foot such that the position/posture of the feet are rotated by predetermined amounts about the desired total floor reaction force central point and a desired foot floor reaction force central points respectively. And by parallel-translating the feet in phase, the force component of the actual total floor reaction force is also controlled. In addition, the internal force components (which do not influence on the actual total floor reaction force) generated by the actual foot floor reaction force are controlled independently. With this, the system can appropriately control the actual total floor reaction force and the actual foot floor reaction force acting on the biped mobile robot, can realize walking with stable posture even when walking on the floor having not only a slant or undulation extending over a relatively long distance, but also on an unexpected local slant or level difference, and can absorb the foot-landing impact to improve the contactability of robot foot with the floor. Moreover, the system can prevent the spinning from happening and decrease the load to be exerted on the joint actuators.

Claims22

Dependent claims

A system for controlling a legged mobile robot having at least a body and a plurality of legs each connected to the body through a first joint and having a foot connected to its distal end through a second joint, comprising:

a. gait generating means for generating a gait of the robot including at least a motion pattern including at least a desired position and a posture of the foot, and a desired pattern of a total floor reaction force acting on the robot;
b. desired foot floor reaction force central point determining means for determining a desired foot floor reaction force central point indicative of a point of action on the foot when the total floor reaction force in the generated gait is distributed to each of the feet;
c. actual floor reaction force detecting means for detecting an actual floor reaction force acting on the foot;
d. foot rotating amount determining means for determining a foot rotating amount for rotating the foot based on at least the detected actual floor reaction force;
e. first foot position/posture correcting means for correcting the desired position and/or the posture of the foot such that the position and/or the posture of the foot rotates based on the determined foot rotating amount;
f. compensating displacement calculating means for calculating a compensating displacement of the foot based on at least the detected actual floor reaction force;
g. second foot position/posture correcting means for correcting the desired position and/or the posture of the foot based on the calculated compensating displacement;
and
h. joint displacement means for displacing the first joint and the second joint of the robot based on at least the corrected position and/or posture of the foot corrected by the first foot position/posture correcting means and the second foot position posture correcting means.

6 more elements

Dependencies are inferred from the claim text.