Legged mobile robot
AssigneesSony Corporation, Jinichi Yamaguchi
InventorsMasatsugu Iribe, Jinichi Yamaguchi
Life of this patent
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Abstract
In a mobile robot, the actuator characteristics are dynamically or statically controlled, during motions of an entire robot body in the course of falldown or descent, to realize stable highly efficient motions. In each stage of the falldown motions, the characteristics of each joint site taking part in controlling the stable area are set so that the low range gain is low, the quantity of phase lead is large and the viscous resistance of the motor is large, in such a manner that these joint sites may be positioned to high accuracy in a controller manner to increase orientation stability. This assures the positioning accuracy of the joints as main component for controlling the quantity ΔS/Δt as a reference in controlling the falldown motions of the robot body to increase the motion stability.
Claims18
A legged articulated mobile robot comprising:
- a plurality of movable parts which are connected to the robot;
- a plurality of joints which connect the movable parts respectively;
- a plurality of mobile legs having a plurality of joints;
- controlling means for controlling characteristics of an actuator driving each joint, said controlling means controlling, in combination, the gain and the phase compensation of a servo controller of the actuator driving each joint and the viscous resistance of an actuator motor;
- and
- falldown motion controlling means for controlling the motion of a body of the robot while the robot falls down;
- said controlling means for controlling the actuator characteristics switching, in each stage of the falldown motions, the actuator for driving each joint between first actuator characteristics in which the low range gain is of a large value, the quantity of phase lead is small and the viscous resistance of the joint is large and second actuator characteristics in which the low range gain is of a small value, the quantity of phase lead is large and the viscous resistance of the joint is of a small value.
A legged articulated mobile robot comprising:
- a plurality of movable parts which are connected to the robot;
- a plurality of joints which connect the movable parts respectively;
- a plurality of mobile legs having a plurality of joints;
- controlling means for controlling characteristics of an actuator driving each joint, said controlling means controlling, in combination, the gain and the phase compensation of a servo controller of the actuator driving each joint and the viscous resistance of an actuator motor;
- and
- rise-up motion controlling means for controlling the rise-up motion of a body of the robot from a lying-down posture of the robot;
- said controlling means for controlling the actuator characteristics switching, in each stage of the rise-up motions, the actuator for driving each joint between first actuator characteristics in which the low range gain is of a large value, the quantity of phase lead is small and the viscous resistance of the joint is large and second actuator characteristics in which the low range gain is of a small value, the quantity of phase lead is large and the viscous resistance of the joint is of a small value.
Dependencies are inferred from the claim text.