Control device for mobile body

A control device for a mobile body comprising:

• a desired gait determining means for determining a desired gait composed of a desired motion and a desired floor reaction force of a mobile body having three or more ground contact portions connected through the intermediary of a plurality of joints such that mutual relative heights thereof can be manipulated;
• a floor reaction force detecting means for detecting or estimating an actual floor reaction force acting on each of the ground contact portions, and controls the operation of the mobile body to make a gait of the mobile body follow a desired gait,
• wherein the ground contact portions are classified into a tree structure such that each of the ground contact portions becomes a leaf node, and an intermediate node exists between the leaf node and a root node having all the leaf nodes as descendant nodes, and when B-th nodes, which is each node in the tree structure, is the leaf node, then a floor reaction force acting on a ground contact portion that is the leaf node is defined as the node floor reaction force of the B-th node, and when the B-th node has child nodes, then the resultant force of the node floor reaction forces of all child nodes of the B-th node is defined as the node floor reaction force of the B-th node,
• the control device for the mobile body relative to a predetermined C-th node that is an intermediate node having a plurality of ground contact portions as descendant nodes, further comprises:
• a means for determining an actual node floor reaction force as the actual value of a node floor reaction force of each child node of at least the C-th node from the detected or estimated actual floor reaction force of each ground contact portion;
• a means for determining a desired node floor reaction force as the desired value of a node floor reaction force of each child node of at least the C-th node on the basis of at least a desired floor reaction force of the desired gait;
• and
• a node operation controlling means that determines a corrected desired motion by adding at least a first correction of the desired relative heights of the plurality of ground contact portions belonging to the C-th node to the desired motion of the desired gait on the basis of at least a relative relationship among the actual node floor reaction forces of each child node of the C-th node and a relative relationship among the desired node floor reaction forces of each child node of the C-th node approximates the relative relationship among the desired node floor reaction forces of each child node of the C-th node, and operates the joints such that the corrected desired motion that has been determined is satisfied.

A control device for a mobile body comprising:

• a desired gait determining means for determining a desired gait composed of a desired motion and a desired floor reaction force of a mobile body having three or more ground contact portions connected through the intermediary of a plurality of joints such that mutual relative heights thereof can be manipulated;
• a floor reaction force detecting means for detecting or estimating an actual floor reaction force acting on each of the ground contact portions, and controls the operation of the mobile body to make a gait of the mobile body follow a desired gait,
• wherein the ground contact portions are classified into a tree structure such that each of the ground contact portions becomes a leaf node, and an intermediate node exists between the leaf node and a root node having all the leaf nodes as descendant nodes, and
• wherein when a B-th node, which is each node in the tree structure, is the leaf node, then a floor reaction force acting on a ground contact portion that is the leaf node is defined as the node floor reaction force of the B-th node, and when the B-th node has child nodes, then the resultant force of the node floor reaction forces of all child nodes of the B-th node is defined as the node floor reaction force of the B-th node, and further, when the point at which the horizontal component or a parallel-to-floor component of the moment of a node floor reaction force of the B-th node becomes zero is defined as the node floor reaction force central point of the B-th node,
• a means for determining a desired node floor reaction force central point, which is the desired position of a node floor reaction force central point of each node, on the basis of at least one of a desired motion and a desired floor reaction force of the desired gait;
• a means for determining an actual node floor reaction force as the actual value of a node floor reaction force of each node from the detected or estimated actual floor reaction force of each ground contact portion;
• and
• a node operation controlling means that determines, on C-th nodes, which is a node having a plurality of ground contact portions as descendant nodes, by using, as a control amount, one of
• a difference (Mc_act−Mc_dmd) between an actual moment (Mc_act), which is the moment caused by the actual node floor reaction force of the C-th node to act on a desired node floor reaction force central point of the C-th node, and a desired value (Mc_dmd) of a moment that should act on the desired node floor reaction force central point of the C-th node,
• a difference (Mc_f−Mc_dmd) between a moment (Mc_f), which is obtained by subtracting the moment caused by the actual node floor reaction force of each child node of the C-th node to act on a desired node floor reaction force central point of the child node from the actual moment (Mc_act) of the C-th node, and a desired value (Mc_dmd) of a moment that should act on the desired node floor reaction force central point of the C-th node,
• a value of the difference (ΔP) between the position of the point at which the horizontal component or the parallel-to-floor component of the moment of the actual node floor reaction force of the C-th node becomes zero and the position of the desired node floor reaction force central point of the C-th node, and
• a value of the difference (ΔPf) between the position of the point at which the horizontal component or the parallel-to-floor component of the moment, which is obtained by subtracting the moment caused by the actual node floor reaction force of each child node of the C-th node to act on the desired node floor reaction force central point of the child node from the moment of the actual node floor reaction force (Mc_act) of the C-th node, becomes zero and the position of the desired node floor reaction force central point of the C-th node,
• a correction amount of the desired relative heights of a plurality of ground contact portions belonging to the C-th node, for each C-th node, such that the control amount approximates zero on the basis of the control amount, and also determines, on the basis of a correction amount obtained by combining the determined correction amounts of all C-th nodes, a corrected desired motion obtained by adding at least a first correction of the desired relative heights of the plurality of ground contact portions belonging to each G-th node to a desired motion of the desired gait, then operates the joints such that the determined corrected desired motion is satisfied.

A control device for a mobile body comprising:

• a desired gait determining means for determining a desired gait composed of a desired motion and a desired floor reaction force of a mobile body having three or more ground contact portions connected through the intermediary of a plurality of joints such that mutual relative heights thereof can be manipulated, and
• a floor reaction force detecting means for detecting or estimating an actual floor reaction force acting on each of the ground contact portions, and controls the operation of the mobile body to make a gait of the mobile body follow a desired gait,
• wherein the ground contact portions are classified into a tree structure such that each of the ground contact portions becomes a leaf node, and an intermediate node exists between the leaf node and a root node having all the leaf nodes as descendant nodes, and
• wherein when B-th nodes, which is each node in the tree structure, is the leaf node, then a floor reaction force acting on a ground contact portion that is the leaf node is defined as the node floor reaction force of the B-th node, and when the B-th node has child nodes, then the resultant force of the node floor reaction forces of all child nodes of the B-th node is defined as the node floor reaction force of the B-th node, and further, when the point at which the horizontal component or a parallel-to-floor component of the moment of the node floor reaction force of the B-th node becomes zero is defined as the node floor reaction force central point of the B-th node,
• the control device for the mobile body, relative to a predetermined C-th node that is an intermediate node having a plurality of ground contact portions as descendant nodes, further comprising:
• a means for determining a desired node floor reaction force central point, which is the desired position of a node floor reaction force central point of at least the C-th node, on the basis of at least the desired gait;
• a means for determining an actual node floor reaction force as the actual value of a node floor reaction force of at least the C-th node from the detected or estimated actual floor reaction force of each ground contact portion;
• and
• a node operation controlling means that determines, by using, as a control amount, one of
• a difference (Mc_act−Mc_dmd) between an actual moment (Mc_act), which is the moment caused by the actual node floor reaction force of the C-th node to act on a desired node floor reaction force central point of the C-th node, and a desired value (Mc_dmd) of a moment that should act on the desired node floor reaction force central point of the C-th node,
• a difference (Mc_f−Mc_dmd) between a moment (Mc_f), which is obtained by subtracting the moment caused by the actual node floor reaction force of each child node of the C-th node to act on a desired node floor reaction force central point of the child node from the actual moment (Mc_act) of the C-th node, and a desired value (Mc_dmd) of a moment that should act on the desired node floor reaction force central point of the C-th node,
• a value of the difference (ΔP) between the position of the point at which the horizontal component or the parallel-to-floor component of the moment of the actual node floor reaction force of the C-th node becomes zero and the position of the desired node floor reaction force central point of the C-th node, and
• a value of the difference (ΔPf) between the position of the point at which the horizontal component or the parallel-to-floor component of the moment, which is obtained by subtracting the moment caused by the actual node floor reaction force of each child node of the C-th node to act on the desired node floor reaction force central point of the child node from the moment of the actual node floor reaction force (Mc_act) of the C-th node, becomes zero and the position of the desired node floor reaction force central point of the C-th node,
• a corrected desired motion by adding at least a first correction of the desired relative heights of a plurality of ground contact portions belonging to the C-th node to the desired motion of the desired gait such that the control amount approximates zero on the basis of the control amount, and operates the joints such that the determined corrected desired motion is satisfied.