Legged mobile robot and method of controlling the same
AssigneeToyota Jidosha Kabushiki Kaisha
InventorHideki Kajima
Life of this patent
Estimating the term…
Abstract
When a swinging leg (e.g., the leg link LR) lands on road surface, a control unit 14 included in a robot 100 controls an actuator 15 driving an ankle joint 122 to make the ankle joint 122 in a leg link LR soft and changes a real angle of the ankle joint 122 according to road profile, not to follow a prespecified trajectory of target angle. Further, after the leg link LR lands, the control unit 14 corrects the trajectory of the target angle of the ankle joint 122 to cancel out a difference between the real angle of the ankle joint 122 and the target angle. Moreover, the control unit 14 controls the actuator 15 to make the ankle joint 122 hard, so that the real angle of the ankle joint 122 of the leg link LR, a supporting leg, follows the corrected trajectory of the target angle.
Claims12
A walking control method for a legged mobile robot comprising a plurality of leg links and a trunk unit, each of the plurality of leg links having a plurality of leg joints, the method comprising:
- controlling, when a first leg link that is a swinging leg among the plurality of leg links lands on a road surface, a driving unit which drives a first leg joint included in the plurality of leg joints of the first leg link, except a leg joint being connected to the trunk unit, so that the first leg joint is made soft in order to change a real angle of the first leg joint of the first leg link landing on the road surface according to a shape of the road surface without following a trajectory of a target angle determined beforehand;
- after the first leg link lands, in a state where the trajectory of the target angle is corrected to cancel out a difference between the real angle of the first leg joint in beginning to make the first leg joint hard and the target angle, controlling the driving unit so that the first leg joint is made hard in order for the real angle of the first leg joint of the first leg link, which has become a supporting leg, to follow the corrected trajectory of the target angle.
A legged mobile robot comprising:
- a trunk unit;
- a plurality of leg links coupled to the trunk unit, each leg link having a plurality of leg joints;
- a driving unit which drives the leg joint;
- and
- a control unit which controls the driving unit so that a real angle of the leg joint follows a trajectory of a target angle specified beforehand,
- wherein the control unit controls, when a first leg link that is a swinging leg among the plurality of leg links lands on a road surface, the driving unit so that the first leg joint included in the plurality of leg joints of the first leg link is made soft in order to change a real angle of the first leg joint according to a shape of the road surface without following the trajectory of the target angle determined beforehand, and
- wherein, after the first leg link lands, in a state where the trajectory of the target angle is corrected based on a difference between the real angle of the first leg joint in beginning to make the first leg joint hard and the target angle specified beforehand, the control unit controls the driving unit so that the first leg joint is made hard in order for the real angle of the first leg joint of the first leg link, which has become a supporting leg, to follow the corrected trajectory of the target angle.
Dependencies are inferred from the claim text.