Robot control apparatus
AssigneeFujitsu Limited
InventorRiadh Zaier
Life of this patent
Estimating the term…
Abstract
A robot control method controls walking of a robot. The method generates control information based on postures at a plurality of differing points. The differing points include a reference posture in which the robot is standing independently without falling over. The method controls the robot to carry out a walking operation and detect an obstacle in a place in which a robot leg lands. The method also instructs the robot to carry out rolling onto a supporting leg and returning a swing leg to a position before swinging, to invert a compliance control gain and to bend the supporting leg by an amount while extending the swing leg by the amount.
Claims16
A robot control apparatus which controls walking of a robot, the apparatus comprising:
- a walking operation control unit configured to generate control information of various postures at a plurality of differing positions, the postures being set preliminarily in the apparatus and including at least one reference posture in which the robot is standing independently without falling over;
- an obstacle detection unit configured to detect an existence of an obstacle on a surface in which a sole attached to a robot leg lands;
- and
- when the obstacle is detected by the obstacle detection unit, a reflex control unit controls a robot to,
- return a supporting leg and a swing leg to a position before swinging the swing leg,
- extend the swing leg by an amount, and
- bend the supporting leg by inverting a compliance control gain based on the control information.
A robot control method which controls a walking of a robot by a computer, the method comprising:
- controlling the robot to carry out a walking operation;
- generating control information based on postures at a plurality of differing positions, the postures being set preliminarily in the apparatus and including at least one reference posture in which the robot is standing independently without falling over;
- detecting an obstacle on a surface in which a sole attached to a robot leg lands by an obstacle detection unit, and
- instructing, when the obstacle is detected, the robot to return a supporting leg and a swing leg to a position before swinging the swing leg, to extend the swing leg by an amount, and to bend the supporting leg by inverting a compliance control gain based on the control information.
A non-transitory computer-readable recording medium storing a robot control program which causes a computer to execute a process, the process comprising:
- generating control information based on postures at a plurality of differing positions, the postures being set preliminarily in the apparatus and including at least one reference posture in which the robot is standing independently without falling over;
- detecting an obstacle on a surface in which a sole attached to a robot leg lands by an obstacle detection unit, and
- instructing, when the obstacle is detected, the robot to return a supporting leg and a swing leg to a position before swinging the swing leg, to extend the swing leg by an amount, and to bend the supporting leg by inverting a compliance control gain based on the control information.
Dependencies are inferred from the claim text.