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US 9,925,665 B2Granted
Robot system controlling method, robot system, and control apparatus for quadrupedal robot
AssigneeCanon Kabushiki Kaisha
InventorKiyoshi Takagi
Life of this patent
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Abstract
An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control.
Claims22
A method of controlling a link system having (i) a first swingable link, and (ii) a first pair of actuators configured to apply a torque to the first swingable link based on a difference of contraction forces of the first pair of actuators and to apply stiffness to the first swingable link based on a sum of the contraction forces of the first pair of actuators, the method comprising:
- generating a first torque command value based on a deviation between a first target swing angle and a swing angle of the first swingable link;
- correcting the first torque command value to be less than or equal to a product of a first target stiffness value of the first swingable link and a length of a moment arm from a swing center of the first swingable link, in a case in which an absolute value of the first torque command value exceeds the product;
- generating first contraction force command values for the first pair of actuators based on the first target stiffness value and the first torque command value after the correcting.
A link system comprising:
- a first swingable link;
- a first pair of actuators configured to apply a torque to the first swingable link based on a difference of contraction forces of the first pair of actuators, and to apply stiffness to the first swingable link based on a sum of the contraction forces of the first pair of actuators;
- and
- a controller including:
- a generator configured to generate a first torque command value based on a deviation between a first target swing angle and a swing angle of the first swingable link;
- a first corrector configured to correct the first torque command value to be less than or equal to a product of a first target stiffness value of the first swingable link and a length of a moment arm from a swing center of the first swingable link, in a case in which an absolute value of the first torque command value exceeds the product;
- and
- a first contraction force command generator configured to generate first contraction force command values for the first pair of actuators based on the first target stiffness value and the first torque command value after the first torque command value is corrected by the first corrector.
5 more elements
Dependencies are inferred from the claim text.