EP0488693A2
Expired / Lapsed
EP
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System for controlling locomotion of legged walking robot
Assignee: Honda Motor Co Ltd
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Filing: 1991-11-27
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Granted: —
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Expires: 2011-11-27
Abstract
Abstract A servo system for controlling locomotion of a biped walking robot, made up of a body link (24) and two leg linkages (27L,R) each connected to the body link by a first drive joint (10) and each including knee (16L,R) and ankle joints (18,20), to follow up a target angle for each drive joint predetermined in series with respect to time such that the robot walks. In order to stabilize robot posture when it could turn over, the drive speed of the joints are feedback controlled in response to the robot turnover probability. Moreover, the predetermined robot gait is modified at such instance, for example, in such a manner that robot leg lands at one of additionally preestablished candidate positions for robot leg landing.
Inventors
- 👤 Toru c/o KK Honda Gijyutsu Kenkyusho Takenaka
- 👤 Nobuaki c/o KK Honda Gijyutsu Kenkyusho Ozawa
- 👤 Masao c/o KK Honda Gijyutsu Kenkyusho Nishikawa
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-30 05:22
CPC Classifications
B; B62; B62D; B62D57/00; B62D57/02; B62D57/032
Claims Analysis
Total Claims: 17
Claim 1
Independent Claim
92 words
A system for controlling locomotion of a legged walking robot having a body link and a plurality of leg linkages each connected to the body link and each including at least one drive joint connecting an upper link and a lower link thereof, comprising: first means for predicting the probability that the robot could turn over; servo control means for determining a control value of the drive joint to follow up a target value; and second means for determining drive speed of the joint in response to the predicted robot turnover probability.
Claim 2
Dependent Claim
33 words
A system according to claim 1, wherein said second means determines the drive speed of the joint in response to the predicted robot turnover probability and a feedback gain to be multiplied thereto.
Claim 3
Dependent Claim
28 words
A system according to claim 1 or 2, wherein said second means determines the drive speed of the joint of the leg linkage which supports the robot weight.
Claim 4
Independent Claim
43 words
A system according to any of preceding claims 1 to 3, wherein the feedback gain is made zero between a phase within which one leg linkage supports the robot weight and a phase within which the leg linkage is free from the support.
Claim 5
Independent Claim
45 words
A system according to any of preceding claims 1 to 4, wherein said first means predicts the robot turnover probability by calculating a differential of n-th order of an inclination angle which the robot body link or leg linkages makes with respect to the ground.
Claim 6
Independent Claim
29 words
A system according to any of preceding claims 1 to 5, wherein the robot is a biped walking robot and the joint is its ankle joint and/or knee joint.
Claim 7
Independent Claim
132 words
A system for controlling locomotion of a legged walking robot having a body link and a plurality of leg linkages each connected to the body link by a first drive joint and each including at least one second drive joint connecting an upper link and a lower link thereof, comprising: servo control means for determining a control value of the first and second drive joints to follow up a target value such that the robot walks in accordance with a predetermined gait; first means for predicting the probability that the robot could turn over; second means for determing a modification of the predetermined gait in response to the predicted robot turnover probability; third means for adjusting the control value of at least one of the drive joints to realize the modified gait.
Claim 8
Dependent Claim
47 words
A system according to claim 7, wherein said third means establishes a plurality of candidate robot leg linkage landing positions including that for the predetermined gait and adjusts the control value in such a manner that the leg linkage lands at a selected one among the positions.
Claim 9
Dependent Claim
24 words
A system according to claim 7 or 8, wherein said third means selects the landing position in response to the predicted robot turnover probability.
Claim 10
Independent Claim
68 words
A system according to any of preceding claims 7 to 9, wherein the control value is determined by dividing robot motion into one for the fore-aft plane and the other for left-and-right plane and by synthesizing the results thereafter, and when the number of the candidate landing positions are m in the fore-aft plane and n in the left-and-right plane, the total number of the positions is m+n-1.
Claim 11
Independent Claim
48 words
A system according to any of preceding claims 7 to 10, wherein said third means establishes a plurality of candidate landing positions and adjusts the control value in such a manner that leg linkage lands at a position calculated from the candidate landing positions by interpolation or extrapolation.
Claim 12
Independent Claim
40 words
A system according to any of preceding claims 7 to 11, wherein said third means adjusts the control value of at least one of the drive joints by a function of n-th order in response to the robot turnover probability.
Claim 13
Independent Claim
37 words
A system according to any of preceding claims 7 to 12, wherein said third means adjusts the control value in such a manner that a predetermined portion of the leg linkages passes through a prescribed spatial point.
Claim 14
Independent Claim
36 words
A system according to any of preceding claims 7 to 13, wherein said third means adjusts the control value in such a manner that the predetermined gait is modified in smooth succession with respect to time.
Claim 15
Independent Claim
41 words
A system according to any of preceding claims 7 to 14, wherein said third means adjusts the control value in a period within one repetition cycle of a leg support phase and a leg support free phase of the predetermined gait.
Claim 16
Independent Claim
45 words
A system according to any of preceding claims 7 to 15, wherein said first means predicts the robot turnover probability by calculating a differential of n-th order of an inclination angle which the robot body link or leg linkages makes with respect to the ground.
Claim 17
Independent Claim
19 words
A system according to any of preceding claims 7 to 16, wherein the robot is a biped walking robot.
References Cited (Backward Citations)
No citation records indexed.
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