Control device for mobile robot

Patent metadata

Field	Value
Publication number	US-10040197-B2
Application number	US-201615274118-A
Country	US
Kind code	B2
Filing date	Sep 23, 2016
Priority date	Dec 14, 2015
Publication date	Aug 7, 2018
Grant date	Aug 7, 2018

Abstract

A control device 40 for a mobile robot 1 converts a moment manipulated variable ↑τ_dmd determined in accordance with a deviation between a desired value and an observed value of a predetermined state quantity of the mobile robot 1 to a rotation manipulated variable ↑Δθ by which contacting portions 13, 23 of a plurality of movable links 3, 4 to be brought into contact with an external object are to be rotated about a desired ZMP, and corrects a desired position/posture of each contacting portion 13, 23 to a position/posture rotated about the desired ZMP by the rotation manipulated variable ↑Δθ.

First claim

What is claimed is:

1. A control device for a mobile robot having a plurality of movable links extended from a body, each movable link being configured to move with respect to the body by an action of one or more joints disposed between a distal end of the movable link and the body, the mobile robot moving with a motion including an operation in which one or more movable links are moved in the air, not in contact with an external object, and a succeeding operation in which contacting portions as predetermined sites of the respective movable links are brought into contact with the external object, the control device comprising:
a moment manipulated variable determination section which, in accordance with a deviation between a desired value of a predetermined state quantity defined by an operational goal for the mobile robot and an observed value of the state quantity, determines a moment manipulated variable representing an external force moment to be added to the mobile robot so as to cause the deviation to approach zero;
a rotation manipulated variable determination section which, in accordance with the moment manipulated variable, determines a rotation manipulated variable representing a rotational amount by which position vectors, observed from a desired ZMP defined by the operational goal, of contact points between the external object and the contacting portions of respective contacting movable links, which are the one or more movable links among the plurality of movable links that are brought into contact with the external object, are to be rotated about the desired ZMP, the rotation manipulated variable being common to the respective contacting portions of all the contacting movable links;
a contacting portion position/posture correcting section which corrects a desired position/posture before correction, being a desired position/posture in the operational goal, of each of the contacting portions of the contacting movable links in accordance with a correction amount of the position/posture of that contacting portion, the correction amount including a translational displacement amount of the contacting portion produced when the contacting portion is rotated about the desired ZMP by the rotational amount indicated by the rotation manipulated variable from the desired position/posture before correction, the correction amount also including the rotational amount; and
an actuator controlling section which determines a desired displacement amount for each joint of the mobile robot so as to implement a corrected desired position/posture of each contacting portion obtained by the contacting portion position/posture correcting section, and controls an actuator that drives the corresponding joint in accordance with the desired displacement amount;
wherein the rotation manipulated variable determination section is configured to determine the rotation manipulated variable by linearly converting the moment manipulated variable by a coefficient matrix such that a moment produced about the desired ZMP by an elastic rotational force produced along with rotation in posture of each contacting portion and an elastic translational force produced along with translational displacement of each contacting portion agrees with the moment manipulated variable, the coefficient matrix being determined from the position vector of the contact point of each contacting portion determined from the desired position/posture before correction of the contacting portion and the desired ZMP, a predetermined set value for a degree of stiffness of each contacting portion related to the rotation in posture of the contacting portion, and a predetermined set value for a degree of stiffness of each contacting portion related to the translational displacement of the contacting portion.

2. The control device for the mobile robot according to claim 1 , wherein the rotation manipulated variable determination section is configured to determine the coefficient matrix by a following expression (A):

Coefficient
⁢

⁢
matrix

=

[

∑

i
=
1

N

⁢

⁢

K
⁢
_
⁢
i

·

(

K
⁢

⁢

τ
⁢
_i

+

(

↑

rc
⁢
_
⁢
i

T

·

↑

rc
⁢
_
⁢
i

·

I
⁢
3

-

↑

rc
⁢
_
⁢
i

Assignees

• Honda Motor Co Ltd
• Honda Motor Co Ltd

Inventors

• Kanazawa Masao

Classifications

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• B62D57/02

  with ground-engaging propulsion means, e.g. walking members · CPC title

• B62D57/032

  with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) · CPC title

• G05B2219/40318

  Simulation of reaction force and moment, force simulation · CPC title

• B25J9/0006

  Exoskeletons, i.e. resembling a human figure · CPC title