Biped walking robot control method and biped walking robot control system

Patent metadata

Field	Value
Publication number	US-9434430-B2
Application number	US-201514597607-A
Country	US
Kind code	B2
Filing date	Jan 15, 2015
Priority date	Jan 20, 2014
Publication date	Sep 6, 2016
Grant date	Sep 6, 2016

Abstract

A biped walking robot control method is for master-slave control of walking of a biped walking robot. The biped walking robot control method includes a weight detection step of detecting weights applied to a ground respectively by a right leg and a left leg of an operator, a target ZMP calculation step of calculating a target ZMP when the biped walking robot produces weights having a ratio of the detected right leg weight and left leg weight, and a control step of controlling the biped walking robot in accordance with the calculated target ZMP.

First claim

What is claimed is:

1. A biped walking robot control method for master-slave control of walking of a biped walking robot, comprising:
a weight detection step of detecting weights applied to a ground respectively by a right leg and a left leg of an operator;
a target ZMP calculation step of calculating a target ZMP based on the detected right leg weight and left leg weight, and a right leg position and a left leg position of the biped walking robot so that a ratio of the detected right leg weight and left leg weight becomes equal to a ratio of the right leg weight and left leg weight of the biped walking robot; and
a control step of controlling the biped walking robot in accordance with the calculated target ZMP.

2. The biped walking robot control method according to claim 1 , further comprising:
a detection step of detecting one step by the operator from a change in the detected right leg weight and left leg weight; and
an idling leg trajectory calculation step of calculating an idling leg trajectory for one step of the biped walking robot corresponding to the step by the operator from the right leg weight and left leg weight detected when the one step by the operator ends, wherein
the control step further controls the biped walking robot to walk along the calculated idling leg trajectory.

3. The biped walking robot control method according to claim 2 , wherein
the idling leg trajectory calculation step generates idling leg trajectory information indicating the idling leg trajectory in a size corresponding to an idling leg period of one step by the operator and stores the idling leg trajectory information into a buffer,
the control step controls the biped walking robot in accordance with the idling leg trajectory indicated by the idling leg trajectory information stored in the buffer,
the biped walking robot control method further includes an idling leg period calculation step of calculating an idling leg period of one step by the operator from a change in the detected right leg weight and left leg weight, and
when the calculated idling leg period is longer than an upper limit of a time period for storing the idling leg trajectory information into the buffer, the idling leg period calculation step generates the idling leg trajectory information after correcting the idling leg period to meet the upper limit.

4. The biped walking robot control method according to claim 2 , further comprising:
an idling leg period calculation step of calculating an idling leg period of one step by the operator from the detected right leg weight and left leg weight, wherein
when the calculated idling leg period is shorter than a lower limit of a time period for the biped walking robot to reproduce one step corresponding to the one step by the operator, the idling leg period calculation step generates the idling leg trajectory after correcting the idling leg period of the one step by the operator to meet the lower limit.

5. The biped walking robot control method according to claim 2 , further comprising:
an idling leg period calculation step of calculating an idling leg period of one step by the operator from the detected right leg weight and left leg weight, wherein
when the calculated idling leg period is shorter than a lower limit of a time period for the biped walking robot to reproduce one step corresponding to the one step by the operator, the idling leg period calculation step invalidates the one step by the operator.

6. The biped walking robot control method according to claim 1 , further comprising:
a hip posture calculation step of calculating a hip posture around a vertical axis of the biped walking robot as a posture obtained by combining postures of a right leg and a left leg of the biped walking robot in accordance with a ratio of weights from the detected right leg weight and left leg weight, wherein
the control step further controls the biped walking robot to achieve the calculated hip posture.

7. A biped walking robot control system serving as a master for master-slave control of walking of a biped walking robot serving as a slave, comprising:
a weight detection unit that detects weights applied to a ground respectively by a right leg and a left leg of an operator;
a target ZMP calculation unit that calculates a target ZMP based on the detected right leg weight and left leg weight, and a right leg position and a left leg position of the biped walking robot so that a ratio of the detected right leg weight and left leg weight becomes equal to a ratio of the right leg weight and left leg weight of the biped walking robot; and
a control unit that controls the biped walking robot in accordance with the calculated target ZMP.

Assignees

• Toyota Motor Co Ltd

Inventors

• Moridaira Tomohisa

Classifications

• Y10S901/46

  Sensing device · CPC title

• B62D57/032 Primary

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

• Y10S901/01

  Mobile robot · CPC title