Toyota Jidosha Kabushiki Kaisha

Ryosuke Tajima

Keisuke Suga

Daisaku Honda

Takashi Yamamoto

Hisayoshi Sugihara

Yuji Tsusaka

Toru Miyagawa

There is provided a legged robot that performs motion by changing a joint angle, which includes a trajectory generating section to calculate a center-of-gravity trajectory in designated stepping motion from the stepping motion including at least one of walking motion, running motion and stopping motion, and generate a center-of-gravity trajectory by superimposing a designated travel velocity onto a travel velocity of a center of gravity in the calculated center-of-gravity trajectory in stepping motion, and a trajectory updating section to store the generated center-of-gravity trajectory and update all the stored center-of-gravity trajectories so as to be continuous, and a trajectory reproducing section to calculate time-varying data of a target value of the joint angle based on the updated center-of-gravity trajectory, and a joint driving section to rotate a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle.

Legged robot and its control method

There is provided a legged robot that performs motion by changing a joint angle, which includes a section of generating a center-of-gravity trajectory of the legged robot based on a trinomial equation obtained by discretizing a ZMP equation and a target ZMP, a section of calculating time-varying data of a target value of the joint angle based on the generated center-of-gravity trajectory, and a section of rotating a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle, wherein the ZMP equation involves an angular momentum according to a center-of-gravity velocity.

A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff and an aerial phase from a takeoff to a landing is provided. The legged robot adjusts the landing timing after a jump in accordance with a planned timing, thereby attaining a smooth landing. A measuring unit of the legged robot measures an actual aerial phase period in a k-th jump cycle. A subtractor calculates a time difference between a target aerial phase period and the actual aerial phase period in the k-th jump cycle. A target velocity determining unit calculates a target vertical velocity of a center of gravity on a takeoff timing in a (k+1)-th jump cycle so as to eliminate the time difference. Motors in respective joints are controlled so as to realize the calculated target vertical velocity in the (k+1)-th jump cycle. As a result, the time difference generated in the k-th jump cycle in the (k+1)-th jump cycle can be compensated, thereby adjusting the landing timing with the planned landing timing, resulting in the jump motion with smooth landing.

Legged robot

The present invention provides a technique that makes a robot continue a stabilized walk, even when an actual movement state of the robot deviates greatly from a target movement state of the robot. The robot includes a trunk, a pair of leg links coupled with the trunk in a swingable manner, an actuator group that swings each of the leg links independently to the trunk, and a controller that controls the actuator group. The controller is programmed to control the actuator group and realize a given trajectory of the center of gravity and the trajectory of the toe of the leg link. The controller performs, in a period from the robot grounding the one leg link to grounding the other leg link swung out thereafter: updating the trajectory of the center of gravity of the robot after grounding the other leg link, determining a predetermined position for grounding the other leg link, on the basis of an updated trajectory of the center of gravity, and updating the trajectory of the toe of the other leg link till grounding the other leg link, on the basis of a determined predetermined position for grounding.

Robot and control method thereof

Technology is provided that can compute a center of gravity pathway for a robot in which the ZMP matches the target ZMP, even if the robot is caused to perform a crouching movement during a single leg ground phase. The robot of the present invention is a legged robot that moves the center of gravity in the vertical direction when one leg link is grounded by changing joint angles, and comprises means for generating the vertical pathway of the center of gravity, means for computing the horizontal pathway of the center of gravity, based upon the generated vertical pathway of the center of gravity, a tridiagonal equation which is a discretization of a ZMP equation, a target ZMP, and horizontal speeds of the center of gravity at the beginning and the completion of the vertical pathway, means for computing chronological data of target values of the joint angles, based upon the generated vertical pathway and the computed horizontal pathway of the center of gravity, and means for rotating the joints based upon the computed chronological data of the target values of the joint angles.

Legged robot and control method thereof

A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing meansfor storing leg tip gait data describing a time-series change in a target leg tip motion, storing meansfor storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection meansfor detecting an actual torso motion, deviation calculation meansfor calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation meansfor determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction meansfor correcting the target torso gait data based on the determined correction quantity.

Growing community of inventors

Nagoya, Japan

Ryosuke Tajima