摘要:
While a solenoid valve (23) of a gas passage (22) communicating with gas chambers (16, 17) is closed, an assist device (12) produces an assisting drive force by compression/expansion of a gas when a leg (3) flexes/stretches at a knee joint (specific joint) (8) and acts the force on the knee joint (8). While the solenoid valve (23) is open, no assisting drive force is produced. The solenoid valve (23) has a self-holding function. The solenoid valve (23) is so provided in the gas passage (22) that the difference between the pressures in the gas chambers (16, 17) acts so that the valve is closed during a predetermined period during which the solenoid valve (23) is closed. With this, the power consumption of the solenoid valve can be effectively reduced through a simple structure.
摘要:
A leg joint assist device (11) of a legged mobile robot, comprising a spring means (21)(gas spring). A piston (24) in a cylinder (23) is vertically moved according to the relative displacement motion (bending and stretching motion) of a femoral region (4) and a crural region (5) at the knee joint (8) of the leg (3) of the robot. A gas is filled in gas chambers (25) and (26) on the upper and lower sides of the piston (24). When the degree of the bending of the leg body at the knee joint (8) is equal to or less than a specified value, the gas chambers (25) and (26) are allowed to communicate with each other through grooves (28) in the cylinder (23), and the spring means (21) does not produce an elastic force. When the degree of the bending exceeds the specified value, the gas chambers (25) and (26) are brought into a sealed state with each other, and the spring means (21) produces an elastic force which acts on the knee joint (8) as an auxiliary drive force. Thus, a burden on the joint actuator of the leg can be reduced while reducing the energy consumption of the robot by a compact and simple structure. Also, a variation in the characteristics of the auxiliary drive force of the spring means (21) against the degree of the bending of the knee joint (8) can be suppressed.
摘要:
A device (18) for absorbing floor-landing shock provided in a foot mechanism (6) of a leg of a robot. The device comprises an inflatable/ deflatable bag-like member (19) (variable volume body) on the ground contact surface side of the foot mechanism (6). The bag-like member (19) is formed of an elastic material such as rubber and has a restoration capability. The inside of the bag-like member (19) is open to the atmosphere through a passage (20). W hen the leg lands on the floor, the bag-like member (19) touches the ground and is compressed, causing air in the bag-like member to flow out into the atmosphere through the passage (20), which produces an outflow resistance. This reduces floor-landing shock. While the leg body is off the floor, the bag-like member (19) is inflated by the restoring capability of the member as air flows into it. The shock load in floor-landing of the leg body of a legged mobile robot can be reduced smoothly by a light-weighted structure.
摘要:
A control device of a legged mobile robot, wherein a state amount deviation (for example, the deviation of the vertical position of an upper body (3)), which is a deviation between an actual state amount and the state amount of a target gait pattern in the translation motion (for example, translation motion in vertical direction) of the legged mobile robot (1) in a specified direction, is obtained and the target motion of the target gait pattern is determined so that the state amount deviation can be brought into near zero, the target motion is determined by using a dynamic model by additionally inputting a virtual external force determined according to the state amount deviation into the dynamic model for generating the target gait pattern, the target floor reaction of the robot (1) is corrected according to the state amount deviation of zero, and the motion and the floor reaction of the robot (1) are allowed to follow up the target motion of the target gait pattern and the target floor reaction by a compliance control.
摘要:
A device (18) for absorbing floor-landing shock provided in a foot mechanism (6) of a leg of a robot. The device comprises an inflatable/ deflatable bag-like member (19) (variable volume body) on the ground contact surface side of the foot mechanism (6). The bag-like member (19) is formed of an elastic material such as rubber. Air in the atmosphere can flow in and flow out of the bag-like member (19) through inflow/ outflow means (20) provided with a solenoid valve (27) etc. When the foot sole mechanism (6) is off the floor, air flow into the bag-like member (19) is controlled so that the height of the bag-like member (19) in the final inflation state is controlled to a height corresponding to the gait form of the robot. The shock load when the leg body of the legged mobile robot lands on the floor is reduced appropriately in accordance with the gait form of the robot while at the same time posture stability of the robot is ensured easily, and, further, the robot can be structured light in weight.
摘要:
A device (18) for absorbing floor-landing shock provided in a foot mechanism (6) of a leg of a robot. The device comprises an inflatable/ deflatable bag-like member (19) (variable volume body) on the ground contact surface side of the foot mechanism (6). The bag-like member (19) is formed of an elastic material such as rubber. Air in the atmosphere can flow in and out of the bag-like member (19) through inflow/ outflow means (20) provided with a solenoid valve (27) etc. When the foot sole mechanism (6) is on the floor and immediately after the mechanism is changed from an on-floor state to an off-floor state, the solenoid valve (27) is closed and the bag-like member (19) is kept compressed. When the bag-like member (19) is inflated while the foot mechanism (6) is off the floor, the timing at which the solenoid valve (27) is changed from an opened state to a closed state is controlled so that the height in the compression direction of the bag-like member (19) is controlled to a height appropriate to the gait form of the robot. The shock load when the leg of the legged mobile robot lands on the floor is reduced appropriately while at the same time posture stability of the robot can be ensured easily, and, further, the robot can be structured light in weight.