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公开(公告)号：EP1502711A1
公开(公告)日：2005-02-02
申请号：EP03725697.1
申请日：2003-04-28
IPC分类号： B25J5/00
CPC分类号： B62D57/032
摘要： A control device of a legged mobile robot, wherein a state amount error (for example, an error of a vertical position of a body 3), which is a difference between an actual state amount and a state amount of a desired gait related to a translational motion in a predetermined direction (for example, a translational motion in a vertical direction) of a legged mobile robot 1, is determined, and then a desired motion of the desired gait is determined such that the state amount error approaches zero. The desired motion is determined using a dynamic model by additionally inputting a virtual external force determined on the basis of the state amount error to the dynamic model for generating desired gaits. At the same time, a desired floor reaction force of the robot 1 is corrected on the basis of a state amount error of zero, and compliance control is carried out to make the motion and the floor reaction force of the robot 1 follow the desired motion and the desired floor reaction force of the desired gait.
摘要翻译： 腿式移动机器人的控制装置，其中状态量误差（例如，主体3的垂直位置的误差）是与实际状态量和与之相关的期望步态的状态量之间的差 确定有腿可移动机器人1的预定方向（例如，垂直方向的平移运动）的平移运动，然后确定期望步态的期望运动，使得状态量误差接近零。 使用动态模型通过将基于状态量误差确定的虚拟外力输入到用于产生期望的步态的动态模型来确定期望的运动。 同时，基于零的状态量误差来校正机器人1的期望的地板反作用力，并且执行顺从性控制以使机器人1的运动和地板反作用力遵循所需的运动 以及期望的步态的期望的地板反作用力。
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公开(公告)号：EP1466706B1
公开(公告)日：2010-08-25
申请号：EP02806078.8
申请日：2002-12-26
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B62D57/02
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公开(公告)号：EP2208581A1
公开(公告)日：2010-07-21
申请号：EP10003332.3
申请日：2003-04-28
IPC分类号： B25J5/00
CPC分类号： B62D57/032
摘要： A control device of a legged mobile robot, wherein a state amount error (for example, an error of a vertical position of a body 3), which is a difference between an actual state amount and a state amount of a desired gait related to a translational motion in a predetermined direction (for example, a translational motion in a vertical direction) of a legged mobile robot 1, is determined, and then a desired motion of the desired gait is determined such that the state amount error approaches zero. The desired motion is determined using a dynamic model by additionally inputting a virtual external force determined on the basis of the state amount error to the dynamic model for generating desired gaits. At the same time, a desired floor reaction force of the robot 1 is corrected on the basis of a state amount error of zero, and compliance control is carried out to make the motion and the floor reaction force of the robot 1 follow the desired motion and the desired floor reaction force of the desired gait.
摘要翻译： 腿式移动机器人的控制装置，其中状态量误差（例如，主体3的垂直位置的误差）是与实际状态量和与之相关的期望步态的状态量之间的差 确定有腿可移动机器人1的预定方向（例如，垂直方向的平移运动）的平移运动，然后确定期望步态的期望运动，使得状态量误差接近零。 使用动态模型通过将基于状态量误差确定的虚拟外力输入到用于产生期望的步态的动态模型来确定期望的运动。 同时，基于零的状态量误差来校正机器人1的期望的地板反作用力，并且执行顺从性控制以使机器人1的运动和地板反作用力遵循所需的运动 以及期望的步态的期望的地板反作用力。
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公开(公告)号：EP1466706A1
公开(公告)日：2004-10-13
申请号：EP02806078.8
申请日：2002-12-26
CPC分类号： B62D57/032 , B62D57/02
摘要： A gait generation device for generating a desired gait which includes floating periods in which all the legs 2, 2 of a legged mobile robot 1 float in the air and landing periods in which at least one leg 2 is in contact with a floor which appear alternately generates the desired gait in such a manner that, at least when shifting from the floating period to the landing period, the velocity of an end portion 22 of a landing leg with respect to the floor and the acceleration thereof with respect to the floor is substantially 0 at the instant of landing. After both the velocity of the end portion of the leg with respect to the floor and the acceleration thereof with respect to the floor are determined to be substantially 0, a movement of the body of the robot with the desired gait is determined in such a manner that the horizontal component of a moment produced about the desired ZMP by the resultant force of gravity and an inertial force applied to the robot 1 is substantially 0. This eliminates the landing impact.
摘要翻译： 一种用于生成期望步态的步态生成装置，该步态生成装置包括有腿的移动机器人1的所有腿2,2在空中浮动的浮动时段和至少一个腿2与交替出现的地板接触的着陆时段 以至少当从浮动时段转换到着陆时段时这样的方式产生期望的步态，着陆腿的端部22相对于地板的速度和其相对于地板的加速度实质上是 0在着陆瞬间。 在腿部的端部相对于地板的速度和其相对于地板的加速度都被确定为基本上为0之后，具有期望的步态的机器人的身体的移动以这种方式被确定 通过重力和施加给机器人1的惯性力产生的关于期望的ZMP的力矩的水平分量基本为0.这消除了着陆冲击。
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公开(公告)号：EP2208581B1
公开(公告)日：2011-09-07
申请号：EP10003332.3
申请日：2003-04-28
IPC分类号： B25J5/00
CPC分类号： B62D57/032
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公开(公告)号：EP1502711B1
公开(公告)日：2011-02-23
申请号：EP03725697.1
申请日：2003-04-28
IPC分类号： B25J5/00
CPC分类号： B62D57/032
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.
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