Two-legs walking type moving device, method and device for controlling its walking
    1.
    发明授权
    Two-legs walking type moving device, method and device for controlling its walking 失效
    双腿步行式移动装置,用于控制其行走的方法和装置

    公开(公告)号:US06943520B2

    公开(公告)日:2005-09-13

    申请号:US10450704

    申请日:2002-06-03

    CPC分类号: B62D57/032

    摘要: Disclosed is a biped walking mobile system which achieves stability without altering a preestablished gait, and a walk controller and control method therefor. The biped walking mobile apparatus includes a gait former for forming gait data and a walk controller for controlling actions of the drive means based on the gait data. The walk controller includes a ZMP compensator, including: a ZMP sensor, a ZMP converter for computing a ZMP target value based on the gait data from the gait former, and a ZMP compensating stage for comparing the actual measurement value of ZMP detected by the ZMP sensor with the ZMP target value from the ZMP converter to modify the targeted angular velocity and acceleration in the gait data and thereby to compensate or correct the ZMP target value. Thus, the targeted angular path of movement in the gait data remains unaltered when the ZMP target value is compensated.

    摘要翻译: 公开了一种在不改变预先步态的情况下实现稳定性的双足步行移动系统,以及步行控制器及其控制方法。 双足步行移动装置包括用于形成步态数据的步态成形器和用于基于步态数据控制驱动装置的动作的步行控制器。 步行控制器包括:ZMP补偿器,包括:ZMP传感器,用于基于来自步态成型器的步态数据计算ZMP目标值的ZMP转换器,以及用于比较由ZMP检测到的ZMP的实际测量值的ZMP补偿级 传感器,具有来自ZMP转换器的ZMP目标值,以修改步态数据中的目标角速度和加速度,从而补偿或校正ZMP目标值。 因此,当补偿ZMP目标值时,步态数据中的目标角度运动路径保持不变。

    Two-leg walking humanoid robot
    2.
    发明授权

    公开(公告)号:US06902015B2

    公开(公告)日:2005-06-07

    申请号:US10466316

    申请日:2002-06-03

    摘要: A biped walking humanoid robot is disclosed having an arrangement whereby shocks acting on various parts of the robot when it falls can be relieved and its state of fall can then be detected. The robot has a body (11) capable of bending forward, a pair of legs (12L, 12R) attached to a lower part of the body at a pair of opposite sides thereof, respectively, a pair of arms (13L, 13R) attached to an upper part of the body at a pair of opposite sides, respectively, and a head (14) attached to an upper end of the body, each of the legs having a upper leg (15L, 15R) attached to the body so as to be pivotally movable relative thereto triaxially, a lower leg (16L, 16R) attached to a lower end of the upper leg so as to be pivotally movable relative thereto monoaxially and a foot (17L, 17R) attached to a lower end of the lower leg so as to be pivotally movable relative thereto biaxially, each of the arms having an upper arm (25L, 25R) attached to the body so as to be pivotally movable relative thereto biaxially, a lower arm (26L, 26R) attached to the upper arm so as to be pivotally movable relative thereto monoaxially and a hand (27L, 27R) attached to the lower hand so as to be pivotally movable relative thereto biaxially, the robot also having drive means (23L, 23R, 24L, 24R; 21L, 21R; 19L, 19R, 20L, 20R, 18L, 18R; . . . ) associated with the feet, the lower legs and the upper legs of the legs, the hands, the lower arms and the upper arms of the arms and a body bending-forward region for pivotally moving them, respectively, a control stage (51) for controlling driving actions of the drive means, and a contact detector (40) mounted at each of an outer elbow surface area formed between the upper and lower arms, and an outer wrist surface area between the lower arm and the hand of each of the arms, and a lower toe surface area of the foot, a lower heal surface area of the foot, an outer knee surface area between the upper and lower legs of each of the legs, and a hip surface area and a back surface area of the body, the contact detector at each of these surface areas comprising a casing portion (41) made of a material forming an outer covering surface area of the robot, a pressure sensor (42) for sensing a pressure acting on the casing portion and a shock absorbing material (43) for absorbing a shock acting on the casing portion. Thus, when the biped walking humanoid robot is having a fall, the state or type of this fall can be determined by the control stage in response to a contact signal detected by the pressure sensor in the contact detector at a relevant part of the abovementioned robot parts which is brought into contact with the floor or ground. Then, on the basis of the type of the fall determined, the control stage is allowed to act on the drive means to move the arm and leg parts suitably so as to cause the robot to take a corrective falling action to have a safety fall and then to move to taking a rising action to get up on its feet.