CONTROL DEVICE FOR WALKING ROBOT

To further improve a practicality of a walking robot by that the walking robot can be walked in various environments.SOLUTION: While a control device for a walking robot of the present disclosure controls the walking robot including: a plurality of legs; a plurality of actuators that drive the corre...

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Main Authors NODA YUKIHIRO, WATANABE TOSHIKI, MATSUBA TATSUYA, KUBO AKIHIRO, NAKAMURA YASUSHI, ISHII MAKOTO, AKATSUKA SHINTARO, IZAWA HITOSHI
Format Patent
LanguageEnglish
Japanese
Published 10.03.2022
Subjects
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
CONTROL OR REGULATING SYSTEMS IN GENERAL
CONTROLLING
FUNCTIONAL ELEMENTS OF SUCH SYSTEMS
HAND TOOLS
MANIPULATORS
MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
TRANSPORTING
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Summary:To further improve a practicality of a walking robot by that the walking robot can be walked in various environments.SOLUTION: While a control device for a walking robot of the present disclosure controls the walking robot including: a plurality of legs; a plurality of actuators that drive the corresponding legs; and an image pickup device that images a walking path, the control device for the walking robot is comprised of: a central pattern generation unit that sets a phase for each of the plurality of actuators based on a phase control amount and calculates a command value for each of the plurality of actuators based on the set phase; an actuator control unit that controls the plurality of actuators based on the command value from the central pattern generation unit and a state of the walking robot; and a gait control unit that calculates the phase control amount to the central pattern generation unit based on at least the command value for the walking robot, the state of the walking robot, and the image information from the image pickup device.SELECTED DRAWING: Figure 1 【課題】歩行ロボットを様々な環境下で歩行可能にして当該歩行ロボットの実用性をより向上させる。【解決手段】本開示の歩行ロボットの制御装置は、複数の脚部と、それぞれ対応する脚部を駆動する複数のアクチュエータと、歩行路を撮像する撮像装置とを含む歩行ロボットを制御するものであり、位相制御量に基づいて複数のアクチュエータごとに位相を設定すると共に、設定した位相に基づいて複数のアクチュエータの各々への指令値を算出する中枢パターン生成部と、中枢パターン生成部からの指令値および歩行ロボットの状態に基づいて複数のアクチュエータを制御するアクチュエータ制御部と、少なくとも歩行ロボットに対する指令値、歩行ロボットの状態、および撮像装置からの画像情報に基づいて、中枢パターン生成部への位相制御量を算出する歩容制御部とを含む。【選択図】図１
Bibliography:Application Number: JP20200143011