Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller

A robot and human-like technology, applied in the direction of vehicle position/route/height control, program control manipulator, attitude control, etc., can solve the problem of too large robot body required space

Active Publication Date: 2017-05-31
SOFTBANK ROBOTICS EURO +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0015] One solution is to design the robot with an omnidirectional base that is large compared to the height of the robot; but then we have the following disadvantages: excessively large required space and weakness of the robot body

Method used

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  • Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller
  • Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller
  • Omnidirectional wheeled humanoid robot based on a linear predictive position and velocity controller

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Embodiment Construction

[0062] figure 1 The physical architecture of a humanoid robot in various embodiments of the invention is shown.

[0063] The particular robot 100 on the drawings is considered merely an example of a humanoid robot in which the invention may be practiced. The robot's lower limbs 180 are not functional for walking, but can move in any direction on its base 140, which rolls on the surface it rests on. For example, the robot may have a height 110 of about 120 cm, a depth 120 of about 65 cm, and a width 130 of about 40 cm. In a specific embodiment, the robot of the present invention has a tablet computer 150 by means of which the robot can transmit messages (audio, video, web pages) to its environment or receive input from the user through the tablet computer's tactile interface. In addition to the processor of the tablet computer, the robot of the invention also uses the processor of its own motherboard, which can be for example from Intel TM ATOM TM Z530. In a particular em...

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Abstract

The object of the invention is a humanoid robot (100) with a body (190) joined to an omnidirectional mobile ground base (140), and equipped with: - a body position sensor and a base position sensor to provide measures, - actuators (212) comprising at least 3 wheels (141) located in the omnidirectional mobile base, - extractors (211) for converting the measures into useful data, - a controller to calculate position, velocity and acceleration commands from the useful data using a robot model and pre-ordered position and velocity references, - means for converting the commands into instructions for the actuators, characterized in that the robot model is a double point-mass model, and in that the commands are based on a linear model predictive control law with a discretized time according to a sampling time period and a number of predicted samples, and expressed as a quadratic optimization formulation with: - a weighted sum of objectives, - a set of predefined linear constraints.

Description

technical field [0001] The present invention relates to the field of robot programming systems. More specifically, the invention finds application in controlling the motion of robots based on articulated limbs or using them to move around, especially in human or animal form. A robot can be considered a humanoid from the moment the robot has the following human-specific appearance attributes: head, torso, arms, hands, etc. However, humanoid robots can be more or less complex. Its limbs may have a greater or lesser number of joints. It can statically or dynamically control its own balance and roll on a base. It can pick up signals from the environment ("listen", "see", "touch", "sense", etc.), react according to more or less complex behaviors, and communicate with other robots or Humans interact. With the current generation of humanoid robots, programmers are able to create scenarios that can be more or less complex, as sequences of events / actions that the robot reacts / perf...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/16G05D1/08
CPCB25J5/007B25J9/1628G05D1/0891G05D2201/0217B25J9/1679B25J11/0005B25J19/02B25J5/00B25J9/16B25J9/1669
Inventor J·拉费D·古艾列P-B·维贝尔
Owner SOFTBANK ROBOTICS EURO
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