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Legged mobile robot control system

A technology of a legged robot and a control device, which is applied in the directions of manipulators, motor vehicles, manufacturing tools, etc., can solve the problems of unstable posture and disturbed posture, and achieve the effect of improving the communication function.

Inactive Publication Date: 2006-06-21
HONDA MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The robot described in the above-mentioned Patent Document 1 is a structure that moves by wheels, so when shaking hands, the external force acting on the arm will not be a problem as long as the posture is maintained stably. The legged robot has the potential to be a distraction enough to disturb its posture
In other words, conventional legged robots may cause unstable postures by shaking hands with humans

Method used

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  • Legged mobile robot control system
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Examples

Experimental program
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Effect test

Embodiment 1

[0027] figure 1 It is a front view of a robot equipped with the control device of the legged robot of the first embodiment, figure 2 Yes figure 1 Side view of the robot shown. In addition, in this embodiment, as a legged robot, a humanoid robot that moves on foot with two legs and two arms is taken as an example.

[0028] like figure 1 As shown, the legged robot (hereinafter simply referred to as "robot") 10 has left and right legs 12L, 12R (the left side is defined as L, and the right side is defined as R. The same below). The legs 12L, 12R are connected to the lower part of the upper body 14 . The upper body 14 is connected to the head 16 at the upper part, and the left and right arm parts 20L, 20R are connected to the side parts. Hands (end effectors) 22L, 22R are connected to the front ends of the left and right arm portions 20L, 20R, respectively.

[0029] and, if figure 2 As shown, a storage unit 24 is provided on the back of the upper body 14, and an electro...

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Abstract

A control device for a legged robot. Provided is a control device for a legged robot capable of shaking hands with humans and improving communication functions while stably maintaining a handshaking posture. The operation of the driver for driving the arm is controlled to generate a handshake gesture (S16). And, the external force acting on the arm (external force acting on the arm by handshake) is detected by the six-axis force sensor, and posture stabilization control is performed to control the operation of the driver driving the leg according to the detected external force (S20).

Description

technical field [0001] The present invention relates to a control device for a legged robot, in particular to a control device for a legged robot that has legs and arms connected to the upper body, drives the legs to move, and uses the arms to shake hands with people. Background technique [0002] Conventionally, in order to improve the communication function with humans, a robot capable of shaking hands with humans has been proposed (for example, refer to Patent Document 1). In the robot described in Patent Document 1, a pressure sensor sheet is embedded in the hand to detect the gripping force of the person shaking hands, and the content of the sound is changed according to the detected gripping force (specifically, when the gripping force is appropriate, a sound is made). sound "please take care" and "pain" when the grip is strong), and arm movements (specifically, moving the arm to retract the arm when the grip is strong) to improve communication function. In addition,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/08B25J5/00B25J19/02
CPCB25J13/085B62D57/032B25J5/00B25J13/08
Inventor 杉山谦一郎横山太郎真木浩司小川直秀
Owner HONDA MOTOR CO LTD
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