JP4385159B2 - Stop device for legged robot - Google Patents

Description

The present invention relates to a stop device for a legged robot for safe suspend the operation of the legged robot, in particular, home robots, service robots, the robot emergency legged robot, such as Enta tee placement robot safety It stops, to a stop device of a legged robot that can be suitably used in a case to ensure the interpersonal safety.

  A conventional legged robot is operated by planning a joint angle command of each joint for realizing a desired gait and movement by, for example, a gait generator as described in Patent Document 1. . Attempts have been made to realize a motion such as walking by faithfully reproducing the joint angle command planned by the gait generator by the actuator built in the joint of the legged mobile robot.

  Also, by using information of various sensors such as posture sensors and joint angle sensors, the walking control device for correcting the joint angle command planned by the gait generator in real time and realizing a stable gait, for example, An attempt has been made to stably operate a legged mobile robot even in an actual environment by a walking control device as described in Patent Document 2.

  The actions realized by the gait generator and the walking control device are not only faithfully reproducing the joint angle commands determined by these devices, but, for example, a human being in front of a legged robot while walking. Even if it jumped out, the legged robot had no choice but to continue to walk as determined, and could not respond to an emergency. For this reason, in the worst case, the legged robot collides with a human, and not only does it harm humans, but the legged robot falls and breaks.

  In response to this, in order to stop the legged robot in the event of an emergency of the legged robot, for example, emergency stop switches are arranged at a plurality of parts on the robot body so that the emergency can be performed safely and reliably. There has been proposed a control method for urgently stopping the airframe operation by operating a stop button (Patent Document 3).

As another safety device, as described in Patent Document 4, in order to prevent a danger that a human finger or the like is caught in a mechanical movable part of a legged robot, the pinching is detected at a predetermined part. There is a proposal for a device that is provided with a sensor and performs an operation for avoiding pinching by the sensor information.
Japanese Patent Application No. 10-217161 JP-A-11-300660 JP 2002-224990 A JP 2004-174644 A

  However, in the control method proposed in Patent Document 3, the emergency stop method is realized by cutting off the power supply to the drive unit, so that the legged robot collapses due to its own weight. . In addition, since the emergency stop switch on the body of the legged robot in operation is operated, there is also a problem that the stop operation is delayed due to an operation error in an emergency situation. In addition, since there is a method of operating an emergency stop switch on the body of the legged robot that is in operation, there is a considerable risk that a human finger or the like may be caught in a mechanical movable part.

  Further, in the method for preventing harm to human beings as proposed in Patent Document 4, there may occur a case where the sensor for detecting pinching cannot detect. For example, when a person is sandwiched between the links of both legs, there is a problem that harm cannot be prevented.

The present invention has been made to solve the above problems, a first object of the present invention, stop of a legged robot comprising a plurality of legs coupled to the upper body stop device in is to provide a stop device of a legged robot having a stop determining means for autonomously determining the stop of the legged robot legged robot.

A second object of the present invention, the stopping device of a legged robot comprising a plurality of legs coupled to the upper body, when the stop determination the legged robot is made in the legged robot body and to provide a stop device of a legged robot having a stop operation control means that causes locked stop the operation of the legged robot.

A third object of the present invention, the stop device of a legged robot comprising a plurality of legs coupled to the upper body, in order to stop safely stop, the legged robot and the environment at least 2 and to provide a stop device controlled by the legged robot to stop Te state odor contact at a point.

Specifically, the occurrence of conditions such as where the legged robot is about to fall, or the legged robot is about to contact with humans or the environment, when it is desired to locked down the legged moving robot, interpersonal safety It is to provide a basic technique for safely stopping a legged robot while ensuring the performance.

To achieve the above object, stop device legged robot according to the present invention, as a first aspect, there in stopping device of a legged robot comprising a plurality of legs coupled to the upper body Te, to determine the ground state of the legged robot, to determine when it starts the stop operation, in accordance with the timing, a stop determination unit that outputs a start signal for stopping operation, output start signal by said stop determining means and a stop operation control means for performing control to locked stop the operation of the legged robot according to, by the stop operation control unit, the operation by stopping the operation pattern for stopping the legged robot, the ground position of the center of gravity of the legged robot point obtained through projection migrates at a timing located center of gravity of the supporting polygon, control so that the legged robot and the environment to stop Te state odor in contact with at least two locations It is configured to be.

According to a second aspect of the present invention, there is provided a legged robot stop device which is a legged robot stop device comprising a plurality of legs connected to the upper body, and judges a grounding state of the legged robot. Then, the timing at which the stop operation can be started is determined, and according to the timing, a stop determination unit that outputs a start signal of the stop operation, and the operation of the legged robot is stopped according to the start signal output by the stop determination unit. The legged robot main body is provided with a stop motion control means for controlling, and the motion of the legged robot in the motion pattern for stopping the legged robot is controlled by the stop motion control means. The control is performed so that the robot moves at the timing when the directions match and stops when the legged robot and the environment are in contact with each other in at least two places. It is.

Also, stop device legged robot according to the present invention, as a third aspect, there is provided a stop device of a legged robot comprising a plurality of legs coupled to the upper body, the ground state of the legged robot To determine the timing at which the stop operation can be started, and according to the timing, stop determination means for outputting a start signal of the stop operation, and the operation of the legged robot according to the start signal output by the stop determination means The leg-type robot main body is provided with a stop-motion control means for performing control to stop, and the stop-motion control means shifts to an operation according to an operation pattern for stopping the leg-type robot at a timing intermediate between both legs of the leg-type robot. And it is set as the structure controlled so that it may stop in the state which a legged robot and an environment contact | connect at at least two places.

According to the stop device of the legged robot according to the invention such embodiments, the stop determining means provided in the legged robot, or the legged robot is emergency stop ready, i.e., the leg The timing at which the robotic robot can start to stop is judged . This is because the operation of the legged robot is judged by using the operation signal, sensor signal, etc. Judgment that can be safely stopped can be made.

In this case, when the stop determination means receives a stop request signal from an operation terminal that operates the legged robot, when the posture deviation due to the signal of the posture sensor mounted on the legged robot reaches a threshold value or more, When the output of the force sensor on the sole mounted on the robot is above the threshold, when the joint angle deviation due to the joint angle sensor signal mounted on the leg robot exceeds the threshold, or mounted on the leg robot In any case where the recognition result by the environment recognition sensor is recognized as an obstacle, the stop determination process is started.

Further, in another embodiment, the stop determination unit, at least, the output signal of the operation generating device for generating an operation of the legged robot, the output signal of the ground sensor for detecting the state of the ground leg of the legged robot, one One signal is used to determine the ground contact state of the legged robot.

In this case, stop operation control, the upper body to relax the translational inertia generated by stopping the operation and manner as implemented by the operation control of translation.

As another aspect, stop operation control may be embodiments as implemented by the operation control of rotating the sole position of the leg portion so as to reduce the moment generated by the stop operation.

In yet another embodiment, stop operation control, together with the upper body translate to mitigate moment generated by stopping the operation, embodiments as implemented by the operation control of rotating the sole position of the legs It is good.

Thus, according to the stop device of a legged robot of the present invention, stop system of a legged robot comprising a plurality of legs coupled to the upper body, determine stop of the legged robot and stop determining means stop, and a stop locked so that stopping operation control means the operation of the legged robot, will be the legged robot and the environment to stop Te state odor in contact with at least two positions, during operation of the If you want locked down the legged robot, it is possible to safely stop the legged robot while ensuring personal safety.

Hereinafter, embodiments in the case of carrying out the present invention will be described with reference to the drawings. Figure 1 is a diagram illustrating the structure of the legs of the legged robot to carry out stop system of a legged robot of the present invention in one aspect schematically. In the following description, the legged robot stop device according to the present invention will be described as an embodiment of an emergency stop device for a legged robot that assumes an emergency stop of the robot. In FIG. 1, 1 is a left foot, 2 is a right foot, 3 is a sole, 4 is a crotch joint installation unit, 5 is a foot joint installation unit, 6a is a first leg unit, 6b is a second leg unit, and 7 is a robot. Upper body, 8a is a first joint motor, 8b is a second joint motor, 8c is a third joint motor, and 9 is a control device.

  Although not shown, the crotch joint installation unit 4 is provided with an actuator (joint motor) having a non-parallel output direction with the output direction of the first joint motor 8a. An actuator (joint motor) having a non-parallel output direction and an output direction of the third joint motor 8c is provided. Although not shown, the posture of the upper body 7 is detected by a posture sensor installed on the upper body 7, and the joint angles of the joints (8a to 8c) are detected by joint angle sensors such as an encoder and a potentiometer. . In addition, although not shown, the state of the grounding leg of the legged robot is detected by a grounding detection sensor composed of a sole force sensor or a contact sensor installed in the foot joint installation unit 5. .

FIG. 2 is a diagram schematically illustrating the structure of an operation control system controlled by a legged robot control device. In FIG. 2, 10 is an emergency stop device, 11 is a motion generation device, 12 is a motion stabilization device, and 13 is a joint angle control device. These devices are provided in the control device 9 of the legged robot main body. Although not shown, the control device 9 inputs and outputs signals from various sensors, generates control data, and outputs control signals to the leg actuators (joint motors). A computer device that performs overall control is provided. Further, reference numeral 14 in FIG. 2 indicates a legged robot main body excluding the control device 9. Reference numeral 15 indicates a pilot operating terminal. By using the operator operation terminal 15, various operation request signals are transmitted to the legged robot by an operator operation from the outside as necessary. Pilot operation terminal 15, and the robot body are coupled by a signal path according to a wireless or wired, performs signal transmission and reception between the control device 9 of the legged robot body by the signal path.

  Next, operation control controlled by the legged robot controller will be described. Referring to FIG. 2, when a motion generation request signal is transmitted from the operator operation terminal 15 to the motion generation device 11, the motion generation device 11 generates a stable motion pattern of the legged robot, The target joint angle commands (hereinafter, abbreviated as first target joint angle commands) such as the first joint angle command necessary for the operation pattern and the target posture of the upper body 7 are transmitted to the emergency stop device 10. .

In this case, the emergency stop device 10 determines the necessity of emergency stop based on the output signal of the motion generation device 11 and the emergency stop signal from the operator operation terminal 15 or signals of various sensors. The emergency stop here means urgently shifting to an operation stop state, and is synonymous with a stop when urgency is not a problem. In the following description, a normal stop when the urgency is low and an emergency stop when the urgency is high are used in the same manner to mean operation stop. If the emergency stop device 10 determines that there is no need for an emergency stop, the second joint angle command or the like is used as it is without correcting the first target joint angle command transmitted from the motion generation device 11. As a target joint angle command (hereinafter abbreviated as a second target joint angle command).

  On the other hand, if the emergency stop device 10 determines that there is a need for an emergency stop by processing as described later, the emergency stop device 10 generates an operation pattern for a stable emergency stop in the emergency stop device 10, and Target target joint angle commands that do not become discontinuous with respect to the first target joint angle commands transmitted from the motion generation device 11 due to the target joint angle commands necessary for performing motion control according to the motion pattern. The second target joint angle command is transmitted to the motion stabilization device 12. The motion stabilizing device 12 can be operated in various manners so that it can operate stably against factors (such as road surface irregularities) that were not assumed when the motion generating device 11 or the emergency stop device 10 generates motion. Based on the signal, the target joint angle obtained by finely correcting the second target joint angle command is transmitted to the joint angle control device 13. The joint angle control device 13 generates an actuator command so that each joint angle follows the output signal of the motion stabilization device 12 and operates the left foot 1 and the right foot 2 to control the motion of the legged robot.

  By the way, for comparison, for example, a case where the emergency stop device 10 is not provided in the control device 9 that controls the operation of the legged robot will be described. In this case, the motion generation request is sent from the operator operation terminal 15. When the signal is transmitted to the motion generation device 11, the motion generation device 11 generates a stable motion pattern of the legged robot, and the motion pattern is finely corrected by the motion stabilization device 12, but is temporarily stopped. The operation control is performed according to the operation pattern without doing so. Therefore, in such a case, particularly when there is an unexpected obstacle in the movement movable range, the legged robot comes into contact with the obstacle, and sometimes falls. In the worst case, when a person enters the movable range of the legged robot, human fingers may be caught in the mechanical movable part of the legged robot. On the other hand, in the present invention, the emergency stop device 10 is operated and installed autonomously in the legged robot body by installing the emergency stop device 10 in the control device 9 mounted on the legged robot body. Depending on the situation, the robot can be safely stopped in an emergency.

  FIG. 3 is a block diagram illustrating the basic configuration of the emergency stop device for a legged robot according to the present invention. As shown in FIG. 3, the emergency stop device 10 includes an emergency stop determination unit 21 that performs a grounding state determination process and an emergency stop determination process, and an emergency stop operation control unit 22 that performs an emergency stop operation generation process and an operation command switching process. Composed. Specifically, the emergency stop device 10 provided in the control device 9 of the legged robot main body determines the contact state between the legged robot and the environment by the emergency stop judging means 21. At the same time, it is determined whether or not an emergency stop should be performed. If it is determined that an emergency stop is necessary, the emergency stop operation control means 22 in the emergency stop device 10 generates an emergency stop operation pattern for emergency stop. At the same time, the robot is configured to safely stop the robot safely by switching the motion pattern from the motion pattern generated by the motion generator 11 to the emergency stop motion pattern.

FIG. 4 is a diagram for explaining a first embodiment of the emergency stop judging means 21 in the emergency stop device 10 for a legged robot according to the present invention. As shown in FIG. 4, the emergency stop determination means 21 </ b> A includes a grounding state determination process 31 </ b> A and an emergency stop determination process 32 </ b> A. The emergency stop determination unit 21 </ b> A receives the emergency stop request signal from the motion generation device 11 and the operator operation terminal 15. Based on this, an emergency stop determination process is performed. Here, a grounding state determination process 31A determined based on the output of the motion generation device 11 and an emergency stop determination process 32A based on the emergency stop request signal are performed.

  In the ground contact state determination process 31A, when the ground contact state is determined from the first target joint angle commands output from the motion generation device 11 and the target posture of the upper body 7 and the emergency stop operation can be started. In addition, a process of raising the emergency stop possible signal from, for example, a low level to a high level is performed.

  More specifically, in the ground contact state determination process 31A, the vertical soles of the legs of the legged robot are determined from the first target joint angle commands output from the motion generation device 11 and the target posture of the upper body 7. Calculate position / velocity / acceleration. Then, the ground contact state determination process 31 </ b> A is performed when “the sole speed is zero” and “the sole acceleration before the sole speed becomes zero” is “a state where the sole is in contact with the ground”. It is judged that. Also, since the legged robot can support the upper body 7 more stably in the state where two or more legs are in contact with the ground than the upper body 7 is supported with a single leg supported, two or more legs can be supported. In the case of “the state where the sole is in contact with the ground”, the emergency stop possible signal is changed (for example, the level is raised from the Low level to the High level). This emergency stop possible signal becomes the input of the next emergency stop determination process. If the zero moment point (ZMP: the moment that the legged robot receives from the floor, the moment of the axis except the vertical axis becomes zero) is near the middle position of the sole of the two legs, The horizontal speed of the upper body 7 is reduced, and an emergency stop can be effectively started. Therefore, from the first target joint angle command output from the motion generation device 11 and the target posture of the upper body 7, the sole position in the horizontal direction of each sole viewed from the upper body 7 is calculated, and the upper body 7 When the sole positions in the horizontal direction of the soles viewed from the side become substantially equal, the emergency stop possible signal is changed.

  FIG. 5 is a time chart showing the timing relationship between each processing value of the ground state determination processing 31A and the output signal. The time chart of each signal in the grounding state determination process based on the output of the motion generation device is shown. As shown in the time chart of FIG. 6 to be described later, in the emergency stop determination process 32A, an emergency stop enable signal output from the ground state determination process 31A and an emergency stop request signal from the operator operation terminal 15 When the stop start is determined and it is time to start the emergency stop operation, the emergency stop start signal is raised from, for example, the Low level to the High level. More specifically, when an emergency stop request signal is received from the operator operation terminal 15, an emergency stop standby signal is raised from, for example, a low level to a high level, and an emergency stop is possible, which is an output of the ground state determination process 31A. When both the signal and the emergency stop standby signal become high signals, processing for raising the emergency stop start signal from, for example, a low level to a high level is performed.

This makes it possible to make an emergency stop start request to the emergency stop operation control means 22 when the operator wants to make an emergency stop of the legged robot and at a timing at which the emergency stop can be effectively started. If there is a lot of noise included in the emergency stop request signal and an emergency stop standby signal is generated by mistake,
(1) Processing for generating an emergency stop standby signal when the total number of times of receiving an emergency stop request signal reaches a threshold value;
(2) Processing for generating an emergency stop standby signal when the emergency stop request signal is continuously received,
(3) Any one or combination of processes for generating an emergency stop standby signal when the integrated value reaches a threshold value by an integral operation in which the High output of the emergency stop request signal is added (Low output is negative) To improve the reliability.

  FIG. 6 is a time chart showing the timing relationship between each process value and the output signal in the emergency stop determination process 32A. The time chart shown in FIG. 6 is a time of an operation example in which processing for generating an emergency stop standby signal is performed when the emergency stop request signal is continuously received in consideration of noise included in the emergency stop request signal. It is a chart. Here, the timing relationship in the emergency stop determination process based on the emergency stop request signal is shown.

FIG. 7 is a diagram for explaining a second embodiment of the emergency stop judging means, and FIG. 8 is a diagram for explaining a third embodiment in which a part of the emergency stop judging means of FIG. 7 is changed. . As shown in FIG. 7, the emergency stop determination unit 21B of the second embodiment, the emergency stop determining means 21 in the emergency stop device 10, an output signal of the ground sensor for detecting the state of the ground leg of the legged robot The emergency stop determination process is performed based on the signal from the operator operating terminal that operates the legged robot. Further, the emergency stop determination means 21C of the third embodiment shown in FIG. 8 is further provided with a sensor signal from the sole force sensor to the emergency stop determination means 21B of the second embodiment to determine the emergency stop. In this embodiment, the above process is performed.

In the emergency stop determination means 21B in the emergency stop device 10 shown in FIG. 7, the emergency stop determination means 21B is based on the output of the ground detection sensor composed of the joint angle sensor output and the posture sensor output mounted on the legged robot. Based on the output of the ground detection sensor and the emergency stop request signal from the operator operation terminal 15, an emergency stop determination process is performed.

  Specifically, in the grounding state determination process 31B, a grounding detection sensor that detects a grounding state based on the joint angle sensor output and the posture sensor output is configured, and the grounding state is determined by the same process as the grounding state determination process 31A. To do. Based on the output of the ground detection sensor, it is determined whether or not two or more legs are in a “state where the soles are in contact with the ground”. In addition, from the joint angle sensor output and the posture sensor output, the upper body 7 Calculate the sole position in the horizontal direction of each sole as viewed from the top, and if it is determined that "the sole position in the horizontal direction of each sole as seen from the upper body 7 is almost equal", an emergency stop is possible For example, the signal is increased from a low level to a high level. The time chart showing the timing relationship between each processing value and the output signal in the ground state determination processing 31B is the same as that in the first embodiment.

Further, in the third embodiment of the emergency stop judging means in the emergency stop device 10 shown in FIG. 8, the emergency stop judging means 21C detects a grounding state by a force sensor mounted on the sole of the legged robot. the output from the sensor, and the ground sensor output, a joint angle sensor output, and the orientation sensor output, based on the emergency stop demand signal from the pilot operating terminal 15, to perform an emergency stop-format Dansho physical structure Is done.

  Specifically, in the ground contact state determination process 31C, the force of the foot force sensor detected by the foot force sensor is discriminated and the signal of the ground contact detection sensor that detects the ground contact is detected in the vertical direction of the foot force sensor. When the force is a positive value, it is determined that the ground is in contact. Then, based on the output of the ground detection sensor, it is determined whether or not two or more legs are in a “state where the soles are in contact with the ground”. In addition, from the joint angle sensor output and the posture sensor output, the upper body 7 Calculate the sole position in the horizontal direction of each sole as viewed from the top, and if it is determined that "the sole position in the horizontal direction of each sole as seen from the upper body 7 is almost equal", an emergency stop is possible For example, the signal is configured to be increased from a low level to a high level. FIG. 9 shows a time chart showing the relationship between each processing value in the ground state determination processing 31C and the output signal.

  In the emergency stop judging means of the third embodiment described with reference to FIG. 8, the ground contact detection sensor is constituted by a force sensor on the sole, but the contact mounted on the sole instead of the sole force sensor. A ground detection sensor can also be constituted by the sensor. Since the ground state determination process using the contact sensor is the same as the ground state determination process 31C, the description thereof is omitted.

  FIG. 10 is a diagram for explaining a fourth embodiment of the emergency stop judging means. The emergency stop determination means 21D of the fourth embodiment is sent from the output signal of the motion generation device 11, the output signal of the ground detection sensor that detects the state of the ground leg of the legged robot, and the operator operation terminal 15. An emergency stop determination process is performed based on the emergency stop request signal.

  Specifically, in the ground contact state determination process 31D, when the force in the vertical direction of the foot force sensor is a positive value according to the signal of the ground detection sensor formed by the force sensor of the foot, Judged to be in a state. Then, based on the signal output from the ground detection sensor, it is determined whether or not two or more legs are in a “state where the sole is in contact with the ground”, and in addition, the first output from the motion generation device 11. From the target joint angle commands and the target posture of the upper body 7, the horizontal foot position of each sole viewed from the upper body 7 is calculated, and the horizontal foot of each sole viewed from the upper body 7 is calculated. When it is determined that the back positions are almost equal, the emergency stop signal is increased from, for example, a low level to a high level. The time chart showing the timing relationship between each processing value and the output signal in the ground state determination processing 31D is the same as that in the third embodiment (FIG. 9).

  FIG. 11 is a diagram for explaining a fifth embodiment of the emergency stop judging means. The emergency stop determination means 21E of the fifth embodiment is configured to perform an emergency stop determination process based on the output signal of the motion generation device 11 and the signal of the posture sensor mounted on the legged robot. With such a configuration, the ground state determination process based on the output of the motion generation device, and the emergency stop process based on the output of the motion generation device and the output signal of the posture sensor can be performed.

  In the emergency stop determination means 21E of the fifth embodiment, first, the first target joint angle command output from the motion generation device 11 and the ground state determination processing 31A, as in the first embodiment, From the target posture of the upper body 7, when the ground contact state is determined and the emergency stop operation can be started, a process for raising the emergency stop possible signal from, for example, a low level to a high level is performed. FIG. 11 shows the case where the ground state determination process is configured by the ground state determination process 31A described in the first embodiment. However, as described in the second to fourth embodiments. The emergency stop possible signal may be output by the ground contact state determination processes 31B to 31D.

  Then, in the next emergency stop determination process 32B, based on the emergency stop enable signal output from the ground state determination process 31A, the output signal of the motion generation device 11, and the signal of the posture sensor mounted on the legged robot, the emergency stop is performed. It is configured to perform a process of determining the start and raising the emergency stop start signal from, for example, a low level to a high level when it is time to start the emergency stop operation. More specifically, when the deviation (posture deviation) between the target posture of the upper body 7 output from the motion generation device 11 and the signal of the posture sensor mounted on the legged robot is calculated and the posture deviation reaches a threshold value or more, For example, the emergency stop waiting signal is increased from a low level to a high level. Then, when both the emergency stop enable signal and the emergency stop standby signal, which are outputs of the ground state determination process 31A, become High signals, a process of raising the emergency stop start signal from, for example, a Low level to a High level is performed.

By performing such processing, when the legged robot is likely to fall down and the posture deviation becomes excessive, and at the timing when the emergency stop can be effectively started, the emergency stop operation control means 22 is It is possible to send an emergency stop start request signal (make an emergency stop start request). In addition, if there is a lot of noise included in the output signal of the attitude sensor and an emergency stop standby signal is generated by mistake,
(1) An emergency stop standby signal is generated when the total number of times the posture deviation exceeds a threshold value reaches the threshold value.
(2) An emergency stop standby signal is generated when the posture deviation continuously exceeds a threshold value or more.
(3) Applying a process such as generating an emergency stop standby signal when the integrated value reaches the threshold value by an integral operation that is positive when the posture deviation is equal to or greater than the threshold value or negative when the attitude deviation is equal to or less than the threshold value. Try to do improved processing. FIG. 12 is a time chart showing the timing relationship between each processing value in the emergency stop determination process 32B and the output signal. In the timing chart shown in FIG. 12, the attitude deviation is considered in consideration of the noise included in the output signal of the attitude sensor. It is a timing chart which performs the process which produces | generates an emergency stop standby signal when exceeding a threshold value continuously.

  FIG. 13 is a diagram for explaining a sixth embodiment of the emergency stop judging means. The emergency stop determination means 21F of the sixth embodiment is configured to perform an emergency stop determination process based on the output signal of the motion generation device 11 and the signal of the sole force sensor mounted on the legged robot. ing.

  In the emergency stop determination means 21F of the sixth embodiment, first, the first target joint angle command output from the motion generation device 11 and the grounding state determination processing 31A are output as in the first embodiment. When the ground contact state is determined from the target posture of the upper body 7 and when it is time to start the emergency stop operation, the emergency stop enable signal is increased from, for example, a low level to a high level. As in the case of the above-described embodiment, FIG. 13 shows a case where the ground state determination process is configured by the ground state determination process 31A described in the first embodiment. It is good also as a structure which outputs an emergency stop possible signal by the earthing | grounding state determination processing 31B-31D which was demonstrated as an example-4th Example.

  Then, in the next emergency stop determination process 32C, an emergency stop start is determined based on the emergency stop enable signal output from the ground contact state determination process 31A and the force sensor signal of the sole mounted on the legged robot. When it is time to start the stop operation, the emergency stop start signal is increased from, for example, a low level to a high level. More specifically, when the output of the sole force sensor reaches a threshold value or more, a process of raising the emergency stop standby signal from, for example, a low level to a high level is performed. Then, when both the emergency stop enable signal and the emergency stop standby signal, which are outputs of the ground state determination process 31A, become High signals, a process of raising the emergency stop start signal from, for example, a Low level to a High level is performed.

As a result, when the legged robot is about to fall over an unexpected step where the force sensor output of the sole is excessive, the emergency stop operation control means can be used when the emergency stop can be effectively started. It becomes possible to make an emergency stop start request to. If there is a lot of noise included in the output signal of the sole force sensor and an emergency stop standby signal is generated by mistake,
(1) An emergency stop standby signal is generated when the total number of times the output of the force sensor exceeds the threshold reaches the threshold.
(2) An emergency stop standby signal is generated when the output of the force sensor continuously exceeds a threshold value or more.
(3) When the output of the force sensor is greater than or equal to the threshold value, plus / minus when the force sensor output is less than the threshold value. It may be configured to perform processing with improved performance. FIG. 14 is a time chart showing the timing relationship between each process value and the output signal in the emergency stop determination process 32C. The time chart shown in FIG. 14 considers noise included in the output signal of the sole force sensor, and generates an emergency stop standby signal when the output of the sole force sensor continuously exceeds a threshold value or more. It is a timing chart.

  FIG. 15 is a diagram for explaining a seventh embodiment of the emergency stop determination means. The emergency stop determination means 21G of the seventh embodiment is configured to perform an emergency stop determination process based on the output signal of the motion generation device 11, the joint angle command for driving the legged robot, and the joint angle sensor signal. It has been made.

  In the emergency stop determination means 21G of the seventh embodiment, first, the first target joint angle command output from the motion generation device 11 and the grounding state determination processing 31A, as in the first embodiment, When the ground contact state is determined from the target posture of the upper body 7 and when it is time to start the emergency stop operation, the emergency stop possible signal is increased from, for example, the Low level to the High level. As in the case of the above-described embodiment, FIG. 15 shows the case where the ground state determination process is configured by the ground state determination process 31A described in the first embodiment. It is good also as a structure which outputs an emergency stop possible signal by the earthing | grounding state determination processing 31B-31D which was demonstrated as an example-4th Example.

  In the next emergency stop determination process 32D, the emergency stop enable signal output from the ground contact state determination process 31A, the joint angle command (first joint angle command, etc.) for driving the legged robot, and the joint angle sensor signal are used. Based on this, when the emergency stop start is determined, and when it is time to start the emergency stop operation, the emergency stop start signal is increased from, for example, the Low level to the High level. More specifically, the deviation (joint angle deviation) between the joint angle command input to the joint angle control device 13 and the signal of the joint angle sensor mounted on the legged robot is calculated, and the joint angle deviation reaches a threshold value or more. , A process of raising the emergency stop standby signal from, for example, a low level to a high level is performed. Then, when both the emergency stop enable signal and the emergency stop standby signal, which are outputs of the ground state determination process 31A, become High signals, a process of raising the emergency stop start signal from, for example, a Low level to a High level is performed.

As a result, when the legged robot is likely to fall and the joint angle deviation becomes excessive, and at the timing when the emergency stop can be effectively started, an emergency stop start request is made to the emergency stop operation control means 22. Is possible. In addition, when there is a lot of noise included in the output signal of the joint angle sensor and an emergency stop standby signal is generated by mistake,
(1) An emergency stop standby signal is generated when the total number of times that the joint angle deviation exceeds the threshold value reaches the threshold value.
(2) generating an emergency stop standby signal when the joint angle deviation continuously exceeds a threshold value or more;
(3) When the joint angle deviation is greater than or equal to the threshold value, plus / minus when the joint angle deviation is less than or equal to the threshold value, a process such as generating an emergency stop standby signal when the integral value reaches the threshold value by performing an integral operation is performed. It may be configured to perform processing with improved. FIG. 16 is a time chart showing the timing relationship between each process value and the output signal in the emergency stop determination process 32D. The timing chart shown in FIG. 16 is a timing chart that performs processing for generating an emergency stop standby signal when the joint angle deviation continuously exceeds a threshold value in consideration of noise included in the output signal of the joint angle sensor. It has become.

  Note that FIG. 16 shows the emergency stop determination process based on the emergency stop enable signal output from the ground contact state determination process 31A, the joint angle command for driving the legged robot, and the deviation (joint angle deviation) of the joint angle sensor signal. Although it is a timing chart that is performed, in such an emergency stop determination process, if it is desired to prevent the input of a joint angle command exceeding the movable range of the joint, an emergency stop that is output from the ground state determination process 31A is possible. Based on the signal and the joint angle command for driving the legged robot, the emergency stop determination process may be performed, and the joint angle sensor outputs a joint angle exceeding the joint movable range. When it is desired to make an emergency stop in response to a sensor failure, an emergency stop enable signal output from the ground state determination processing 31A and the joint angle sensor mounted on the legged robot Based on the item, it may be performed an emergency stop determination process.

  FIG. 17 is a diagram for explaining an eighth embodiment of the emergency stop judging means. The emergency stop determination means 21H of the eighth embodiment is configured to make an emergency stop determination based on the output signal of the motion generation device 11 and a signal from an environment recognition sensor mounted on a legged robot such as a CCD camera or an ultrasonic sensor. It is configured to perform processing.

  In the emergency stop determination means 21H of the eighth embodiment, first, the first target joint angle command output from the motion generation device 11 and the grounding state determination processing 31A, as in the first embodiment, From the target posture of the upper body 7, when the ground contact state is determined and the emergency stop operation can be started, a process for raising the emergency stop possible signal from, for example, a low level to a high level is performed. FIG. 17 shows the case where the ground state determination process is configured by the ground state determination process 31A described in the first embodiment, as in the case of the above-described embodiment. It is good also as a structure which outputs an emergency stop possible signal by the earthing | grounding state determination processing 31B-31D which was demonstrated as an example-4th Example.

  Then, in the next emergency stop determination process 32E, the emergency stop start is determined based on the emergency stop enable signal output from the ground state determination process 31A and the signal of the environment recognition sensor mounted on the legged robot, and the emergency stop operation is performed. When it is time to start the process, the emergency stop start signal is increased from, for example, a low level to a high level. More specifically, when the environment recognition sensor mounted on the legged robot recognizes that there is an obstacle on the walking route, a process of raising the emergency stop standby signal from, for example, a low level to a high level is performed. Then, when both the emergency stop enable signal and the emergency stop standby signal, which are outputs of the ground state determination process 31A, become High signals, a process of raising the emergency stop start signal from, for example, a Low level to a High level is performed.

This makes it possible to make an emergency stop start request to the emergency stop operation control means 22 when the legged robot is likely to come into contact with an obstacle and when the emergency stop can be effectively started. If there is a lot of noise in the output signal of the environment recognition sensor and an emergency stop standby signal is generated by mistake,
(1) An emergency stop standby signal is generated when the total number of obstacle recognition results by the environment recognition sensor reaches a threshold value.
(2) When an obstacle recognition result by the environment recognition sensor continuously recognizes an obstacle, an emergency stop standby signal is generated.
(3) Processing such as generating an emergency stop standby signal when the integrated value reaches a threshold value by an integration operation that is positive when an obstacle is recognized by the environment recognition sensor and is negative when the obstacle is not recognized To improve the reliability. FIG. 18 is a time chart showing the timing relationship between each process value and the output signal in the emergency stop determination process 32E. The timing chart shown in FIG. 18 is a timing chart in which an emergency stop standby signal is generated when the obstacle recognition result by the environment recognition sensor continuously recognizes the obstacle.

  FIG. 19 is a diagram for explaining a ninth embodiment of the emergency stop judging means. The emergency stop determination means 21J of the ninth embodiment is configured to perform an emergency stop determination process based on the ground contact state determination process 31A based on the output signal of the motion generation device 11 and the emergency stop determination process 32F. However, the emergency stop determination process 32F is based on the emergency stop determination process 32A described in the first embodiment or the emergency stop determination processes 32B to 32E described in the fifth to eighth embodiments. You may comprise so that the process of this may be performed.

  In this case, first, in the emergency stop determination means 21J of the ninth embodiment, the first target joint angles output from the motion generation device 11 by the ground contact state determination process 31A as in the first embodiment. From the command and the target posture of the upper body 7, the ground contact state is determined, and when it is time to start the emergency stop operation, the emergency stop possible signal is raised from, for example, the Low level to the High level. FIG. 19 shows the case where the ground state determination process is configured by the ground state determination process 31A described in the first embodiment. However, as described in the second to fourth embodiments. The emergency stop possible signal may be output by the ground contact state determination processes 31B to 31D.

Then, in the next emergency stop determination process 32F, the emergency stop enable signal output from the ground state determination process 31A, the output signal of the motion generation device 11, and the operation terminal that operates the legged robot regardless of wireless or wired connection. , A posture sensor signal mounted on the legged robot, a sensor signal detecting at least one force or moment mounted on the legged robot, and a joint angle command or joint angle sensor signal for driving the legged robot Based on the signals of environment recognition sensors mounted on legged robots such as CCD cameras and ultrasonic sensors, the emergency stop start signal is determined when it is time to start an emergency stop operation. For example, processing to raise from the Low level to the High level is performed.

In more detail,
(1) An emergency stop request signal from the operator operation terminal 15;
(2) An excessive posture deviation signal output when a deviation (posture deviation) between a target posture of the upper body 7 output from the motion generation device 11 and a posture sensor signal mounted on the legged robot is equal to or greater than a threshold value;
(3) A sole force sensor excessive signal that is output when the output of the sole force sensor is equal to or greater than a threshold value;
(4) An excessive joint angle deviation signal that is output when a deviation (joint angle deviation) between a joint angle command input to the joint angle control device 13 and a signal of a joint angle sensor mounted on the legged robot is equal to or greater than a threshold value;
(5) When an obstacle is recognized by the environment recognition sensor, an environment recognition sensor that is output when an obstacle detection signal such as an environment recognition sensor is detected. If at least one signal is detected, the detected signal is incremented. When the integral value reaches a threshold value by the minus integral operation when no detection is made, a process of raising the emergency stop standby signal from, for example, a low level to a high level is performed.

  Then, when both the emergency stop enable signal and the emergency stop standby signal, which are outputs of the ground state determination process 31A, become High signals, a process of raising the emergency stop start signal from, for example, a Low level to a High level is performed. Thereby, it is possible to make an emergency stop start request to the emergency stop operation control means 22 when the legged robot is about to fall down and at a timing at which an emergency stop can be effectively started. FIG. 20 is a time chart showing the timing relationship between each processing value and the output signal in the emergency stop determination processing 32F. The timing chart shown in FIG. 20 is a timing chart in the emergency stop process based on the output of the motion generation device and the output signals of various sensors.

  Next, the emergency stop operation control means 22 of the emergency stop device 10 will be described. FIG. 21 is a diagram for explaining a first embodiment of the emergency stop operation control means 22 in the emergency stop device 10 of the present invention. FIG. 22 shows the timing of each processing value and output signal of the emergency stop operation control means. It is a time chart which shows a relationship. FIG. 23 is a schematic diagram for explaining an emergency stop operation by translation of the upper body. As shown in FIG. 21, the emergency stop motion control means 22 </ b> A is based on the output signal of the motion generation device 11 and the emergency stop start signal from the emergency stop determination means 21, and the second joint angle command and the body posture angle command. Process to output. The outline of the operation will be described. When the emergency stop start signal from the emergency stop determination means 21 is Low, there is no need for an emergency stop, so the first joint angle command and the body posture output by the motion generation device 11 The motion command signal such as the angle command is directly passed through the motion command switching process, and the first joint angle command and the body posture angle command are output as the second joint angle command and the body posture angle command. To do. Conversely, when the emergency stop start signal from the emergency stop determination means 21 is High, an emergency stop operation pattern for generating an emergency stop within the emergency stop operation control means 22A is generated because an emergency stop is necessary. By the operation command switching process, the joint angle command and the body posture angle command for realizing the newly generated emergency stop motion pattern are output as the second joint angle command and the body posture angle command.

  Specifically, the emergency stop operation pattern generation in the emergency stop operation control unit 22A will be described. When the emergency stop start signal from the emergency stop determination unit 21 becomes High, generation of the emergency stop operation pattern is started, and the operation generation is performed. Using the output of the device 11, the joint angle and the body posture angle at the start of emergency stop are recorded. At the same time, the translational velocity of the upper body at the start of the emergency stop is calculated using the output of the motion generation device 11. Then, a body translation speed / translational movement amount that is continuous with the calculated body translation initial speed at the start of emergency stop is determined so as to reduce the translational inertia generated by the emergency stop operation. Here, it is more desirable that the body translation speed to be obtained smoothly continues to the body translation initial speed and the body translation speed at the time of emergency stop (= zero). However, as shown in the timing chart of FIG. There is no problem in practical use even if the body translation initial speed and the body translation speed (= zero) during emergency stop are monotonously decreased.

  Also, from the calculated body translation speed / translation movement amount of the emergency stop operation, the translational movement amount of both feet in the emergency stop operation is calculated, and the recorded posture at the start of the emergency stop operation and the calculated emergency stop It is possible to determine the position of the sole that realizes the emergency stop operation from the translational movement amount of both soles of the motion, and finally obtain the joint angle command of each joint using inverse kinematics.

  In this way, when the emergency stop operation control means 22A outputs an emergency stop start signal from the emergency stop determination means, the original action and the emergency stop action are switched as shown in FIG. By moving, the legged robot can be safely stopped while reducing the translational inertia generated by the emergency stop operation.

  FIG. 24 is a diagram for explaining a second embodiment of the emergency stop operation control means in the emergency stop device 10 of the present invention. FIG. 25 is a timing relationship between each processing value of the emergency stop operation control means and the output signal. It is a time chart which shows. FIG. 26 is a schematic diagram for explaining an emergency stop operation by the rotation of the sole position. As shown in FIG. 24, the emergency stop motion control means 22B is configured to output the second joint angle command and the body posture angle based on the output signal of the motion generation device 11 and the emergency stop start signal from the emergency stop determination means 21. Performs processing to output commands.

  The emergency stop operation control means 22B, like the emergency stop operation control means 22A of the first embodiment, does not need an emergency stop when the emergency stop start signal from the emergency stop determination means 21 is Low. The first joint angle command and the body posture angle command output from the motion generation device 11 are directly passed through the operation command switching process, and the first joint angle command and the body posture angle command are directly passed through the second command. Output as joint angle command and body posture angle command. Conversely, when the emergency stop start signal from the emergency stop determination means 21 is High, an emergency stop operation pattern for generating an emergency stop in the emergency stop operation control means 22B is generated because an emergency stop is necessary. By the operation command switching process, the joint angle command and the body posture angle command for realizing the newly generated emergency stop motion pattern are output as the second joint angle command and the body posture angle command.

  Specifically, the difference between the emergency stop operation control means 22B of the second embodiment and the emergency stop operation control means 22A of the first embodiment is that the generation of the emergency stop action pattern in the emergency stop action generation process. It is a difference. The emergency stop operation pattern generation in the emergency stop operation control unit 22B will be described. When the emergency stop start signal from the emergency stop determination unit 21 becomes High, the generation of the emergency stop operation pattern is started and the output of the operation generation device 11 is output. Is used to record the joint angle and body posture angle at the start of emergency stop. At the same time, using the output of the motion generation device 11, the translational speed of the upper body at the start of emergency stop is calculated, and as shown in the timing chart of FIG. 25, the moment generated by the emergency stop motion is suppressed. The amount of rotation of both soles is calculated according to the initial body translation initial speed at the start of emergency stop. Then, the sole position for realizing the emergency stop operation is determined from the recorded posture at the start of the emergency stop operation and the calculated rotation amount of the sole position of the emergency stop operation, and finally the inverse kinematics is used. Thus, a joint angle command for each joint is obtained.

  As described above, when the emergency stop operation control means 22B outputs an emergency stop start signal from the emergency stop determination means, the original action and the emergency stop action are switched as shown in the schematic diagram of the emergency stop action in FIG. Thus, for example, when the robot suddenly stops during forward walking, the legged robot can be safely stopped while suppressing the moment of turning forward by stroking it with both soles.

  FIG. 27 is a diagram for explaining a third embodiment of the emergency stop operation control means in the emergency stop device 10 of the present invention. FIG. 28 is an emergency diagram by a combination of translation of the upper body and rotation of the sole position. It is a schematic diagram for demonstrating stop operation | movement. As shown in FIG. 27, the emergency stop operation control means 22C is constituted by a combination of processing elements of the emergency stop operation control means 22A of the first embodiment and the emergency stop operation control means 22B of the second embodiment. . The emergency stop motion control means 22C outputs a second joint angle command and a body posture angle command based on the output signal of the motion generation device 11 and the emergency stop start signal from the emergency stop determination means 21.

  The emergency stop operation control means 22C of the third embodiment is similar to the emergency stop operation control means 22A of the first embodiment and the emergency stop operation control means 22B of the second embodiment. When the emergency stop start signal is low, there is no need for an emergency stop, so the first joint angle command and the body posture angle command output by the motion generation device 11 pass through the motion command switching process as they are. The first joint angle command and the body posture angle command are directly output as the second joint angle command and the body posture angle command. Conversely, when the emergency stop start signal from the emergency stop determination means 21 is High, an emergency stop operation pattern for generating an emergency stop within the emergency stop operation control means 22A is generated because an emergency stop is necessary. By the operation command switching process, the joint angle command and the body posture angle command for realizing the newly generated emergency stop motion pattern are output as the second joint angle command and the body posture angle command.

  More specifically, the emergency stop operation pattern generation in the emergency stop operation control unit 22C will be described. When the emergency stop start signal from the emergency stop determination unit 21 becomes High, generation of the emergency stop operation pattern is started. The joint angle and body posture angle at the start of emergency stop are recorded using the output of the motion generation device 11. At the same time, the translational velocity of the upper body at the start of the emergency stop is calculated using the output of the motion generation device 11. Then, in the same manner as the emergency stop operation control means 22A of the first embodiment, the body continuous with the calculated body translation initial speed at the start of emergency stop so as to relieve the translational inertia generated by the emergency stop operation. After obtaining the translation speed / translational movement amount, the translational movement amount of both soles of the emergency stop operation is calculated. Further, in the same manner as the emergency stop operation control means 22B of the second embodiment, according to the calculated upper body translation initial speed at the time of emergency stop so as to suppress the moment generated by the emergency stop operation, Calculate the amount of rotation. Then, the foot position for realizing the emergency stop operation is determined from the recorded posture at the start of the emergency stop operation, the calculated translational movement amount of both soles of the emergency stop operation, and the rotation amount of both soles. Using kinematics, obtain joint angle commands for each joint.

  Thus, when the emergency stop operation control means 22C outputs an emergency stop start signal from the emergency stop determination means, as shown in the schematic diagram of the emergency stop operation in FIG. When stopping, the legged robot can be safely stopped while mitigating the translational inertia generated by the emergency stop motion by translating the upper body and suppressing the moment of turning forward with both feet. It becomes possible.

  FIG. 29 is a diagram for explaining the emergency stop operation start timing for effectively realizing the emergency stop operation by the emergency stop device 10. FIG. 29 illustrates the transition of the sole position of the robot during forward walking. The figure on the left shows the original walking motion generated by the motion generator 11, where the right sole position is a solid square, the left sole position is a dashed-dotted line, and ZMP [Zero moment point: zero moment except vertical component] Point zero moment point] The trajectory is represented by a bold solid line, and the movement of the center of gravity is represented by a dotted line. The right figure shows an operation example when the legged robot is emergency stopped at the emergency stop operation start timing for effectively realizing the emergency stop device 10 according to the present invention. As in the left figure, the right foot sole position is represented by a solid square, the left foot sole position is represented by a dashed-dotted square, the ZMP [Zero Moment Point] trajectory is represented by a bold solid line, and the movement of the center of gravity is represented by a dotted line. Yes. In addition, the position of the center of gravity at the end of the emergency stop is indicated by black circles, and the polygon supported by both legs of the legged robot [convex polygon formed by the envelope of the part in contact with the ground] is indicated by a long chain line.

  In the motion generation device 11, in the case of dynamic walking, the motion pattern in which the ZMP is outside the support polygon, or the point where the center of gravity is projected on the ground at the time of static walking or stationary is outside the support polygon. If the movement pattern is such that the legged robot falls, the center of gravity position is set to the ground during static walking or stationary so that the ZMP will be inside the support polygon in the case of dynamic walking. The motion pattern is generated so that the point projected on the inside of the support polygon is inside. As the gait becomes more dynamic, the trajectory of the point where the ZMP trajectory and the center of gravity position are projected on the ground is farther away. Get closer.

  When the emergency stop operation is finished, the robot is stopped (because it is stationary), so the ZMP position and the position of the center of gravity are projected on the ground. Further, in order to prevent the vehicle from toppling over at the end of the emergency stop operation, it is necessary to have an emergency stop operation pattern that operates so that the ZMP position (the point where the center of gravity position is projected on the ground) is inside the support polygon.

  Therefore, in the first embodiment of the timing for effectively realizing the emergency stop device 10 according to the present invention, as shown in FIG. 29, the center of gravity of the support polygon is the point where the position of the center of gravity of the legged robot is projected on the ground. When shifting to an emergency stop operation at the timing near the position, the distance between the point where the center of gravity of the legged robot is projected on the ground and the edge of the support polygon disappears and the stability margin increases, so effective emergency stop operation can be performed. It becomes possible.

  This is a second embodiment of the timing at which the emergency stop device 10 according to the present invention is effectively realized. Similarly, as shown in FIG. 29, the ZMP trajectory direction and the trajectory direction at the point where the center of gravity is projected onto the ground are almost the same. If the emergency stop operation is started at this coincident timing, a smoother emergency stop is possible. In addition, since the horizontal speed of the upper body 7 is also reduced near the middle of the two-leg support where both legs are grounded, a more stable emergency stop operation is possible.

  Although it is a 3rd Example of the timing which implement | achieves the emergency stop apparatus 10 by this invention effectively, when it is a known walk cycle, the timing which implement | achieves an emergency stop effectively in the middle point of both leg support periods It can be judged. This is because the direction of the ZMP trajectory and the direction of the trajectory of the point where the position of the center of gravity is projected onto the ground are substantially the same at the midpoint of the two-leg support engine during walking. Emergency stop is possible. For example, when the walking cycle is also unknown, at least each joint angle command is output from the motion generation device 11, so the foot position in the horizontal direction of each sole viewed from the upper body 7 is calculated. , "When the horizontal sole positions of the soles as viewed from the upper body 7 are substantially equal", the emergency stop device 10 of the present invention is effective at the same time that it is determined as the midpoint between the two leg support engines during walking. There is no problem even if it is determined in terms of timing and practical use.

  As described above, by using the emergency stop device for a legged robot according to the present invention, a legged robot composed of at least the upper body and a plurality of legs connected to the upper body can be used as an operating leg. When it is desired to make an emergency stop of the robot, the legged robot can be safely stopped while ensuring interpersonal safety. The emergency stop device includes an emergency stop determination unit that determines an emergency stop of the legged robot and an emergency stop operation control unit that performs an emergency stop of the operation of the legged robot. An emergency stop will occur when touching at a location, and stability will be maintained even when the operation is stopped, and the legged robot itself can be prevented from falling.

It is a figure which illustrates roughly the structure of the leg part of the leg type robot which implements the emergency stop device of the leg type robot of the present invention in one mode. It is a figure which illustrates roughly the structure of the motion control system controlled by the control apparatus of a legged robot. It is a block diagram explaining the basic composition of the emergency stop device of a legged robot. It is a figure explaining the 1st Example of an emergency stop judgment means. It is a time chart which shows the timing relationship of each process value of an earthing | grounding state determination process based on the output of a motion generation apparatus, and an output signal. It is a time chart which shows the timing relationship of each process value of an emergency stop judgment process based on an emergency stop request signal, and an output signal. It is a figure explaining the 2nd Example of an emergency stop judgment means. It is a figure explaining the 3rd Example of an emergency stop judgment means. It is a time chart of each signal of the ground state determination process based on the output of the ground detection sensor. It is a figure explaining the 4th Example of an emergency stop judgment means. It is a figure explaining the 5th Example of an emergency stop judgment means. It is a time chart which shows the timing relationship between each process value in the emergency stop judgment process 32B, and an output signal. It is a figure explaining the 6th Example of an emergency stop judgment means. It is a time chart which shows the timing relationship between each process value in the emergency stop judgment process 32C, and an output signal. It is a figure explaining the 7th Example of an emergency stop judgment means. It is a time chart which shows the timing relationship between each process value in the emergency stop judgment process 32D, and an output signal. It is a figure explaining the 8th Example of an emergency stop judgment means. It is a time chart which shows the timing relationship between each process value in the emergency stop judgment process 32E, and an output signal. It is a figure explaining the 9th Example of an emergency stop judgment means. It is a time chart which shows the timing relationship between each process value in the emergency stop judgment process 32F, and an output signal. 2 is a diagram for explaining a first embodiment of an emergency stop operation control means in the emergency stop device 10. FIG. It is a time chart which shows the timing relationship between each processing value of an emergency stop operation control means, and an output signal. It is a schematic diagram for demonstrating the emergency stop operation | movement by the translational movement of an upper body. It is a figure explaining the 2nd Example of the emergency stop operation control means in the emergency stop apparatus. It is a time chart which shows the timing relationship between each processing value of an emergency stop operation control means, and an output signal. It is a mimetic diagram for explaining emergency stop operation by rotation of a sole position. It is a figure explaining the 3rd Example of the emergency stop operation control means in the emergency stop apparatus. It is a schematic diagram for demonstrating the emergency stop operation | movement by the combination of the translation of an upper body and rotation of a sole position. It is a figure explaining the emergency stop operation start timing which implement | achieves the emergency stop operation | movement by the emergency stop apparatus 10 effectively.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Left foot 2 Right foot 3 Foot sole 4 Crotch joint installation part 5 Foot joint installation part 6a 1st leg part 6b 2nd leg part 7 Robot upper body 8a 1st joint motor 8b 2nd joint motor 8c 3rd joint Motor 9 control device

Claims (8)

A legged robot stop device comprising a plurality of legs connected to the upper body,
Determining the grounding state of the legged robot, determining the timing at which the stop operation can be started, and according to the timing, stop determination means for outputting a stop operation start signal;
The legged robot main body is provided with stop operation control means for performing control to stop the action of the legged robot according to the start signal output by the stop judging means,
The stop movement control means shifts to the movement based on the movement pattern of stopping the legged robot at the timing when the point where the center of gravity of the legged robot is projected on the ground is located at the position of the center of gravity of the support polygon. A stop device for a legged robot, which is controlled so as to stop in a state where the environment is in contact with at least two places. A legged robot stop device comprising a plurality of legs connected to the upper body,
Determining the grounding state of the legged robot, determining the timing at which the stop operation can be started, and according to the timing, stop determination means for outputting a stop operation start signal;
The legged robot main body is provided with stop operation control means for performing control to stop the action of the legged robot according to the start signal output by the stop judging means,
The movement of the legged robot is moved by the stop movement control means at the timing at which the direction of the zero moment trajectory of the legged robot and the direction of the center of gravity trajectory of the legged robot coincide with each other. And a stop device for a legged robot, wherein the stop device is controlled so that the robot stops in a state in which the robot is in contact with at least two locations. A legged robot stop device comprising a plurality of legs connected to the upper body,
Determining the grounding state of the legged robot, determining the timing at which the stop operation can be started, and according to the timing, stop determination means for outputting a stop operation start signal;
The legged robot main body is provided with stop operation control means for performing control to stop the action of the legged robot according to the start signal output by the stop judging means,
The stop motion control means shifts to an operation based on an operation pattern for stopping the legged robot at an intermediate timing between both legs of the legged robot, and stops when the legged robot and the environment are in contact with each other at at least two locations. A legged robot stop device, characterized by being controlled to perform. The stopping device for the legged robot according to any one of claims 1 to 3,
The stop determination means is
When a stop request signal is received from an operation terminal that operates a legged robot,
If the posture deviation by the signal of the posture sensor mounted on the legged robot has reached the threshold value,
If the output of the force sensor on the sole mounted on the legged robot exceeds the threshold,
Either when the joint angle deviation due to the signal of the joint angle sensor mounted on the legged robot exceeds the threshold, or when the recognition result by the environment recognition sensor mounted on the legged robot recognizes an obstacle In addition, an emergency stop device for a legged robot, characterized in that a stop determination process is started. The stopping device for the legged robot according to any one of claims 1 to 3,
The stop determination means is
at least,
The output signal of the motion generator that generates the motion of the legged robot,
The output signal of the grounding detection sensor that detects the state of the grounding leg of the legged robot,
Using one signal of
An emergency stop device for a legged robot characterized by determining a grounding state of the legged robot. The stopping device for the legged robot according to any one of claims 1 to 3,
The stop device for a legged robot, wherein the stop motion control means performs motion control to translate the upper body so as to relieve the translational inertia generated by the stop motion. The stopping device for the legged robot according to any one of claims 1 to 3,
The stop device for a legged robot, wherein the stop operation control means performs operation control for rotating the sole position of the leg so as to suppress a moment generated by the stop operation. The stopping device for the legged robot according to any one of claims 1 to 3,
The stop motion control means performs motion control to translate the upper body so as to relieve the translation inertia generated by the stop motion, and rotates the sole position of the leg so as to suppress the moment generated by the stop motion. A stop device for a legged robot, characterized by performing motion control.

Images