Patent ID: 9481083
Filing Date: 2016-11-01
CPC Classification: B25J,Y10S

Claim Text:
1. A motion target generating apparatus of a mobile robot adapted to sequentially generate, at a predetermined control processing cycle, a desired control value for controlling a motion of each joint of a mobile robot, which has a plurality of movable links, including a leg link extended from a base body, and in which a distal end portion of each of the movable links is configured to move relative to the base body by a motion of a joint provided in the movable link between the distal end portion and the base body, the motion target generating apparatus comprising: estimated movable link distal end portion trajectory setting element that sets an estimated movable link distal end portion trajectory, which is an estimated trajectory of a desired value of a motion state of the distal end portion of each of the movable links after a current time, at each control processing cycle; estimated overall momentum trajectory setting element that sets an estimated overall momentum trajectory, which is an estimated trajectory of a desired value of an overall momentum of the mobile robot after the current time, at each control processing cycle; estimated overall motion state trajectory setting element that temporarily determines, at each control processing cycle, an estimated overall motion state trajectory, which is an estimated trajectory of a desired value of an overall motion state of the mobile robot after the current time, such that the set estimated movable link distal end portion trajectory and the set estimated overall momentum trajectory can be attained; motion acceleration determining element that, at each control processing cycle, carries out arithmetic processing of a solution technique of a secondary plan problem by using a joint motion constraint condition, which is a predetermined constraint condition, which is related to the motion state of each joint of each of the movable links and which is not used in the processing by the estimated overall motion state trajectory determining element, and a predetermined evaluation function related to a predetermined type of state amount of the mobile robot at a plurality of times after the current time so as to calculate motion accelerations of the base body and the distal end portion of each of the movable links at the plurality of times such that a value of the predetermined evaluation function is minimized within a range that satisfies the joint motion constraint condition, thereby determining new desired motion accelerations of the base body and the distal end portion of each of the movable links based on calculated values of the motion accelerations of the base body and the distal end portion of each of the movable links at an initial time among the plurality of times; and desired joint control value determining element that determines a desired control value of each joint of the mobile robot at each control processing cycle such that the determined desired motion accelerations are attained, wherein the predetermined evaluation function is an evaluation function configured such that the value thereof changes according to the degree of agreement between a time series of the predetermined type of state amount at the plurality of times calculated using motion velocities of the base body and the distal end portion of each of the movable links defined by the calculated values of the motion accelerations at the plurality of times and a Jacobian matrix defined by the estimated overall motion state trajectory and a time series of the predetermined type of state amount at the plurality of times defined by the estimated overall motion state trajectory, the joint motion constraint condition is a constraint condition expressed by an inequality that defines a variable range of the motion state of each joint of each of the movable links calculated using the motion velocities of the base body and the distal end portion of each of the movable links defined by the calculated values of the motion accelerations at the plurality of times and the Jacobian matrix defined by the estimated overall motion state trajectory, and each control processing cycle includes a series of arithmetic processing carried out by the estimated movable link distal end portion trajectory setting element, the estimated overall momentum trajectory setting element, the estimated overall motion state trajectory setting element, the motion acceleration determining element, and the desired joint control value determining element.