Patent ID: 8504208
Filing Date: 2013-08-06
Classification: B25J,B62D,G05B

Abstract:
1. A mobile object controller which performs motion control of a mobile object according to a desired motion of the mobile object and a desired total floor reaction force which is a desired value of a total floor reaction force to be applied to the mobile object to realize the desired motion, the mobile object including a body, a plurality of leg links connected to the body, and a joint actuator which drives a joint of each leg link, and moving on a floor surface by movements of the plurality of leg links, the mobile object controller comprising: a total floor reaction force required correction amount determination processor configured to determine a total floor reaction force required correction amount according to an error between an observed value of the total floor reaction force actually acting on the mobile object and the desired total floor reaction force, the total floor reaction force required correction amount being a required correction amount of the total floor reaction force to be additionally applied to the mobile object so that the error approaches zero; a representative contact surface position/posture displacement amount calculation processor configured to calculate, from the determined total floor reaction force required correction amount and a predetermined spring constant of a representative contact surface, a required displacement amount of a position and posture of the representative contact surface corresponding to the total floor reaction force required correction amount based on an assumption that the total floor reaction force required correction amount is generated by a spring displacement of the position and posture of the representative contact surface, the representative contact surface being a single virtual contact surface representative of all contact surfaces between the mobile object and the floor surface; a representative contact surface Jacobian matrix calculation processor configured to calculate a representative contact surface Jacobian matrix Jc according to the following equation (27) from a leg link Jacobian matrix J_i for each leg link, the spring constant, a relative position of an actual floor reaction force central point of a distal end of each leg link relative to a total floor reaction force central point, and a floor reaction force actually acting on each leg link, the representative contact surface Jacobian matrix Jc being a Jacobian matrix representing a relation between a temporal change rate of the position and posture of the representative contact surface and a temporal change rate of a generalized variable vector whose components are a position and posture of the body and a displacement amount of each joint of the mobile object, the leg link Jacobian matrix J_i being a Jacobian matrix representing a relation between a temporal change rate of a position of a distal end of the leg link or a temporal change rate of a position and posture of the distal end of the leg link and the temporal change rate of the generalized variable vector, and the total floor reaction force central point being an acting point of the total floor reaction force actually acting on the mobile object; a joint displacement correction amount determination processor configured to determine a joint displacement correction amount by multiplying the calculated required displacement amount of the position and posture of the representative contact surface by a pseudo inverse matrix Jc a joint displacement control processor configured to control the joint actuator according to a corrected desired joint displacement amount obtained by correcting a desired joint displacement amount by the determined joint displacement correction amount, the desired joint displacement amount being the displacement amount of each joint of the mobile object defined by the desired motion of the mobile object, where