Patent ID: 8825213
Filing Date: 2014-09-02
Classification: B25J,B62D,Y10S

Abstract:
1. A gait generating device for a legged mobile robot which travels by motions of a plurality of leg links extended from a body, each leg link having a plurality of joints, the gait generating device sequentially generating a desired gait defining displacement amounts of the respective joints of the mobile robot, the gait generating device comprising: a desired leg position/posture determining unit that sequentially determines a desired leg position/posture as a constituent element of the desired gait, the desired leg position/posture being desired values of the position and posture of a distal portion of each leg link of the mobile robot; a desired control object vector determining unit that sequentially determines a desired control object vector as a desired value of a control object vector, the control object vector being expressed as a vector obtained by linearly mapping a particular-site motion velocity vector having, as its components, change amounts per unit time of the position and posture of a particular site, the particular site being either the body of the mobile robot or a site other than the plurality of leg links that is connected to the body; a Jacobian matrix determining unit that sequentially determines a Jacobian matrix representing the linear mapping by using at least a latest desired gait among the already determined desired gaits of the mobile robot; a desired particular-site motion velocity value determining unit that uses a predetermined quadratic evaluation function, having the particular-site motion velocity vector as a variable and configured to yield a value varying in accordance with at least a difference between the determined desired control object vector and a vector obtained by multiplying the particular-site motion velocity vector by the determined Jacobian matrix, wherein the desired particular-site motion velocity value determining unit also uses at least one linear matrix inequality having the particular-site motion velocity vector as a variable, to sequentially calculate a value of the particular-site motion velocity vector that can minimize the value of the evaluation function within a range in which a restriction condition that the linear matrix inequality holds is satisfied, by arithmetic processing according to a solution method for a quadratic planning problem, and to sequentially determine the calculated value of the particular-site motion velocity vector as a desired value of the particular-site motion velocity vector; and a desired particular-site position/posture determining unit that sequentially integrates the determined desired values of the particular-site motion velocity vector to sequentially determine a desired particular-site position/posture as a constituent element of the desired gait, the desired particular-site position/posture being desired values of the position and posture of the particular site, wherein the linear matrix inequality used by the desired particular-site motion velocity value determining unit in the arithmetic processing according to the solution method for the quadratic programming problem being set to satisfy a joint operation restriction condition that restricts, for each of the joints between the particular site and the distal portion of the corresponding leg link, a value of at least one of a displacement amount of the joint and a joint velocity as a temporal change rate thereof.