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WO2019123769A1 - Ensemble membre et robot - Google Patents

Ensemble membre et robot Download PDF

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Publication number
WO2019123769A1
WO2019123769A1 PCT/JP2018/037050 JP2018037050W WO2019123769A1 WO 2019123769 A1 WO2019123769 A1 WO 2019123769A1 JP 2018037050 W JP2018037050 W JP 2018037050W WO 2019123769 A1 WO2019123769 A1 WO 2019123769A1
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WO
WIPO (PCT)
Prior art keywords
timing
unit
limb
joints
instruction information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/037050
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English (en)
Japanese (ja)
Inventor
隆志 鬼頭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sony Corp
Original Assignee
Sony Corp
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Filing date
Publication date
Application filed by Sony Corp filed Critical Sony Corp
Publication of WO2019123769A1 publication Critical patent/WO2019123769A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages

Definitions

  • the present disclosure relates to a limb unit and a robot.
  • Patent Document 1 discloses a four-legged robot in which four leg modules are respectively attached to a body via joints. Each leg module is pivoted back and forth by an articulation motor provided on the body.
  • the processing load of the four-legged robot main body when controlling the operation of each leg module is large.
  • the four-legged robot main body in order to control the operation of each leg module, has to directly control the joint motor corresponding to the leg module provided in the body part. It does not.
  • the present disclosure proposes a novel and improved limb unit and robot that can reduce the processing load on the main body when controlling the motion of individual joints.
  • a control unit which causes the transmitting unit to transmit its own position and orientation information at the first timing to the main body based on the sensing result at the first timing of each of the plurality of joints.
  • a receiving unit for receiving, from the main unit, operation instruction information at a second timing after the first timing based on position and orientation information of one's own at the timing of A limb unit is provided that controls the motion of each of the plurality of joints at the second timing based on motion instruction information at the second timing.
  • a plurality of limb units and a body portion are provided, and each of the plurality of limb units includes a plurality of joints and a first timing of each of the plurality of joints included in the limb unit.
  • a control unit that causes the transmitting unit to transmit position and orientation information of the limb unit at the first timing to the main unit based on a sensing result, and position and orientation information of the limb unit at the first timing,
  • a receiving unit that receives, from the main body unit, operation instruction information of the limb unit at a second timing later than the first timing, and the control unit determines the limb unit at the second timing
  • the robot controls the motion of each of the joints of the limb unit at the second timing based on the motion instruction information of It is subjected.
  • the present disclosure it is possible to reduce the processing load on the main body when controlling the operation of each joint.
  • the effect described here is not necessarily limited, and may be any effect described in the present disclosure.
  • a plurality of components having substantially the same functional configuration may be distinguished by attaching different alphabets to the same reference numerals.
  • a plurality of components having substantially the same functional configuration are distinguished as the leg unit 10a and the leg unit 10b as necessary.
  • the leg unit 10a and the leg unit 10b are simply referred to as a leg unit 10 when it is not necessary to distinguish them.
  • Comparative example >> The present disclosure can be implemented in various forms, as described in detail in “2. Detailed Description of the Embodiments” as an example. First, to clearly show the features of the embodiments according to the present disclosure, comparative examples of the present disclosure will be described.
  • the robot 90 is a four-legged robot.
  • the robot 90 has a body 900 and four legs 902.
  • the torso unit 900 includes a control unit 904.
  • the control unit 904 includes a processing circuit such as, for example, a central processing unit (CPU) or a graphical processing unit (GPU).
  • the control unit 904 generally controls the operation of the robot 90.
  • the control unit 904 controls the operation of an individual actuator disposed in each of the four legs 902.
  • Each of the four legs 902 is configured as a link mechanism including a plurality of joints and a plurality of links.
  • the plurality of joints include a hip joint connected to the trunk 900, a knee joint, an ankle joint, and the like.
  • the plurality of links include a sole and a first link connecting to the ankle joint, a second link connecting the ankle joint and the knee joint, and a third link connecting the knee joint and the hip joint And so on.
  • Each of the plurality of joints has, for example, one or more actuators capable of outputting a force for rotating the joint around the rotation axis of the joint.
  • the control unit 904 of the robot 90 performs initial setting regarding various functions (applications etc.) mounted on the robot 90, for example (S901) .
  • control unit 904 repeats the processing of S903 to S913 described below in a first cycle. Specifically, first, the control unit 904 determines that the time corresponding to the first period has elapsed since the previous sensing of the angle information of the individual actuators arranged in each of the four legs 902. It is determined whether or not (S903). While the time corresponding to the first cycle is not yet elapsed from the previous sensing (S903: No), the control unit 904 repeats the process of S903.
  • the sensor units disposed at each joint of each of the four legs 902 are each joint It senses the angles of the individual actuators located inside.
  • the sensor unit disposed in each joint senses the displacement amount of the angle of the actuator from the previous sensing with respect to each actuator in the joint.
  • control part 904 acquires the sensing result by each sensor part from each sensor part (S905).
  • the control unit 904 determines whether or not the time corresponding to the second cycle has elapsed since the previous calculation of the motion of the robot 90 whole body (S 907). While the time corresponding to the second cycle is not yet elapsed from the time of the previous calculation of the motion of the robot 90 (S 907: No), the control unit 904 is first included in each of the four legs 902 The force control calculation regarding the said joint is performed using the sensing result of S905 for every joint (S909).
  • the control unit 904 calculates a torque output command value by each of the actuators disposed at each joint based on the calculation result of S909. For example, when S919 described later has been executed at least once, the control unit 150 calculates the value of the target torque to be output to the joint calculated in S919, and the sensing result acquired in the most recent S905. Based on the above, torque output command values by individual actuators disposed at each of all joints in the leg unit 10 are calculated (S911).
  • control unit 904 controls the actuator so that the actuator corresponding to the torque output command value of the actuator calculated at S911 is output to the actuator arranged for each joint. (S913). Then, the control unit 904 repeats the processing after S903.
  • the control unit 904 is acquired in the most recent S905, Included in each of the four legs 902 at the most recent time S905, based on the sensing results of the angles of the individual actuators located on each of the four legs 902, and the known kinematics algorithm. Position and posture of each joint to be calculated (S915).
  • control unit 904 uses the known inverse kinematics algorithm and the known inverse dynamics algorithm according to the current exercise purpose to set the time corresponding to the time of the second cycle from the most recent time S905.
  • the magnitude of the force to be exerted on the environment by the robot 90 is calculated (determined) (S917).
  • the control unit 904 decomposes the magnitude of the force calculated in S917.
  • the value of the target torque to be output to the joint is calculated at the elapse of the time corresponding to the time of the second cycle from the most recent time S905 (S919).
  • the control unit 904 performs the processing of the above-described S911 and thereafter.
  • the torso portion 900 alone is used to calculate the torque command values of the individual actuators included in each of the four legs 902, and individually based on the torque command values. Control the operation of the actuator. That is, the robot 90 centrally controls the operation of each of the four legs 902. For this reason, the processing load of the body 900 (that is, the main body of the robot 90) in controlling the movement of each joint included in each of the four legs 902 is large.
  • the maintenance load on the robot 90 is large.
  • a large number of cables are intricately wired between the body 900 and each of the four legs 902.
  • the body 900 and the individual actuators in the individual legs 902 are directly connected by separate cables. That is, the wiring can be complicated and enormous.
  • the work load is heavy.
  • the robot 2 according to the embodiment of the present disclosure includes a plurality of leg units 10 and a main body 20. Then, each of the plurality of leg units 10 has the plurality of joints 100, and the corresponding leg unit at the first timing based on the sensing result of each of the plurality of joints 100 at the first timing. The position and orientation information of 10 is transmitted to the main body unit 20, and the operation instruction information at the second timing after the first timing is based on the position and orientation information of the leg unit 10 at the first timing. The operation of each of the plurality of joints 100 at the second timing is controlled based on the operation instruction information received from the unit 20 and the second timing.
  • the processing load on the main body 20 when controlling the operation of each joint 100 can be reduced.
  • the operation of the plurality of joints 100 included in each of the plurality of leg units 10 can be decentralized and controlled by the main body 20 and the leg unit 10. The contents of this embodiment will be sequentially described in detail below.
  • the robot 2 may be, for example, a device capable of acting (for example, moving, gripping an object, etc.) autonomously using an electrical and / or magnetic action.
  • the leg unit 10 is an example of a limb unit according to the present disclosure.
  • the present disclosure is not limited to such an example, and the limb unit may be an arm unit.
  • the arm unit may be configured as an arm unit that is attachable to and detachable from the main body unit 20.
  • the limb unit according to the present disclosure is the leg unit 10 will be mainly described.
  • the robot 2 may have four leg units 10.
  • the present embodiment is not limited to such an example, and the number of leg units 10 may be any number (for example, one, two, or ten, etc.).
  • the number of leg units 10 is four (for example, an example in which the robot 2 is a four-legged robot) will be described.
  • FIG. 1 is a view schematically showing the appearance of the robot 2 as viewed from above.
  • the robot 2 includes a main body 20 and four leg units 10.
  • Each of the four leg units 10 may be configured to be removable with respect to the main body 20.
  • leg units 10 may be all the same. However, the present invention is not limited to such an example, and for example, leg units 10 having different types of shaft configurations may be used in combination.
  • the leg unit 10 includes a control unit 150, an energy supply port, and a communication unit 160.
  • Control unit 150 may be configured to include, for example, processing circuits such as a central processing unit (CPU) and a graphics processing unit (GPU). Furthermore, the control unit 150 may be configured to include a memory such as a read only memory (ROM) or a random access memory (RAM). The specific function of the control unit 150 will be described later.
  • processing circuits such as a central processing unit (CPU) and a graphics processing unit (GPU).
  • GPU graphics processing unit
  • the control unit 150 may be configured to include a memory such as a read only memory (ROM) or a random access memory (RAM). The specific function of the control unit 150 will be described later.
  • ROM read only memory
  • RAM random access memory
  • the energy supply port is a port for receiving energy (for example, power, hydraulic pressure, water pressure, and / or air pressure, etc.) transmitted from the main body 20 to the leg unit 10.
  • energy transmitted from the main unit 20 is transmitted to an actuator 110 and a motor driver 114 in each joint 100 described later via an energy supply port.
  • the communication unit 160 is an example of a receiving unit and a transmitting unit according to the present disclosure.
  • the communication unit 160 exchanges data with the main unit 20.
  • Communication unit 160 includes, for example, a communication port for performing serial communication between main unit 20 and the corresponding leg unit 10, and a synchronization signal port for receiving a synchronization signal transmitted from main unit 20. It consists of The communication port and the synchronization signal port may be configured as a single port instead of being separately configured. The specific function of the communication unit 160 will be described later.
  • FIG. 2 is a view schematically showing an example of an axial configuration of the leg unit 10.
  • the leg unit 10 can be configured as a link mechanism including a plurality of joints and a plurality of links.
  • the leg unit 10 has at least three joints 100 such as a hip joint Roll axis 100a, a hip joint Pitch axis 100b, and a knee joint Pitch axis 100c, and a toe 102.
  • the leg unit 10 may further have an ankle joint (not shown) between the knee joint Pitch axis 100 c and the toe 102.
  • the torque of the knee joint Pitch axis 100c may be transmitted to the ankle joint by a closed link mechanism.
  • the leg unit 10 further includes a first link 104a including the toe 102, a second link 104b connecting the toe 102 and the knee joint Pitch axis 100c, and a second joint connecting the knee joint Pitch axis 100c and the hip joint Pitch axis 100b. It may have three links 104c, and a fourth link 104d connecting the hip joint Pitch axis 100b and the hip joint Roll axis 100a.
  • the robot 2 is a leg unit when viewed from a fixed position of the leg unit 10 with respect to the main body 20 (for example, the position of the hip joint Roll axis 100a) for each leg unit 10.
  • the positions of the ten toes 102 can be moved in three directions of vertical, horizontal and height.
  • the robot 2 (more specifically, the main body 20) can apply force to any direction of the external world by changing the position and posture of each leg unit 10. Further, the body portion 20 can change the moment of force by each leg unit 10 according to, for example, the magnitude of the frictional force when each leg unit 10 contacts another object. Furthermore, since the toe trajectory of each leg unit 10 can be a three-dimensional free trajectory, the robot 2 can also overcome or avoid one or more obstacles.
  • the first link 104a can be connected to the ankle joint.
  • the second link 104b may be configured to couple the ankle joint and the knee joint Pitch axis 100c.
  • FIG. 3A is a view showing another example of the axial configuration of the leg unit 10 (viewed from the side of the leg unit 10).
  • FIG. 3B is a view schematically showing the appearance of the leg unit 10 shown in FIG. 3A as viewed from above.
  • these joints 100 may be arranged such that the rotation axis of the hip joint Pitch axis 100b and the rotation axis of the knee joint Pitch axis 100c are coaxial.
  • the leg unit 10 may have a closed link mechanism 106 coupled to the hip joint Pitch axis 100b and the knee joint Pitch axis 100c.
  • the force output by the actuator 110b that drives the hip joint Pitch axis 100b can be transmitted to the knee joint Pitch axis 100c.
  • the specific contents of the actuator 110 will be described later.
  • the axial configuration of the leg unit 10 according to the present embodiment is not limited to the example described above.
  • the number of axes of the leg unit 10 may be one or more arbitrary numbers (for example, one axis, ten axes, etc.).
  • all serial links may be used, all parallel links may be used, or one or more serial links and one or more parallel links are mixed. It may be done.
  • the leg unit 10 may have one or more underactuated joints (that is, joints not driven by the actuator 110).
  • FIG. 4 is a block diagram showing an example of the functional configuration of the main unit 20.
  • the main body unit 20 includes a control unit 200, a communication unit 202, a sensor unit 204, and a storage unit 206.
  • Control unit 200 can be configured to include, for example, processing circuits such as a CPU and a GPU.
  • the control unit 200 centrally controls the operation of the main unit 20.
  • the control unit 200 controls the four leg units 10 at arbitrary timings (for example, when the robot 2 starts up) for synchronizing the timing of operation between each of the four leg units 10 in a predetermined cycle.
  • the control unit 200 can cause the communication unit 202 to transmit the same synchronization signal to each of the four leg units 10 at an arbitrary timing.
  • the synchronization signal may indicate a first timing sequence having a plurality of timings and the time between adjacent timings is a first cycle. Furthermore, the synchronization signal may indicate a second timing sequence having a plurality of timings and a time between adjacent timings being a second period which is a constant multiple of the first period.
  • the first cycle may be 0.25 msec
  • the second cycle may be 1.0 msec.
  • the second timing sequence is an example of a predetermined timing sequence according to the present disclosure.
  • the second cycle is an example of a predetermined cycle according to the present disclosure.
  • the first timing sequence may be a plurality of timing sequences responsible for the motion of each leg unit 10.
  • the second timing sequence may be a plurality of timing sequences that control the motion of the entire robot 2.
  • the first timing sequence may indicate the individual timing of the start of the output of pulse width modulation (PWM) to control the supply of power to the individual actuators 110 in each leg unit 10.
  • PWM pulse width modulation
  • the first timing sequence may indicate individual acquisition timings of sensing results (for example, angle information of the individual actuators 110, etc.) by the respective sensor units 112 in the respective leg units 10, which will be described later.
  • the second timing sequence may indicate, for example, acquisition timings of sensing results by the respective sensor units 112 in the leg unit 10, which are used for calculation (specification) of position and orientation information of each leg unit 10.
  • each leg unit 10 performs the corresponding leg unit 10 at that timing based on the sensing result by each sensor unit 112 at that timing for each timing included in the second timing sequence.
  • the position and orientation information of each may be sequentially calculated, and the position and orientation information may be sequentially transmitted to the main unit 20.
  • the synchronization signal is a rectangular wave pulse signal as shown in FIG.
  • the operation of each leg unit 10 can be synchronized by using a rise of a voltage corresponding to the synchronization signal (hereinafter referred to as a synchronization signal voltage) as a trigger.
  • a synchronization signal voltage a voltage corresponding to the synchronization signal
  • the motion in each leg unit 10 can be controlled as described above, triggered by the rise of the synchronization signal voltage for each timing included in the first timing sequence.
  • the motion of the entire robot 2 can be controlled as described above, triggered by the rise of the synchronization signal voltage at each timing included in the second timing sequence.
  • the sensing result by the sensor unit 112 in each joint 100 in each leg unit 10 is sequentially acquired every rise of the synchronization signal voltage corresponding to each timing included in the first timing sequence.
  • torque output by the individual actuators 110 in each joint 100 in each leg unit 10 can be sequentially started.
  • each leg unit 10 is operated by the sensor unit 112 in each joint 100 at the corresponding timing at each rise of the synchronization signal voltage corresponding to each timing included in the second timing sequence. Based on the sensing result, the position and posture of the leg unit 10 at the timing can be sequentially calculated. The specific contents of these functions will be described later.
  • FIG. 5 illustrates an example in which at least one timing included in the first timing sequence matches at least one timing included in the second timing sequence.
  • the present invention is not limited to such an example, and all the timings included in the first timing sequence may be different from all the timings included in the second timing sequence.
  • the synchronization signal corresponding to the first timing sequence and the synchronization signal corresponding to the second timing sequence may be the same signal or may be different signals.
  • the control unit 200 causes the communication unit 202 to transmit these two types of synchronization signals to each of the four leg units 10 at an arbitrary timing.
  • each time position and orientation information of each of the four leg units 10 at the nearest timing indicated by the second timing sequence is received from each of the leg units 10, the control unit 200 relates to each of the four leg units 10. It is possible to cause the communication unit 202 to transmit, to the leg unit 10, operation instruction information of the leg unit 10 at the next timing indicated by the second timing sequence.
  • the control unit 200 first receives the four received.
  • the position and orientation information of the robot 2 (for example, the position and orientation information of the body of the robot 2) at the latest timing is specified based on the position and orientation information of each of the leg units 10 and the known kinematics algorithm.
  • the control unit 200 determines the movement purpose of the robot 2 corresponding to the next timing indicated by the second timing sequence, the position and orientation information of the robot 2 at the latest timing, and the known reverse kinematics algorithm Based on the next timing, the magnitude and direction of force that the robot 2 should exert on the environment (hereinafter, “the magnitude of the target force of the robot 2” and “the target force of the robot 2 (Sometimes referred to as “direction”).
  • the control unit 200 determines the force to be exerted by each of the four leg units 10 at the next timing based on the calculated magnitude of the target force of the robot 2 and the direction of the target force.
  • Command value hereinafter may be referred to as “motion command value of each leg unit 10” is calculated.
  • control unit 200 decomposes the magnitude of the target force of the robot 2 and the direction of the target force for each leg unit 10 according to the positional relationship of each of the four leg units 10, The magnitude of the target force of each leg unit 10 and the direction of the target force are calculated as the motion command value of each leg unit 10.
  • control unit 200 generates, for each leg unit 10, operation instruction information of the leg unit 10 at the next timing that includes the calculated movement command value of the leg unit 10.
  • the control unit 200 causes the communication unit 202 to transmit the operation instruction information of the leg unit 10 to the leg unit 10.
  • the motion instruction information of the leg unit 10 is position information of a target of the leg unit 10 at the next timing (for example, position information of a target of a specific part (such as the toe 102 of the leg unit 10)), It may further include information indicating the posture of the target of the leg unit 10 at the next timing.
  • the communication unit 202 exchanges information with each of the four leg units. For example, the communication unit 202 receives, from each of the leg units 10, position and orientation information of each of the leg units 10 at the closest timing indicated by the second timing sequence. Further, the communication unit 202 transmits, to each of the four leg units 10, operation instruction information of the leg unit 10 at the next timing indicated by the second timing sequence to the leg unit 10 according to the control of the control unit 200. Do.
  • the communication unit 202 transmits / receives information to / from an external device (for example, a general-purpose PC (Personal Computer) or the like) via a predetermined network (for example, the Internet or various LANs (Local Area Network) or the like). Is also possible.
  • the communication unit 202 can receive, from an external device, instruction information of the user regarding the movement purpose and operation of the robot 2.
  • the sensor unit 204 performs various types of sensing on, for example, the external world and the state of the robot 2.
  • the sensor unit 204 is, for example, a camera (image sensor), a depth sensor (for example, a time of flight sensor or a stereo camera), a microphone, an acceleration sensor, a gyroscope, a temperature sensor, a geomagnetic sensor, and / or a torque sensor And so on.
  • the sensor unit 204 may include a receiver that receives positioning signals from positioning satellites such as GPS (Global Positioning System) and GLONASS (Global Navigation Satellite System).
  • GPS Global Positioning System
  • GLONASS Global Navigation Satellite System
  • the storage unit 206 may be configured to include, for example, a storage device such as a hard disk drive (HDD) or a memory such as a RAM or a ROM.
  • the storage unit 206 stores, for example, various data such as a map information DB, an object information DB, and a physical information DB, and various applications.
  • the map information DB may be a database in which real world map information is stored.
  • the object information DB may be, for example, a database in which position information of the object and attribute information (shape, assumed weight, etc.) of the object are stored for each object.
  • the physical information DB may be a database in which information (for example, position, shape, size, etc.) of each part of the robot 2 is stored.
  • FIG. 6 is a block diagram showing an example of a functional configuration of the leg unit 10.
  • the leg unit 10 includes a plurality of joints 100, a control unit 150, a communication unit 160, a sensor unit 162, and a storage unit 164.
  • the plurality of joints 100 may have, for example, at least three joints 100 such as a hip joint Roll axis 100 a, a hip joint Pitch axis 100 b, and a knee joint Pitch axis 100 c.
  • the description overlapping with the above description will be omitted.
  • the joint 100 includes one or more actuators 110, a sensor unit 112, and a motor driver 114.
  • the motor driver 114 controls the operation of each of the one or more actuators 110 in the relevant joint 100 according to the control of the control unit 150 described later. For example, at each timing included in the first timing sequence indicated by the synchronization signal received from the main unit 20, the motor driver 114 receives the torque corresponding to the torque command value at the timing received from the control unit 150. It is output to all or part of one or more actuators 110.
  • the motor driver 114 transmits the sensing result by the sensor unit 112 described later to the control unit 150. For example, at each timing included in the first timing sequence indicated by the synchronization signal, the motor driver 114 first detects the result of sensing by the sensor unit 112 at the timing (for example, one or more actuators in the corresponding joint 100). The angle information of each of 110 etc. is sequentially acquired from the sensor unit 112, and the acquired sensing result is sequentially transmitted to the control unit 150.
  • Actuator 110 The actuator 110 generates power based on the energy (such as power) supplied from the energy supply port and the control signal transmitted from the motor driver 114.
  • all actuators 110 included in the corresponding leg unit 10 may include a motor.
  • one or more actuators 110 included in the corresponding leg unit 10 may be, for example, a pneumatic actuator, a hydraulic actuator, or a rubber actuator.
  • the sensor unit 112 performs various types of sensing on each of the one or more actuators 110 in the corresponding joint 100.
  • the sensor unit 112 includes an angle sensor, an acceleration sensor, and a torque sensor.
  • the sensor unit 112 may sense the rotation angle of each actuator 110 in the corresponding joint 100.
  • the sensor unit 112 may sense the velocity, current value, output torque, and the like of each actuator 110 in the corresponding joint 100.
  • the sensor unit 162 performs various types of sensing on the state of the corresponding leg unit 10.
  • the sensor unit 162 includes a contact sensor, a pressure sensor, and the like.
  • the sensor unit 162 can sense the presence or absence of contact with another object at the tip of the leg unit 10 (such as the toe 102), and the magnitude of the force received from the other object at the tip.
  • Control unit 150 The control unit 150 centrally controls the operation of the leg unit 10.
  • the control unit 150 determines, based on the sensing results of each of the plurality of joints 100 at the timing, at each timing included in the second timing sequence indicated by the synchronization signal. In addition, it is possible to cause the communication unit 160 to sequentially transmit its own position and orientation information at the timing to the main body unit 20. As an example, at each timing included in the second timing sequence, the control unit 150 causes a sensing result by the sensor unit 112 at the relevant timing of each of the plurality of joints 100 and a sensing result by the sensor unit 162 at the relevant timing. The position and orientation information of the user at the timing is specified based on the above, and the specified position and orientation information is sequentially transmitted to the communication unit 160 to the main body unit 20.
  • the control unit 150 first causes the sensor unit 112 in each joint 100 at the timing to obtain a sensing result regarding the posture of the joint 100. (For example, angle information of each actuator 110 in the joint 100 or the like) is acquired from each sensor unit 112, and a sensing result by the sensor unit 162 at the timing is acquired from the sensor unit 162. Next, based on these sensing results and a known kinematics algorithm, the control unit 150 determines the position and posture of the leg unit 10 at the corresponding timing (that is, the position and posture of the corresponding leg unit 10). Identify (calculate).
  • control unit 150 may use position coordinates of the center of gravity of the leg unit 10 at the timing, and / or position information of a specific part (for example, the toe 102) at the timing, of the leg unit 10 at the timing. Identify as a location. Then, the control unit 150 causes the communication unit 160 to transmit position and orientation information indicating the specified position and orientation of the leg unit 10 to the main unit 20.
  • the position and orientation information of the leg unit 10 may further include information of types other than the position and orientation of the leg unit 10 at the timing.
  • the position and orientation information of the leg unit 10 may further include the measurement result of the magnitude of the force received by the leg unit 10 from the environment at the timing and the measurement result of the direction of the force.
  • the position and orientation information of the leg unit 10 is the measurement result of the angle, velocity, current value, and / or torque of the individual actuators 110 in the leg unit 10 at the timing. May be further included.
  • each time operation instruction information (corresponding to the leg unit 10) is received from the main unit 20, the control unit 150 performs the operation instruction information based on the operation instruction information and the received synchronization signal. Operation of each of the plurality of joints 100 at a timing corresponding to. For example, each time the operation instruction information is received from the main body unit 20, the control unit 150 causes the newly received operation instruction information of the plurality of timings included in the second timing sequence indicated by the synchronization signal. At timings corresponding to, the operations of the individual actuators 110 included in each of the plurality of joints 100 are sequentially controlled based on the operation instruction information.
  • the timing corresponding to the operation instruction information is, for example, an order corresponding to the cumulative number of receptions of the operation instruction information among a plurality of timings included in the second timing sequence indicated by the received synchronization signal.
  • the timing may be (for example, in the same order as the cumulative number of receptions of the operation instruction information, etc.).
  • control unit 150 first forces each of all joints 100 in leg unit 10 to exert at a timing corresponding to the operation instruction information.
  • Command value (hereinafter may be referred to as “motion command value of each joint 100”) is calculated based on the motion command value of the leg unit 10 indicated by the motion command information.
  • the control unit 150 corresponds to the operation instruction information by performing a force control calculation on each of all the joints 100 in the leg unit 10 based on the calculated movement command value of the joint 100.
  • an output command value of torque to be output by the joint 100 is calculated.
  • control unit 150 causes the actuator 110 in the joint 100 to output a torque corresponding to the calculated torque output command value of the actuator 110 for each of all the joints 100 in the leg unit 10,
  • the instruction information is transmitted to the motor driver 114 in the joint 100.
  • the instruction information may include a torque output command value of each actuator 110 in the joint 100.
  • the communication unit 160 exchanges information with the main unit 20.
  • the communication unit 160 receives the synchronization signal and the operation instruction information from the main body unit 20.
  • the communication unit 160 controls the control unit 150 of the position and orientation information of the corresponding leg unit 10 at the latest timing specified based on the sensing result at the latest timing indicated by the second timing sequence. It transmits to main part 20 according to.
  • the communication unit 160 can also transmit and receive information with other leg units 10.
  • the storage unit 164 may be configured to include, for example, a memory such as a RAM or a ROM, or a storage device such as an HDD.
  • the storage unit 164 stores various data and various applications.
  • the storage unit 164 may output unique information of the corresponding leg unit 10 (for example, the mass property of the leg unit 10, the length of each link of the leg unit 10, the movable range of the leg unit 10, and the leg unit 10). And the maximum torque value that the leg unit 10 can output.
  • the control unit 150 performs the force control calculation of each joint 100, the control unit 150 can be used by reading out the specific information of the corresponding leg unit 10 from the storage unit 164. Therefore, since it becomes unnecessary for the leg unit 10 to receive the specific information on the corresponding leg unit 10 from the main body 20, the amount of information transmitted and received between the leg unit 10 and the main body 20 in real time can be suppressed.
  • the functional configuration of the leg unit 10 according to the present embodiment is not limited to the example described above.
  • the control unit 150 may have all or part of the functions of the motor driver 114 in each of the joints 100 described above.
  • the motor driver 114 may not necessarily be disposed in each joint 100.
  • the motor driver 114 in each joint 100 may have a part of the functions of the control unit 150 described above.
  • the control unit 150 controls the operation of each of the plurality of joints 100 at the timing corresponding to the operation instruction information based on the operation instruction information and the synchronization signal received from the main body unit 20.
  • the motor driver 114 in each joint 100 sets the timing of the individual actuators 110 in the joint 100 at the timing corresponding to the operation instruction information based on the operation instruction information and the synchronization signal. The operation may be controlled directly.
  • FIG. 7 is a flowchart showing the flow of processing of the main unit 20 according to the present embodiment.
  • the control unit 200 of the main body unit 20 performs initial setting on various functions (such as an application) mounted on the main body unit 20 (for example) S101).
  • the communication unit 202 transmits the synchronization signal to each of the four leg units 10 according to the control of the control unit 200 (S103).
  • the control unit 200 causes the current timing to be next to the previous timing among the plurality of timings included in the second timing sequence (that is, the timing sequence that controls the motion of the entire robot 2) indicated by the synchronization signal. It is determined whether the time has arrived. Note that for the first time, the control unit 200 determines whether the current time has reached the first timing included in the second timing sequence (S105). While the current time has not reached the corresponding timing (hereinafter, also referred to as “I-th timing”) (S105: No), the control unit 200 repeats the processing of S105 again.
  • the main body unit 20 receives the position and orientation information of the leg unit 10 at the I-th timing from each of the four leg units 10. To do (S107).
  • control unit 200 of the main body unit 20 controls the robot at the I-th timing based on the received position and orientation information of each of the four leg units 10 at the I-th timing and the known kinematics algorithm.
  • the position and posture of the torso 2 are calculated (S109).
  • control unit 200 determines the motion purpose of the robot 2 corresponding to the (I + 1) th timing indicated by the second timing sequence, the position and orientation information of the robot 2 specified in S109, and the known reverse kinematics algorithm And the known inverse dynamics algorithm, the magnitude of the force that the robot 2 should exert on the environment at the (I + 1) th timing (the magnitude of the target force) and the direction of the force (target force) Direction) is calculated (S111).
  • control unit 200 decomposes the magnitude of the target force of the robot 2 and the direction of the target force for each of the leg units 10, so that each of the four leg units 10 is at the I + 1th timing.
  • the command value ie, the motion command value of each leg unit 10) regarding the force to be exerted is calculated (S113).
  • the communication unit 202 transmits, to each of the four leg units 10, operation instruction information at the (I + 1) th timing including the exercise command value of the leg unit 10 to the corresponding leg unit 10 according to the control of the control unit 200. (S115). After that, the control unit 200 repeats the processing after S105.
  • FIG. 8 is a flowchart showing a part of the process flow of the leg unit 10 according to the present embodiment. Note that the processing flow of each of the four leg units 10 may be all the same. Hereinafter, for convenience of explanation, the flow of processing of one leg unit 10 will be described.
  • the control unit 150 of the leg unit 10 first performs initial setting on various functions (such as an application) mounted on the leg unit 10, for example ( S201).
  • the leg unit 10 receives the synchronization signal from the main unit 20 (S203).
  • the control unit 150 of the leg unit 10 follows the previous one of the plurality of timings included in the second timing sequence indicated by the synchronization signal (that is, the timing sequence that controls the motion of the entire robot 2). It is determined whether the current time has arrived at the timing of. Note that for the first time, the control unit 150 determines whether the current time has reached the first timing included in the second timing sequence (S205).
  • the control unit 150 determines the first timing sequence (that is, the synchronization signal indicates). It is determined whether the current time has reached the timing next to the previous timing among the plurality of timings included in the timing sequence that controls the movement of each leg unit 10). Note that for the first time, the control unit 150 determines whether the current time has reached the first timing included in the first timing sequence (S207). While the current time has not reached the corresponding timing (hereinafter, also referred to as “Jth timing”) (S207: No), the control unit 150 repeats the processing after S205 again.
  • the sensor unit 112 in each joint 100 included in the leg unit 10 is, for example, the angle of each actuator 110 in the joint 100, etc.
  • To And control part 150 acquires a sensing result by sensor part 112 in each joint 100 from each sensor part 112 (S209).
  • the control unit 150 performs force control based on the sensing result (for example, angle information of the individual actuators 110 in the joint 100) acquired in S209 for each of all the joints 100 in the leg unit 10. Perform an operation. For example, when S227 described later has been executed at least once, the control unit 150 determines the motion command value of each joint 100 calculated in the most recent S227 and the sensing result acquired in S209. Force control calculation is performed on each of all the joints 100 in the leg unit 10 (S211).
  • control unit 150 calculates an output command value of torque to be output by the joint 100 based on the calculation result in S211 (S213).
  • control unit 150 causes the actuator 110 in the joint 100 to output a torque corresponding to the torque output command value of the joint 100 calculated in S213 for each of all the joints 100 in the leg unit 10. Then, the actuator 110 is controlled (S215). After that, the control unit 150 repeats the processing after S205 again.
  • the leg unit 10 performs the same processing as S209 described above (S217).
  • the control unit 150 determines the sensing result at the I-th timing acquired in S217 (for example, angle information of the individual actuators 110 included in each of the plurality of joints 100).
  • the position and posture of the leg unit 10 at the I-th timing are specified (calculated) on the basis of and the known kinematics algorithm (S221).
  • control unit 150 causes the communication unit 160 to transmit position and orientation information indicating the position and orientation of the leg unit 10 at the I-th timing specified in S221 (S223).
  • the leg unit 10 receives the operation instruction information corresponding to the (I + 1) th timing from the main body unit 20 (S225).
  • control unit 150 causes each of all the joints 100 in the leg unit 10 to perform at the (I + 1) th timing based on the motion command value of the leg unit 10 itself indicated by the motion instruction information received in S225.
  • the command value related to the power to be calculated (that is, the motion command value of each joint 100) is calculated (S227).
  • leg unit 10 performs the processing of S211 and the above.
  • the above-described processing of S221 to S227 may be repeatedly performed every second cycle.
  • the leg unit 10 is based on the sensing result of each of the plurality of joints 100 at the nearest timing among the plurality of timings included in the second timing sequence.
  • the position and orientation information of the leg unit 10 at the timing is transmitted to the main body unit 20, and the operation instruction information of the leg unit 10 at the next timing of the timing is based on the position and orientation information of the leg unit 10 at the timing. 20, and controls the operation of each of the plurality of joints 100 based on the operation instruction information. Therefore, the processing load on the main body 20 when controlling the operation of each joint 100 can be reduced.
  • the main body unit 20 can control the movement of each leg in units of 10 leg units instead of 110 units as in the comparative example of the present disclosure. Then, the control unit 150 of the leg unit 10 can control the operation of the individual actuators 110 included in each of all the joints 100 included in the corresponding leg unit 10. As described above, according to the present embodiment, the operation of each of the plurality of joints 100 included in each leg unit 10 can be decentralized and controlled by the main body 20 and the leg unit 10.
  • the main body unit 20 merely designates (as the operation instruction information) the position information of the target of the toe 102 of each leg unit 10 at the next timing, the individual joints 100 included in each leg unit 10 The angle of the target at the next timing can be calculated by each leg unit 10. Therefore, the calculation load of the main body unit 20 can be reduced.
  • a method may be considered in which the operation timings of the four leg units 10 are matched as much as possible by using only existing feedback control without using a synchronization signal. Specifically, in this method, it is possible to partially cover (compensate) the time lag among the four leg units 10 by controlling the phase fluctuation due to the time lag in the direction of the amplitude. However, in this method, it is difficult to increase the control gain, so the control performance may be reduced compared to the present embodiment. In other words, according to the present embodiment, the control performance of the robot 2 can be improved by using the synchronization signal.
  • each leg unit 10 can be configured to be removable with respect to the main body 20. Therefore, for example, when at least one leg unit 10 malfunctions while the robot 2 is in operation, each of the at least one leg unit 10 is easily replaced with another leg unit 10 whose operation has been confirmed. It can be exchanged. Therefore, the stop time of the robot 2 due to the malfunction of the leg unit 10 can be shortened, for example, as compared with the present comparative example.
  • operation confirmation and repair can be performed by the leg unit 10 alone without stopping the operation of the main unit 20. Is high. Furthermore, at the time of development of the robot 2, it is also possible to perform the assembly of the leg unit 10 and the assembly of the main body 20 in parallel. Thereby, the lead time of manufacture of robot 2 can be shortened compared with this comparative example, for example.
  • connection method between the main body 20 and each leg unit 10 can be unified. Therefore, the degree of freedom in design can be further improved, so that the number of leg portions (leg units 10) can be selected with a higher degree of freedom at the time of design of the robot 2 as compared with this comparative example.
  • the axis configuration is a serial link arm having 7 degrees of freedom, and, for example, one or more arm units attached to the tip of the serial link arm, such as a gripper or a robot hand, instead of the leg unit 10 It may be attached to the main body 20.
  • the robot 2 having the gripping arm unit capable of gripping and operating one or more objects.
  • the arm unit is an example of a limb unit according to the present disclosure.
  • one or more arm units having a shaft configuration of 7 degrees of freedom serial link arm and, for example, a camera, a laser scanner, etc. attached to the tip of the serial link arm are substituted for the leg unit 10 It may be attached to the main body 20.
  • the robot 2 having the recognition arm unit for recognizing the surrounding environment of the robot 2 can be configured.
  • the arm unit is an example of a limb unit according to the present disclosure.
  • each step in each process flow described above may not necessarily be processed in the order described.
  • each step may be processed in an appropriate order.
  • each step may be processed partially in parallel or individually instead of being processed chronologically.
  • some of the described steps may be omitted or additional steps may be added.
  • the robot according to the present disclosure is not necessarily limited to a product called "robot".
  • the robot according to the present disclosure is a machine (device) or other common mobile device that has one or more limb units and a main body 20, and can operate using electrical and / or magnetic action. I hope there is.
  • the robot may be a vehicle, various industrial machines, or a toy.
  • a control unit that causes the transmitting unit to transmit its own position and orientation information at the first timing based on the sensing result at the first timing of each of the plurality of joints;
  • a receiving unit that receives, from the main unit, operation instruction information at a second timing after the first timing based on the position and orientation information of the first timing; Equipped with The limb unit, wherein the control unit controls an operation of each of the plurality of joints at the second timing based on operation instruction information at the second timing.
  • the receiving unit further receives, from the main unit, a synchronization signal for synchronizing operation timing between the limb unit and one or more other limb units at a predetermined cycle.
  • the synchronization signal is identical to the synchronization signal transmitted from the body to each of the one or more other limb units,
  • the limb unit according to (1) wherein the control unit further controls an operation of each of the plurality of joints at the second timing based on the synchronization signal.
  • (3) Further comprising the plurality of joints, Each of the plurality of joints has one or more actuators, The control unit controls the operation of each of the one or more actuators included in each of the plurality of joints at the second timing based on the operation instruction information at the second timing and the synchronization signal.
  • the limb unit according to (2).
  • the limb unit according to (3) wherein the position and orientation information of the user at the first timing is information specified based on a sensing result of each of the plurality of joints at the first timing.
  • the synchronization signal indicates a predetermined timing sequence including a plurality of timings and the time between adjacent timings is the predetermined period, The first timing is any one of the plurality of timings included in the predetermined timing sequence, The limb unit according to (4), wherein the second timing is a timing next to the first timing among the plurality of timings included in the predetermined timing sequence.
  • the control unit transmits, to the main unit, the position and orientation information at the timing based on the sensing result of each of the plurality of joints at the timing at each timing included in the predetermined timing sequence.
  • the control unit causes the plurality of joints at any timing included in the predetermined timing sequence corresponding to the newly received operation instruction information.
  • the timing corresponding to the newly received operation instruction information is the timing of an order corresponding to the cumulative number of receptions of the operation instruction information among the plurality of timings included in the predetermined timing sequence.
  • the control unit calculates a command value related to an output torque of each of the plurality of joints at the second timing based on operation instruction information at the second timing, and The limb unit according to (8), wherein each of the one or more actuators included in each of the plurality of joints is controlled based on a command value related to an output torque of the joint. (10) Each time operation instruction information is received from the main unit, the control unit is configured to control the plurality of joints at any one of timings included in the predetermined timing sequence, corresponding to the newly received operation instruction information.
  • the command value for each output torque is sequentially calculated based on the operation instruction information, and The limb unit according to (9), wherein each of the one or more actuators included in each of the plurality of joints is sequentially controlled based on a command value related to an output torque of the joint.
  • the sensing result of each of the plurality of joints at the first timing includes the sensing result of the posture of each of the plurality of joints at the first timing, any one of the above (5) to (10) Limb unit as described in.
  • the control unit sequentially specifies, at each timing included in the predetermined timing sequence, position / posture information of itself at the timing based on a sensing result at each timing of each of the plurality of joints.
  • the limb unit according to any one of (12) to (12).
  • the position and orientation information of the limb unit at the first timing, and the position and orientation information of the other limb unit at the first timing received by the main body from each of the one or more other limb units
  • the limb unit according to any one of (5) to (13), wherein the operation instruction information at the second timing is determined by the main body based on the second timing.
  • the transmission unit The limb unit according to any one of (11) to (14), further comprising: a sensor unit that senses the posture of each of the plurality of joints.
  • a sensor unit that senses the posture of each of the plurality of joints.
  • a control unit configured to transmit, to the main unit, the position and orientation information of the limb unit at the first timing based on the sensing result at the first timing of each of a plurality of joints included in the limb unit;
  • a receiving unit that receives, from the main body, operation instruction information of the limb unit at a second timing after the first timing based on position and orientation information of the limb unit at the first timing; Have The control unit controls an operation of each of a plurality of joints of the limb unit at the second timing based on motion instruction information of the limb unit at the second timing.
  • the main unit transmits, to each of the plurality of limb units, a synchronization signal for synchronizing the timing of operation between each of the plurality of limb units at a predetermined cycle.
  • the synchronization signals sent to each of the plurality of limb units are all identical,
  • Each of a plurality of joints included in each of the plurality of limb units has one or more actuators,
  • the receiving unit of each of the plurality of limb units further receives the synchronization signal from the body unit,
  • the control unit of each of the plurality of limb units is configured of the plurality of joints of the limb unit at the second timing based on the operation instruction information of the limb unit at the second timing and the synchronization signal.
  • the synchronization signal indicates a predetermined timing sequence including a plurality of timings and the time between adjacent timings is the predetermined period,
  • the first timing is any one of the plurality of timings included in the predetermined timing sequence,
  • the main body specifies position and orientation information of the robot at the first timing based on position and orientation information of the limb unit at the first timing received from each of the plurality of limb units, and , The operation instruction information of each of the plurality of limb units at the second timing is determined based on position and orientation information of the robot at the first timing and an exercise purpose of the robot at the second timing.
  • the robot according to (18).
  • the control unit of each of the plurality of limb units is, for each timing included in the predetermined timing sequence, position and orientation information of the limb unit at the timing based on the sensing result at each of the plurality of joints.
  • the control unit of each of the plurality of limb units is included in the predetermined timing sequence corresponding to the newly received operation instruction information each time the operation instruction information is received from the main body unit.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Le problème décrit par la présente invention est de pourvoir à un ensemble membre et à un robot qui sont aptes à réduire une charge de traitement sur une partie corps lorsque le mouvement de chaque articulation est commandé. La solution selon l'invention porte sur un ensemble membre qui comporte : une unité de commande qui amène une unité de transmission à transmettre, à une partie corps, des informations de position et de posture propres à un premier temps fixé sur la base de résultats de détection d'une pluralité d'articulations au premier temps fixé; et une unité de réception qui reçoit, de la partie corps, des informations d'instruction de mouvement pour un second temps fixé postérieur au premier temps fixé, sur la base des informations de position et de posture propres au premier temps fixé, l'unité de commande commandant le mouvement de la pluralité d'articulations au second temps fixé sur la base des informations d'instruction de mouvement pour le second temps fixé.
PCT/JP2018/037050 2017-12-19 2018-10-03 Ensemble membre et robot Ceased WO2019123769A1 (fr)

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JP2017243169 2017-12-19

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Citations (7)

* Cited by examiner, † Cited by third party
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JP2001287181A (ja) * 2000-04-10 2001-10-16 Sony Corp アクチュエータ駆動制御方式、並びにアクチュエータのための駆動制御装置
JP2003266348A (ja) * 2002-03-18 2003-09-24 Sony Corp ロボット装置及びその制御方法
JP2013010165A (ja) * 2011-06-29 2013-01-17 Honda Motor Co Ltd 分散制御システム
JP2016120584A (ja) * 2014-12-25 2016-07-07 三菱重工業株式会社 移動ロボット及び先端ツール
US9440353B1 (en) * 2014-12-29 2016-09-13 Google Inc. Offline determination of robot behavior
US20170239811A1 (en) * 2014-12-01 2017-08-24 Spin Master Ltd. Reconfigurable robotic system
JP2017529246A (ja) * 2014-08-25 2017-10-05 グーグル インコーポレイテッド 自然なピッチとロール

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Publication number Priority date Publication date Assignee Title
JP2001287181A (ja) * 2000-04-10 2001-10-16 Sony Corp アクチュエータ駆動制御方式、並びにアクチュエータのための駆動制御装置
JP2003266348A (ja) * 2002-03-18 2003-09-24 Sony Corp ロボット装置及びその制御方法
JP2013010165A (ja) * 2011-06-29 2013-01-17 Honda Motor Co Ltd 分散制御システム
JP2017529246A (ja) * 2014-08-25 2017-10-05 グーグル インコーポレイテッド 自然なピッチとロール
US20170239811A1 (en) * 2014-12-01 2017-08-24 Spin Master Ltd. Reconfigurable robotic system
JP2016120584A (ja) * 2014-12-25 2016-07-07 三菱重工業株式会社 移動ロボット及び先端ツール
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