WALKING ROBOT, LOWERING GAIN OF INVERSION PENDULUM CONTROL AT REST

摘要

PROBLEM TO BE SOLVED: To realize a robot, walking without falling by moderately making effective "inversion pendulum control" during walking, and not causing "self-excited vibration" during resting.;SOLUTION: In performing the so-called inversion pendulum control in which a target ZMP is corrected on the basis of an angle ϕ made between a line connecting the actual trunk position of the robot and the target ZMP and a normal passing the target ZMP, during the walking operation, a large correction amount ΔZMP for the target ZMP is calculated to the angle ϕ, and during being at rest, a small correction amount ΔZMP for the target ZMP is calculated to the angle ϕ. That is, a first gain multiplying the angle ϕ and a second gain multiplying the change speed of the angle ϕ are made smaller during being at rest. Since "inversion pendulum control" is moderately made effective during walking, the robot walks without falling, and during resting, the effectiveness of "inversion pendulum control" is restrained not to cause "self-excited vibration".;COPYRIGHT: (C)2004,JPO