Attitude stabilization control system for a mobile robot, especially a legged mobile robot

摘要

A system for controlling attitude stabilization of a biped mobile robot. The system comprises means for generating a desired walking pattern of the robot so that a ground reaction force moment (Mact) acting on the robot, when the robot's leg comes into contact with the ground, is at a desired position (ZMP), and is provided with a first model made up of an inverted pendulum and simulating dynamics of the robot and a second model simulating the mechanical structure of the robot such that the second model is assumed to walk on the ground in accordance with the desired walking pattern. There are further provided first means for detecting an inclinatory error (Θerr) of the robot's trunk relative to the second model, second means for determining a manipulated variable (Mmdl) in terms of moment in response to the detected inclinatory error (Θerr) and supplying it to the first model such that the inverted pendulum is rotated about its pivot point by an amount (Θmdl) corresponding to the manipulated variable (Mmdl), and third means for detecting positional variation (Δx) of an upper portion of the inverted pendulum (corresponding to the trunk) resulting from the rotation and correcting the motion of the second model in response to the detected positional variation (Δx). The robot's joints are controlled to follow the motion of the second model. Thus, the robot can move stably over the ground.