METHOD FOR CONTROLLING THE WALKING MOTION OF A MOBILE ROBOT, AND ROBOT IMPLEMENTING SAID METHOD

摘要

A computer program and a system for controlling walking of a mobile robot, notably a humanoid robot moving on two legs. Conventionally, control was guided by driving a zero moment point. Such driving was performed within a fixed coordinate system connected to a progression surface and assumed knowledge of the characteristics of said surface and the creation of a provisional trajectory. Such driving encountered significant limitations due to the nature of the progression surfaces on which walking can effectively be controlled and an obligation to have a perfect knowledge of their geometry; and also in respect to the necessary computing power, and the appearance of the walk which bore little resemblance to an actual human walk. The invention overcomes such limitations by providing a walk which includes a pseudo-free or ballistic phase, an impulse phase imparted by the heel of the robot, and a landing phase.

主权项

1. A method for controlling the walking of a robot capable of moving on at least two limbs on a progression surface, said method comprising, for each step of the robot:
at least one first step of movement of each of first and second hips over a substantially spherical trajectory centered on an end bearing on the progression surface of a limb attached to said hip and a second step of movement of said end to a new bearing point; computing a position of the new bearing point of said end on the progression surface based on a speed of a center of mass of the robot; and an intermediate step between said first and second steps during which an elongation between the end of the limb bearing on the progression surface and said hip is augmented by a value such that a segment joining the position of said hip at the end of a spherical trajectory to the position of the second hip at the start of the next spherical trajectory is substantially parallel to the progression surface.