Robot system controlling method, robot system, and control apparatus for quadrupedal robot

摘要

An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control.

主权项

1. A robot system controlling method for a robot system which comprises a link whose base end is swingably supported by a fixing member, and a pair of actuators connected to the fixing member and the link and adapted to swing the link using a difference between contraction forces, adjusts the contraction forces of the actuators based on respective contraction force command values, and thereby controls operation of the link, the controlling method comprising:
performing a deviation calculation to calculate a value which represents a deviation between a swing angle θ1 and a target swing angle ra of the link with respect to the fixing member; performing torque command generation to perform PID control calculations on the value which represents the deviation and thereby generate a torque command value T1 to swing the link; performing multiplication to calculate a product U1×r of length r of a moment arm from a swing center of the link and a stiffness command value U1 which represents a sum of the contraction force command values; performing torque command correction to generate a new torque command value T1 whose absolute value is limited to or below the product U1×r if the absolute value of the originally generated torque command value T1 is larger than the product U1×r while using the originally generated torque command value T1 as it is if the absolute value of the originally generated torque command value T1 is equal to or smaller than the product U1×r; and performing contraction force command value calculations to determine the contraction force command values using calculation formulae (U1+T1/r)/2, (U1−T1/r)/2 based on the torque command value T1 generated as a result of the torque command correction.