Abstract: To provide a work machine with high stability in which a dynamic balance can be evaluated easily while the influence of a sudden stop of an travel base, an upperstructure and a work front is taken into consideration. A stabilization control calculation unit (60a) and a command value generating unit (60i) are provided in a control device (60) of the work machine. The stabilization control calculation unit (60a) uses a sudden stop model and position information of each movable portion of the travel base and a machine body including the work front (6) to predict a change of stability until reaching a complete stop when a control lever (50) in an operating state is instantaneously brought back to a stop command position, and calculates a motion limit needed to prevent destabilization from occurring at any time instant until reaching the stop.

Abstract: Disclosed is a working machine that computes and displays moment by moment its dynamic stability and its state of contact with a ground in view of an inertia force and an external force applied to the working machine. Specifically, a working machine is provided with an undercarriage, a working machine main body mounted on the undercarriage, a front working mechanism attached pivotally in an up-and-down direction to the working machine main body, and a working attachment connected to a free end of the front working mechanism.

Abstract: Disclosed is a safety system for a working machine, which allows an operator to instantaneously, readily and precisely recognize current stability during work including operations of a front working mechanism and swing operations.

Abstract: To provide a work machine with high stability in which a dynamic balance can be evaluated easily while the influence of a sudden stop of an travel base, an upperstructure and a work front is taken into consideration. A stabilization control calculation unit (60a) and a command value generating unit (60i) are provided in a control device (60) of the work machine. The stabilization control calculation unit (60a) uses a sudden stop model and position information of each movable portion of the travel base and a machine body including the work front (6) to predict a change of stability until reaching a complete stop when a control lever (50) in an operating state is instantaneously brought back to a stop command position, and calculates a motion limit needed to prevent destabilization from occurring at any time instant until reaching the stop.

Abstract: The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.

Abstract: Disclosed is a safety system for a working machine, which allows an operator to instantaneously, readily and precisely recognize current stability during work including operations of a front working mechanism and swing operations.

Abstract: Disclosed is a working machine that computes and displays moment by moment its dynamic stability and its state of contact with a ground in view of an inertia force and an external force applied to the working machine. Specifically, a working machine is provided with an undercarriage, a working machine main body mounted on the undercarriage, a front working mechanism attached pivotally in an up-and-down direction to the working machine main body, and a working attachment connected to a free end of the front working mechanism.

Abstract: The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.

Abstract: The lumbar part of a robot as a controlled-object point where the mass amount becomes maximum is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.

Abstract: A ZMP equilibrium equation stating the relationship of various moments applied to a robot body of a robot, based on desirable motion data made up by trajectories of respective parts, imaginarily divided from the robot body, is generated, and moment errors in a ZMP equilibrium equation are calculated. A priority sequence of the parts, the target trajectories of which are corrected to cancel out the moment errors, is set. The target trajectories are corrected from one part to another, in a sequence corresponding to the priority sequence, to compensate the moment errors.

Abstract: A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behavior plan of a foot part thereof is disabled. At this time, the variation amount ?S/?t of the area S of a support polygon of the body per time t is minimized and the support polygon when the body drops onto a floor is maximized to distribute an impact which acts upon the body from the floor when the body drops onto the floor to the whole body to suppress the damage to the body to the minimum. Further, the legged mobile robot autonomously restores a standing up posture from an on-floor posture thereof such as a supine posture or a prone posture.

Abstract: The characteristics of actuators themselves and the characteristics of controllers for the actuators are dynamically or statically controlled to achieve stable and highly efficient movements. In a stage in which a leg in the flight state is uplifted such that the reactive force from the floor received by the foot sole of the leg is zero, the characteristics of the respective actuators for the knee joint pitch axis and the ankle pitch and roll axes of the leg in the flight state are set for decreasing the low range gain, increasing the quantity of phase lead and for decreasing the viscous resistance of the actuators, in order to impart mechanical passiveness and fast response characteristics. The followup control for the high frequency range may be achieved as the force of impact at the instant of touchdown is buffered.

Abstract: In a robot having at least one rotating joint (which may have at least two degrees of freedom), in order to perform a high-speed switching operation between a closed link mode and an open link mode with the outside world or a working object, each limb is provided with minimum-required, passive degrees-of-freedom (such as a backlash of a reducer) for removing a dynamic closing error and also the movable range of the limb is properly controlled. Even when an actuator for driving the corresponding joint has no means for obtaining a torque signal, a high-speed switching operation between the closed link mode and the open link mode can be stably achieved.

Abstract: A legged mobile robot itself is responsive to the result of error detection during robot operations to perform error avoiding processing autonomously. In detecting an error, requested commands are all blocked by the internal processing within the robot so that an input to an actuating system does not affect the robot. The type of the error that has occurred is also notified to the actuating system so that feedback to an inputting system 32 may be applied in a manner specific to the error type. When the error is eliminated, that effect is notified to the actuating system to enable re-initiation of the usual command input from the remote operating system.

Abstract: The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method according to the invention if it is lost in the course of a gesture for which the upper limbs take a major role. The apparatus and the method obtain the pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, the trajectory of the ZMP, the pattern of movement of the trunk and that of the upper limbs. Therefore, according to the invention, a robot can determine the gait of the lower limbs so as to realize a stable walk regardless if the robot is standing upright or walking. Particularly, if the robot is made to gesture, using the upper body half including the upper limbs and the trunk while standing upright, it can determine the gait of the lower limbs so as to make a stable walk in response to such a gait of the upper body half.

Abstract: To implement a dynamic, elegant motion performance of an actual robot, a motion editing system is provided which includes a motion editor to edit motions of an upper body and whole body of the robot and a foot trajectory editor to create a gait pattern and lower-body motion to stabilize the entire robot. The foot trajectory editor includes the same gait pattern generator and motion stabilized as those installed in the actual robot. Before performing the edited motions on the actual robot, the motions are created, corrected and stabilized on a 3D viewer.

Abstract: The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method if it is lost in the course of a gesture for which the upper limbs take a major role. The apparatus and the method obtain the pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, the trajectory of the ZMP, the pattern of movement of the trunk and that of the upper limbs. Therefore, a robot can determine the gait of the lower limbs so as to realize a stable walk regardless if the robot is standing upright or walking. Particularly, if the robot is made to gesture, using the upper body half including the upper limbs and the trunk while standing upright, it can determine the gait of the lower limbs so as to make a stable walk in response to such a gait of the upper body half.

Abstract: A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. Motion natterns of a robot including walking are classified into motion units, each motion unit servins as a unit of motion, and one or more motion units are combined to generate various complex motions. Dynamic motion units are defined on the basis of basic dynamic attitudes, and a desired action sequence can be generated by using the dynamic motion units. This is a basic control method necessary for a robot to autonomously perform a continuous motion, a series of continuous motions, or motions which are chanaed in real-time by commands.

Abstract: In a mobile robot, the actuator characteristics are dynamically or statically controlled, during motions of an entire robot body in the course of falldown or descent, to realize stable highly efficient motions. In each stage of the falldown motions, the characteristics of each joint site taking part in controlling the stable area are set so that the low range gain is low, the quantity of phase lead is large and the viscous resistance of the motor is large, in such a manner that these joint sites may be positioned to high accuracy in a controller manner to increase orientation stability. This assures the positioning accuracy of the joints as main component for controlling the quantity ?S/?t as a reference in controlling the falldown motions of the robot body to increase the motion stability.

Abstract: A motion editing system for a robot in which the motion of a robot edited is corrected as the movements performed by an actual robot are checked. An optional range of motion data is reproduced using an actual robot. At this time, an output from each sensor mounted to the actual robot, that is, the sensor information, is transmitted to the motion editing system. The robot's movements are evaluated on the motion editing system based on the sensor information acquired during motion reproduction. If, as a result of the robot's movements, a predetermined evaluation criterium is not met, the motion correction processing is carried out. If the predetermined evaluation criterium is met, a motion data file, in which is embedded the reference sensor information, is formulated.