Abstract: A structure of the present invention has a plurality of links (L) which link a lumbar side connection part (S) and a grounding part (E), and passive joints (M) which link the links (L) to each other, in which a second Jacobian matrix Jp in a coordinate system obtained by rotating a coordinate system of a first Jacobian matrix J which associates a displacement vector ?p of the grounding part (E) with a micro displacement vector ?? of each of the passive joints (M) at an angle ?p satisfies following Formula (1) or Formula (2) using spring constants k1 and k2 and constants C2 and C4 of a spring which controls the micro displacement ?? of two passive joints (M). [ Math .

Abstract: A walking control method of an embodiment includes decomposing a mobile device with legs into a plurality of mass points, decomposing the plurality of decomposed mass points into a first interest mass point and mass points other than the first interest mass point, making a length between the first interest mass point and a contact point on a walking plane constant, making the mass points other than the first interest mass point constrained to an affine-transformed position of the first interest mass point, and generating a constraint trajectory of the mass points other than the first interest mass point in accordance with the constraint when the first interest mass point is moved.

Abstract: The control device 41 includes a desired variable value determining unit (52a) which determines desired values of unknown variables composed of coefficients in respective terms of a polynomial function expressing a desired ZMP trajectory and a landing position correction amount for correcting a desired landing position of a leg from a reference desired landing position. The desired variable value determining unit (52a) uses an evaluation function having the coefficients in the polynomial function and the landing position correction amount as unknown variables, and a plurality of constraint conditions each configured by a linear equality or linear inequality regarding the unknown variables, to determine desired values of the unknown variables, by a solution method for a quadratic programming problem, in such a way as to minimize the value of the evaluation function.

Abstract: Provided is a sensing system (1) in which a desired trajectory determining section (32) determines a first desired trajectory th(t) (where t<t1) whose first derivative is continuous, a second desired trajectory th(t) (where t2?t<t3) whose first derivative is continuous, a third desired trajectory th(t) (where t1?t<t2) configured with a common tangent line to the first and second desired trajectories, and a fourth desired trajectory th(t) (where t35?t<t4) configured with a common tangent line to the second desired trajectory in the current-time cycle and a first desired trajectory in a next-time cycle. A drive mechanism controlling section (33) controls an operation of the drive mechanism so as to track the desired trajectories.

Abstract: The control device 41 includes a desired variable value determining unit (52a) which determines desired values of unknown variables composed of coefficients in respective terms of a polynomial function expressing a desired ZMP trajectory and a landing position correction amount for correcting a desired landing position of a leg from a reference desired landing position. The desired variable value determining unit (52a) uses an evaluation function having the coefficients in the polynomial function and the landing position correction amount as unknown variables, and a plurality of constraint conditions each configured by a linear equality or linear inequality regarding the unknown variables, to determine desired values of the unknown variables, by a solution method for a quadratic programming problem, in such a way as to minimize the value of the evaluation function.

Abstract: A device for generating a desired ZMP trajectory for a mobile robot includes a polynomial function coefficient group determining section (53a) which determines, by regarding the desired ZMP trajectory as a trajectory expressed by a polynomial function, a desired coefficient group composed of desired values of coefficients in respective terms of the polynomial function. The polynomial function coefficient group determining section uses a quadratic evaluation function including square values of the coefficients included in the desired coefficient group as variables and a plurality of constraint conditions each configured by a linear equality or linear inequality about the coefficients, to determine the desired coefficient group, by a solution method for a quadratic programming problem, in such a way as to minimize a value of the evaluation function while fulfilling the constraint conditions.

Abstract: Provided is a sensing system (1) in which a desired trajectory determining section (32) determines a first desired trajectory th(t) (where t<t1) whose first derivative is continuous, a second desired trajectory th(t) (where t2?t<t3) whose first derivative is continuous, a third desired trajectory th(t) (where t1?t<t2) configured with a common tangent line to the first and second desired trajectories, and a fourth desired trajectory th(t) (where t35?t<t4) configured with a common tangent line to the second desired trajectory in the current-time cycle and a first desired trajectory in a next-time cycle. A drive mechanism controlling section (33) controls an operation of the drive mechanism so as to track the desired trajectories.

Abstract: A control device for a mobile body enabling a smooth transition operation between a first mode and a second mode is provided. A change amount of a center of gravity component at a prescribed time is expressed by using an inertial force-dependent manipulated variable component, which changes in accordance with an instantaneous value (d2Zb/dt2(t1) to d2Zb/dt2(t13)) of desired inertial force at the prescribed time (t1 to t13) in the time series of the desired inertial force (d2Zb/dt2(t)) defined by an up-and-down direction motion parameter, and a displacement-dependent manipulated variable component, which changes in accordance with an instantaneous value (Zb(t1) to Zb(t13)) of desired displacement at the prescribed time (t1 to t13) in the time series of the desired displacement (Zb(t)) defined by the up-and-down direction motion parameter.

Abstract: A device for generating a desired ZMP trajectory for a mobile robot includes a polynomial function coefficient group determining section (53a) which determines, by regarding the desired ZMP trajectory as a trajectory expressed by a polynomial function, a desired coefficient group composed of desired values of coefficients in respective terms of the polynomial function. The polynomial function coefficient group determining section uses a quadratic evaluation function including square values of the coefficients included in the desired coefficient group as variables and a plurality of constraint conditions each configured by a linear equality or linear inequality about the coefficients, to determine the desired coefficient group, by a solution method for a quadratic programming problem, in such a way as to minimize a value of the evaluation function while fulfilling the constraint conditions.

Abstract: A control device for a mobile robot capable of stabilizing the posture of the mobile robot while in motion is provided. A control unit (26) for a mobile robot (1) includes a required total floor reaction force central point position calculating unit which calculates a required total floor reaction force central point position (Pzmp(1) to Pzmp(7)) as a position of a total floor reaction force central point by using, as a factor, a first total floor reaction force center reference position (SP(1) to SP(7)) which is defined on the basis of a current time's supporting region (Sd1 to Sd7), i.e. a smallest convex region including ground contact surfaces of current time's supporting limbs, and a next time's supporting region (Sd2 to Sd8), i.e. a smallest convex region including ground contact surfaces of next time's supporting limbs.

Abstract: A motion target generating apparatus calculates the time series of motion accelerations of a base body 2 and the distal end portion of each of movable links 3 and 4 of a robot 1 at a plurality of times after a current time such that the value of a predetermined evaluation function is minimized in a range in which a joint motion constraint condition of each of the movable links 3 and 4 of the robot 1 is satisfied. Based on the calculated values of the motion accelerations at an initial time, new desired motion accelerations of the base body 2 and the distal end portion of each of the movable links 3 and 4 are determined. The desired value for controlling each joint of the robot 1 is determined on the basis of the desired motion accelerations.

Abstract: Provided is a robot capable of achieving more efficient and faster calculation for generating a gait. A target ZMP trajectory of a robot 1 is defined by a linear function of a target landing position that uses a time function as a coefficient. The time function is defined by a function that permits specified function transformation related to time, and a dynamics model is defined by the specified function transformation related to time. Thus, the problem of determining a target landing position is formulated as a problem accompanied by a linear constraint in which a first specified requirement (a target ZMP trajectory linearly approximated by the linear function of a target landing position falls within a permissible existence range) is satisfied.

Abstract: A control device for a mobile robot capable of stabilizing the posture of the mobile robot while in motion is provided. A control unit (26) for a mobile robot (1) includes a required total floor reaction force central point position calculating unit which calculates a required total floor reaction force central point position (Pzmp(1) to Pzmp(7)) as a position of a total floor reaction force central point by using, as a factor, a first total floor reaction force center reference position (SP(1) to SP(7)) which is defined on the basis of a current time's supporting region (Sd1 to Sd7), i.e. a smallest convex region including ground contact surfaces of current time's supporting limbs, and a next time's supporting region (Sd2 to Sd8), i.e. a smallest convex region including ground contact surfaces of next time's supporting limbs.

Abstract: A control device for a mobile body enabling a smooth transition operation between a first mode and a second mode is provided. A change amount of a center of gravity component at a prescribed time is expressed by using an inertial force-dependent manipulated variable component, which changes in accordance with an instantaneous value (d2Zb/dt2(t1) to d2Zb/dt2(t13)) of desired inertial force at the prescribed time (t1 to t13) in the time series of the desired inertial force (d2Zb/dt2(t)) defined by an up-and-down direction motion parameter, and a displacement-dependent manipulated variable component, which changes in accordance with an instantaneous value (Zb(t1) to Zb(t13)) of desired displacement at the prescribed time (t1 to t13) in the time series of the desired displacement (Zb(t)) defined by the up-and-down direction motion parameter.

Abstract: A motion target generating apparatus calculates the time series of motion accelerations of a base body 2 and the distal end portion of each of movable links 3 and 4 of a robot 1 at a plurality of times after a current time such that the value of a predetermined evaluation function is minimized in a range in which a joint motion constraint condition of each of the movable links 3 and 4 of the robot 1 is satisfied. Based on the calculated values of the motion accelerations at an initial time, new desired motion accelerations of the base body 2 and the distal end portion of each of the movable links 3 and 4 are determined. The desired value for controlling each joint of the robot 1 is determined on the basis of the desired motion accelerations.

Abstract: Provided is a robot capable of achieving more efficient and faster calculation for generating a gait. A target ZMP trajectory of a robot 1 is defined by a linear function of a target landing position that uses a time function as a coefficient. The time function is defined by a function that permits specified function transformation related to time, and a dynamics model is defined by the specified function transformation related to time. Thus, the problem of determining a target landing position is formulated as a problem accompanied by a linear constraint in which a first specified requirement (a target ZMP trajectory linearly approximated by the linear function of a target landing position falls within a permissible existence range) is satisfied.

Abstract: A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form. Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.

Abstract: Provided is a control system and the like capable of deriving at high speed a solution to the optimization problem of combinations of continuous state variable and discrete state variables. According to the control system, by setting a search range (first search range) of internal action candidates ai1 for an internal module mod1 smaller than a search range (second search range) of external action candidates ai2 for a low-frequency external module mod2, the arithmetic computing speed is accelerated accordingly. Thereby, when it is necessary for a robot R to cope with a disturbance emergently on the basis of measured state values of the robot R, the operation of robot R can be controlled according to the arithmetic computing result from the high-frequency internal module mod1 without waiting for the arithmetic computing result form the low-frequency external module mod2.

Abstract: Provided is an optimization control system in an attempt to improve searching accuracy of an optimal solution defining a behavior mode for a control subject. A plan storing element 120 is configured to obtain a current update result of a joint probability distribution p(u, x) on the basis of a current update result of a probability distribution p(x) from a state estimating element 110 and a current update result of the conditional probability distribution p(u|x) from a behavior searching element 200. The behavior searching element 200 is configured to determine the conditional probability distribution p(u|x) as a current basis for obtaining the current update result of the conditional probability distribution p(u|x) on the basis of the current update result of the probability distribution p(x) from the state estimating element 110 and a previous update result of the joint probability distribution p(u, x) from the plan storing element 120.

Abstract: Provided is an optimization control system in an attempt to improve searching accuracy of an optimal solution defining a behavior mode for a control subject. A plan storing element 120 is configured to obtain a current update result of a joint probability distribution p(u, x) on the basis of a current update result of a probability distribution p(x) from a state estimating element 110 and a current update result of the conditional probability distribution p(u|x) from a behavior searching element 200. The behavior searching element 200 is configured to determine the conditional probability distribution p(u|x) as a current basis for obtaining the current update result of the conditional probability distribution p(u|x) on the basis of the current update result of the probability distribution p(x) from the state estimating element 110 and a previous update result of the joint probability distribution p(u, x) from the plan storing element 120.