JP2008087109A - Robot control system - Google Patents

Abstract

A robot control system that makes it easy to maneuver a mobile robot as intended by an operator.
A robot control system for operating a mobile robot by an operator operating a controller, wherein the controller inputs means for inputting an operation command to the mobile robot, and display means for displaying the control state of the mobile robot to the operator. The mobile robot has a main body, a means for moving the main body, a means for detecting the posture state of the mobile robot, and a target value of the posture state of the mobile robot based on an operation command input from the controller. Means for determining, means for controlling the moving means so that the attitude value of the mobile robot is in the state indicated by the determined target value, means for calculating a difference value between the attitude state detected by the detecting means and the target value; The display means displays an index based on the difference value calculated by the mobile robot.
[Selection] Figure 2

Description

  The present invention relates to a robot control system including a mobile robot and a controller for operating the mobile robot.

A robot control system is known in which an operator (operator) operates a mobile robot by operating a controller. For example, the controller is disposed in a place isolated from the mobile robot, and the operator operates the controller to remotely control the mobile robot. In such a robot control system, a camera is mounted on the mobile robot and a display unit is mounted on the controller, and an image captured by the camera of the mobile robot is displayed on the display unit of the controller. The operator controls the mobile robot by operating the controller while confirming the video captured by the mobile robot camera.
Patent Document 1 discloses a technique for stably walking by driving two legs based on an image of a camera mounted on a walking robot.
JP 2001-277159 A

  In the robot control system described above, the operator operates the controller while confirming an image captured by the mobile robot camera. However, when the mobile robot is moving, the image of the camera shakes with the movement of the mobile robot, so it is difficult to accurately check the state of the mobile robot. In addition, although the camera image can grasp the situation around the mobile robot, the mobile robot's posture status, such as the position of the mobile robot and the posture of the mobile robot, can be confirmed accurately. It is not possible. Also, in the video of the camera, when the floor surface on which the mobile robot moves is tilted or when there are obstacles on the floor surface, it is not possible to confirm them accurately. Therefore, in the conventional robot control system, it is very difficult to steer the mobile robot as intended by the operator.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a robot control system that makes it easy to maneuver a mobile robot as intended by an operator.

The robot control system of the present invention has a mobile robot and a controller for maneuvering the mobile robot. The controller has input means for inputting an operation command to the mobile robot and display means for displaying the control state of the mobile robot to the operator. The mobile robot includes a main body, a moving means for moving the main body, a detecting means for detecting the posture state of the mobile robot, and a posture state of the mobile robot when a predetermined time has elapsed based on an operation command input from the controller. A target value determining means for determining the target value of the mobile robot, a control means for controlling the moving means so that the determined target value indicates the posture state of the mobile robot when the predetermined time elapses, and detected when the predetermined time elapses Difference value calculating means for calculating a difference value between the posture state detected by the means and the target value. The display means displays an index based on the difference value calculated by the mobile robot.
In this robot control system, an indicator based on a difference value between a detection value (actual mobile robot posture state) detected by the detection means and a target value (mobile robot posture state instructed by the operator) on the display means of the controller. Is displayed. A large difference value means that the mobile robot is not controlled according to the target value for some reason. Therefore, the operator of the mobile robot can operate the mobile robot while confirming whether the mobile robot is controlled according to the target value from the index based on the difference value displayed on the display means. Therefore, it becomes easy to maneuver the mobile robot as intended by the operator.

In the robot control system described above, the detection means detects the position of the main body, the target value determination means determines the target position of the main body when a predetermined time has elapsed based on the input operation command, and the control means determines that the predetermined time has elapsed. It is preferable that the moving unit is sometimes controlled so that the main body moves to the target position, and the difference value calculating unit calculates the difference value between the position of the main body detected by the detecting unit and the target position when the predetermined time has elapsed.
According to such a configuration, an indicator based on the difference value between the target position of the main body and the current position is displayed on the display means. When this difference value is large, it means that a disturbance or the like acts and the mobile robot does not move exactly as intended by the operator. Therefore, the operator of the mobile robot can maneuver the mobile robot while confirming whether a disturbance is acting on the mobile robot from the index based on the difference value. Therefore, it becomes easy to move the mobile robot to the position intended by the operator.

In the robot control system described above, the target value determination means determines the target position of the main body at a predetermined cycle, and the control means calculates the difference value calculation means at the previous cycle target position determined by the target value determination means and the previous cycle. It is preferable to control the moving means based on the difference value.
According to such a configuration, the mobile robot can be accurately moved according to the target position.

In the robot control system described above, the detection means detects the inclination angle of the main body, the target value determination means determines the target inclination angle of the main body when a predetermined time has passed based on the input operation command, and the control means determines the predetermined inclination angle. The moving means is controlled so that the inclination angle of the main body becomes the target inclination angle when time elapses, and the difference value calculation means calculates the difference value between the inclination angle of the main body detected by the detection means and the target inclination angle when the predetermined time elapses. It is preferable to do.
According to such a configuration, an indicator based on a difference value between the target tilt angle and the tilt angle of the main body is displayed on the display unit. A large difference value means that the moving robot is not accurately controlled because the moving floor is inclined or the mobile robot rides on an obstacle. Therefore, the operator of the mobile robot can maneuver the mobile robot while confirming whether the floor surface is tilted from the index based on the difference value and whether the mobile robot is riding on an obstacle. Therefore, it becomes easy to maneuver the mobile robot as intended by the operator.

The present invention also provides a new robot control system capable of maneuvering a walking robot in a stable state.
The robot control system according to the present invention includes a main body, a walking robot including a first leg and a second leg connected to the main body, and a controller for operating the walking robot. The controller has input means for inputting an operation command to the walking robot and display means for displaying the control state of the walking robot to the operator. The walking robot includes a first ankle joint that changes an angle of a grounding portion of the first leg, a first actuator that drives the first ankle joint, and a second ankle that changes the angle of the grounding portion of the second leg. A joint, a second actuator for driving the second ankle joint, a target angle determining means for determining a target angle of each ankle joint based on an input operation command, and a detection for detecting a ground contact state of each leg A correction means for correcting the target angle of the first ankle joint and the second ankle joint based on the ground contact state of each leg and the ankle joint whose target angle has been corrected; Control that controls the actuator that drives the joint so that it reaches the target angle, and controls the actuator that drives the joint so that the joint becomes the determined target angle for an ankle joint whose target angle is not corrected It has a step. The display means displays an index based on the angle correction amount of the first ankle joint and / or the second ankle joint.
In the walking robot of this robot control system, the contact state of each leg is detected by the detecting means, and the angle of the ankle joint of each leg is corrected based on the detected contact state. Thereby, the ankle joint of each leg is controlled at an angle corresponding to the ground contact state of each leg, and the walking robot can be suitably grounded (inverted) on the floor surface.
An indicator based on the angle correction amount of the first ankle joint and / or the second ankle joint is displayed on the display means of the controller. A large angle correction amount means that the ground contact state of each leg of the walking robot is deviated from an ideal state (a state of grounding on a horizontal floor surface). Therefore, the operator of the walking robot determines whether each leg of the walking robot is normally grounded based on the index based on the angle correction amount displayed on the display means (that is, the floor surface on which each leg is grounded). The robot can be operated while confirming Therefore, it becomes easy to steer the walking robot as intended by the operator.

The main features of the embodiments described in detail below are listed first.
(Mode 1) The robot control system includes a controller and a walking robot.
(Mode 2) The controller is operated by the operator (operator), and outputs a joystick that outputs the operation amount (motion command) at a predetermined cycle, a transmission antenna that transmits the motion command output from the joystick to the walking robot, and walking A receiving antenna for receiving data transmitted from the robot and display means for displaying an image corresponding to the data received by the receiving antenna.
(Mode 3) The walking robot has a main body, and a first leg and a second leg connected to the main body.
(Mode 4) The first leg has a plurality of joints including a first ankle joint that changes the angle of the ground contact part of the first leg, and each joint is a joint according to a control command value input. Is installed.
(Mode 5) The second leg has a plurality of joints including a first ankle joint for changing the angle of the ground contact part of the second leg, and each joint is a joint according to a control command value inputted. Is installed.
(Mode 6) The walking robot includes a receiving antenna that receives an operation command transmitted from the controller in a predetermined cycle, a target position calculation unit that calculates a target position of the main body based on the received operation command, and a calculated target position Target movement amount calculation means for calculating the target movement amount of the main body based on the positional deviation amount of the main body in the previous cycle, and a target for calculating the target joint angle of each joint in the current cycle based on the calculated target movement amount Joint angle calculation means, ground contact state detection means for detecting the ground contact state of the leg, and target joint angle correction for correcting the target joint angles of the first and second ankle joints based on the detected ground contact state of the leg And a first control hand for inputting a control command value to an actuator corresponding to the joint so that the first ankle joint and the second ankle joint have the corrected target joint angles by the next cycle. And second control means for inputting control command values to actuators corresponding to the joints other than the first ankle joint and the second ankle joint so that the joint angles other than the first ankle joint are calculated by the next cycle. The tilt angle sensor for detecting the tilt angle of the main body, the target tilt angle of the main body calculated from the calculated target joint angle of each joint, and the tilt angle deviation amount of the main body from the tilt angle of the main body detected by the tilt angle sensor The angle deviation amount calculating means for calculating the position of the main body, the position detecting means for detecting the position of the main body, the position deviation amount for calculating the position deviation amount of the main body from the calculated target position and the position of the main body detected by the position detecting means. A calculation means, a camera that captures the traveling direction of the walking robot, a correction amount of the target joint angle of the first ankle joint and the second ankle joint, a calculated displacement amount of the main body, and a calculated tilt angle of the main body The amount of deviation and the camera Further it has a transmitting antenna for transmitted video controller.
(Embodiment 7) The grounding state detection means is based on the difference between the control command value input to the first ankle joint actuator and the control command value input to the second ankle joint actuator in the previous cycle. The quality of the grounding state is detected.

  A robot control system according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic perspective view of the robot control system 8, and FIG. 2 is a block diagram of the robot control system 8. As shown in FIGS. 1 and 2, the robot control system 8 includes a walking robot 10 and a controller 80 that transmits an operation command to the walking robot 10.

(Configuration of walking robot 10)
As shown in FIG. 1, the walking robot 10 is configured by connecting a plurality of parts with joints. That is, the walking robot 10 includes a main body 11, a head 12, a left arm part 13, a right arm part 14, a right leg part 15, and a left leg part 16 connected to the main body 11 via a joint 18. The left arm portion 13 and the right arm portion 14 are configured by connecting a plurality of parts via joints (elbow joints, wrist joints) 18. The right leg 15 has one end connected to the main body 11 via a joint (hip joint) 18 and a lower leg connected to the other end of the upper leg 15 a via a joint (knee joint) 18. It is comprised by the foot 15c connected via the part 15b and the other end of the leg part 15b, and the ankle joint (two joints 20 and 22). The left leg 16 has an upper leg 16 a having one end connected to the main body 11 via a joint (hip joint) 18, and a lower leg connected to the other end of the upper leg 16 a via a joint (knee joint) 18. The leg 16c is connected to the other end of the leg 16b and the lower leg 16b via an ankle joint (two joints 24 and 26).

  As shown in FIG. 2, each joint 18 includes a motor 18a. Each motor 18a is electrically connected to a corresponding servo amplifier 18d (described in detail later). Each motor 18a is driven by receiving a control command value from each servo amplifier 18d. The angle of the joint 18 is changed by driving the motor 18a. Each motor 18a is provided with an encoder 18b for detecting the angle of the joint 18 (more specifically, the angle with respect to the angle of the joint 18 in the upright state (state of FIG. 1) of the walking robot 10). Each encoder 18b is electrically connected to a corresponding servo amplifier 18d. The angle of the joint 18 detected by each encoder 18b is output to the corresponding servo amplifier 18d.

Similarly, the joint 20 includes a motor 20a that changes the angle of the joint 20 according to a control command value input from a servo amplifier 20d described later. The motor 20a detects the angle θ20 of the joint 20 and detects the servo amplifier 20d. Is installed.
Similarly, the joint 22 includes a motor 22a that changes the angle of the joint 22 in accordance with a control command value input from a servo amplifier 22d described later. The motor 22a detects the angle θ22 of the joint 22 and detects the servo amplifier 22d. An encoder 22b that outputs the signal is installed.
Similarly, the joint 24 includes a motor 24a that changes the angle of the joint 24 according to a control command value input from a servo amplifier 24d described later. The motor 24a detects the angle θ24 of the joint 24 and detects the servo amplifier 24d. Is installed.
Similarly, the joint 26 includes a motor 26a that changes the angle of the joint 26 in accordance with a control command value input from a servo amplifier 26d described later. The motor 26a detects the angle θ26 of the joint 26 and detects the servo amplifier 26d. An encoder 26b is provided for output.

FIG. 3 shows an enlarged view of the joints 20 and 22 of the right leg 15 and the joints 24 and 26 of the left leg 16.
The joint 20 rotates the foot 15c around the rotation axis 20c with respect to the crus 15b. The encoder 20b detects an angle θ20 around the rotation axis 20c of the joint 20.
The joint 22 rotates the foot 15c around the rotation axis 22c with respect to the crus 15b. The encoder 22b detects an angle θ22 around the rotation axis 22c of the joint 22.
The joint 24 rotates the foot 16c around the rotation axis 24c with respect to the crus 16b. The encoder 24b detects an angle θ24 around the rotation axis 24c of the joint 24.
The joint 26 rotates the foot 16c around the rotation axis 26c with respect to the crus 16b. The encoder 26b detects an angle θ26 around the rotation axis 26c of the joint 26.
As is apparent from the figure, the joint 20 of the right leg 15 corresponds to the joint 24 of the left leg 16. Further, the joint 22 of the right leg 15 corresponds to the joint 26 of the left leg 16.

  2, the walking robot 10 includes a receiving antenna 30, a transmitting antenna 32, a control device 40, an inclination angle sensor 70, an acceleration sensor 72, a camera 74, and servo amplifiers 18d to 26d. I have.

  The receiving antenna 30 is electrically connected to the control device 40. The receiving antenna 30 receives a radio signal (operation command data to be described later) transmitted from the controller 80 every control cycle (a cycle in which a series of processing executed by the control device 40 to control the walking robot 10). The signal is output to the control device 40.

  The tilt angle sensor 70 is mounted on the main body 11 of the walking robot 10. The tilt angle sensor 70 is connected to the control device 40. The tilt angle sensor 70 detects the tilt angle (pitch angle P, roll angle R) of the main body 11. The tilt angle data (P, R) of the main body 11 detected by the tilt angle sensor 70 is read by the control device 40.

  The acceleration sensor 72 is mounted on the main body 11 of the walking robot 10. The acceleration sensor 72 is connected to the control device 40. The acceleration sensor 72 is a triaxial acceleration sensor and detects accelerations (ax, ay, az) in the front-rear direction, the left-right direction, and the vertical direction of the main body 11. The acceleration data (ax, ay, az) detected by the acceleration sensor 72 is read by the control device 40.

  The camera 74 is mounted on the head 12 of the walking robot 10. The camera 74 is electrically connected to the transmission antenna 32 via the control device 40. The camera 74 captures the traveling direction of the walking robot 10. An image captured by the camera 74 is read by the control device 40.

  The control device 40 is connected to the reception antenna 30, the transmission antenna 32, the servo amplifiers 18 d to 26 d, the tilt angle sensor 70, the acceleration sensor 72, and the camera 74. The control device 40 includes a target position calculation unit 42, a target movement amount calculation unit 44, a target joint angle calculation unit 48, a target joint angle correction unit 50, a tilt angle deviation amount calculation unit 52, a current position calculation unit 54, and a position deviation amount calculation. A portion 56 is provided.

  Operation command data is input from the receiving antenna 30 to the target position calculation unit 42 for each control period. The target position calculation unit 42 calculates a target position (xA, yA) of the main body 11 (more specifically, a target position of the acceleration sensor 72 mounted on the main body 11) based on the input operation command data. The target position (xA, yA) is calculated as xy coordinates in a global coordinate system (that is, a coordinate system defined in the work space in which the walking robot 10 moves). The target position calculation unit 42 outputs the calculated target position (xA, yA) to the target movement amount calculation unit 44 and the positional deviation amount calculation unit 56.

The target movement amount calculation unit 44 receives the target position (xA, yA) of the main body 11 from the target position calculation unit 42 for each control cycle. Further, the position shift data (Δx, Δy) (described in detail later) in the previous control cycle is input to the target movement amount calculation unit 44 from the position shift amount calculation unit 56. The target movement amount calculation unit 44 calculates the target from the input target position (xA, yA), the target position (xA ₋₁ , yA ₋₁ ) of the previous control cycle, and the positional shift data (Δx, Δy) of the previous cycle. The movement amount (dx, dy) is calculated and output to the target joint angle calculation unit 48. For example, the target movement amount calculation unit 44 calculates an ideal target movement amount from the input target position (xA, yA) and the target position (xA ₋₁ , yA ₋₁ ) of the previous control cycle. The ideal target movement amount is corrected by the positional deviation data (Δx, Δy) of the previous cycle, and the final target movement amount (dx, dy) is calculated.

  A target movement amount (dx, dy) is input to the target joint angle calculation unit 48 for each control cycle from the target movement amount calculation unit 44. The target joint angle calculation unit 48 moves the main body 11 by the input target movement amount (dx, dy) during the current control period (that is, the main body 11 moves to the target position ( xA, yA) so that the target joint angles θA18 to θA26 of the joints 18 to 26 of the walking robot 10 in the current control cycle are calculated. Thus, by calculating the target joint angles θA18 to θA26 of the joints 18 to 26, the target posture of the walking robot 10 (each part of the walking robot 10 (main body 11, head 12, arm) in the current control cycle is calculated. The target postures of the parts 13, 14 and the legs 15, 16) are defined. The target joint angle calculation unit 48 outputs the target joint angle θA18 of each joint 18 among the calculated target joint angles θA18 to θA26 to the corresponding servo amplifier 18d. Further, the target joint angle calculation unit 48 outputs the calculated target joint angles θA 20 to 26 of the joints 20 to 26 and the target posture of the walking robot 10 to the target joint angle correction unit 50. The target joint angle calculation unit 48 outputs the target posture of the walking robot 10 to the tilt angle deviation amount calculation unit 52.

The target joint angle correction unit 50 receives the target joint angles θA20 to θA26 of the joints 20 to 26 and the target posture of the walking robot 10 from the target joint angle calculation unit 48 for each control cycle. Further, the target joint angle correction unit 50 includes control command values T20 to T26 output by the servo amplifiers 20d to 26d in the previous control cycle (hereinafter, the control command values of the previous cycle are T20 _{−1 to} T26 ₋₁ ). Is displayed). Target joint angle corrector 50, based on the input control command value _{T20 -1 ~T26} -1 and the input target posture, it determines whether or not the foot 15c, 16c is grounded properly. The target joint angle correction unit 50 corrects the input target joint angles θA20 to θA26 according to the determination result, and outputs the corrected target joint angles θA20 ′ to θA26 ′ to the servo amplifiers 20d to 26d. Further, the target joint angle correction unit 50 outputs a correction amount (that is, ankle joint correction amount data) when the target joint angles θA20 to θA26 are corrected to the transmission antenna 32. As will be described later, the target joint angle correction unit 50 corrects the target joint angles θA20 and θA24 with the same correction amount ΔθA2, and corrects the target joint angles θA22 and θA26 with the same correction amount ΔθA1. Therefore, the target joint angle correction unit 50 transmits the correction amount ΔθA2 of the target joint angle θA20 (θA24) and the ankle joint correction amount data (ΔθA1, ΔθA2) indicating the correction amount ΔθA1 of the target joint angle θA22 (θA26). Output to.

  The target posture of the walking robot 10 is input from the target joint angle calculation unit 48 to the tilt angle deviation amount calculation unit 52. The tilt angle deviation amount calculation unit 52 calculates a target tilt angle (pitch angle PA, roll angle RA) of the main body 11 from the input target posture. Further, the tilt angle deviation amount calculation unit 52 reads the tilt angles (P, R) of the main body 11 detected by the tilt angle sensor 70 after the walking robot 10 performs the operation in the current control cycle. Then, a difference value (ΔP, ΔR) between the calculated target inclination angle (PA, RA) and the read inclination angle (P, R) (that is, inclination angle deviation data (ΔP, ΔR)) is calculated. The tilt angle shift amount calculation unit 52 outputs the calculated tilt angle shift data (ΔP, ΔR) to the transmission antenna 32.

  The current position calculation unit 54 reads acceleration data (ax, ay, az) detected by the acceleration sensor 72 at a predetermined cycle (a cycle shorter than the control cycle), and the position of the main body 11 calculated immediately before and the read acceleration data ( The current position (x, y, z) of the main body 11 (more specifically, the current position of the acceleration sensor 72 mounted on the main body 11) is calculated from ax, ay, az). The current position (x, y, z) is calculated as xyz coordinates in the global coordinate system. The xy coordinates (that is, the current position (x, y)) of the current position (x, y, z) of the main body 11 calculated by the current position calculation unit 54 are read by the positional deviation amount calculation unit 56 every control cycle.

  The positional deviation amount calculation unit 56 reads the current position (x, y) of the main body 11 from the current position calculation unit 54 for each control cycle. Further, the target position (xA, yA) of the main body 11 is input from the target position calculation unit 42 to the positional deviation amount calculation unit 56 for each control cycle. The positional deviation amount calculation unit 56 calculates a difference value between the read current position (x, y) of the main body 11 and the input target position (xA, yA) of the main body 11 (that is, positional deviation data (Δx, Δy)). Is calculated. The positional deviation amount calculation unit 56 outputs the calculated positional deviation data (Δx, Δy) to the transmission antenna 32. Further, the positional deviation amount calculation unit 56 outputs the calculated positional deviation data (Δx, Δy) to the target movement amount calculation unit 44.

  The servo amplifiers 18d to 26d are electrically connected to the corresponding motors 18a to 26a, the corresponding encoders 18b to 26b, and the control device 40. A target joint angle is input to the servo amplifiers 18d to 26d from the control device 40 for each control cycle. In addition, the current angles of the joints 18 to 26 are input to the servo amplifiers 18d to 26d from the corresponding encoders 18b to 26b. The servo amplifiers 18d to 26d output control command values T18 to T26 to the motors 18a to 26a according to the target joint angles of the joints 18 to 26 and the current angles of the joints 18 to 26, and drive the motors 18a to 26a. As a result, the joints 18 to 26 are driven to an angle corresponding to the target joint angle calculated by the control device 40.

  Various data (tilt angle deviation data (ΔP, ΔR), position deviation data (Δx, Δy), ankle joint correction amount data (ΔθA1, ΔθA2), and image data) are transmitted from the control device 40 to the transmission antenna 32 for each control cycle. Is input. The transmission antenna 32 transmits each input data as a radio signal. As a result, these data are transmitted to the controller 80.

(Configuration of controller 80)
The controller 80 includes a joystick 82, a transmission antenna 84, a reception antenna 86, and a display device 88.
The joystick 82 is electrically connected to the transmission antenna 84. The joystick 82 includes an operation lever and an arithmetic device. The operation lever can be operated up, down, left and right. When the operator operates the operation lever, the arithmetic unit outputs operation command data for instructing the movement direction and movement speed of the walking robot 10 to the transmission antenna 84 at each control period based on the operation direction and operation amount of the operation lever. To do.
Operation command data is input to the transmission antenna 84 from the joystick 82 for each control period. The transmission antenna 84 transmits the input operation command data as a radio signal. As a result, the motion command data is transmitted to the walking robot 10.
The receiving antenna 86 is electrically connected to the display device 88. The receiving antenna 86 is a radio signal transmitted from the walking robot 10 every control cycle (ie, tilt angle deviation data (ΔP, ΔR), position deviation data (Δx, Δy), ankle joint correction amount data (ΔθA1, ΔθA2)). And image data). Each data received by the receiving antenna 86 is input to the display device 88.
The display device 88 controls various data (tilt angle deviation data (ΔP, ΔR), position deviation data (Δx, Δy), ankle joint correction amount data (ΔθA1, ΔθA2) and image data) received by the receiving antenna 86. Input every cycle. An image corresponding to each input data is displayed on the display screen of the display device 88. FIG. 4 shows an example of an image displayed on the display screen of the display device 88. As shown in FIG. 4, an image based on the input image data (that is, an image taken by the camera 74) is displayed on the main portion M of the display screen. Further, in the upper part N of the display screen, the values of the tilt angle deviation data (ΔP, ΔR), the position deviation data (Δx, Δy), and the ankle joint correction amount data (ΔθA1, ΔθA2) are displayed in a graph. . Each data is input to the display device 88 for each control cycle, and the display device 88 updates the display screen every time each data is input. Accordingly, an image captured by the camera 74 is displayed as a substantially real-time moving image in the main portion M, and the tilt angle deviation data (ΔP, ΔR), the position deviation data (Δx, Δy), and ankle joint correction amount data are displayed in the upper part N. Each value of (ΔθA1, ΔθA2) is displayed in substantially real time.

(Regarding correction of target joint angles of ankle joints 20 to 26)
Next, processing in which the target joint angle correction unit 50 corrects the target joint angles θA20 to θA26 of the ankle joints 20 to 26 will be described in detail with reference to FIGS. FIG. 5 is a detailed explanatory diagram of the portion X in FIG. 2, and FIG. 6 is a flowchart of processing in which the target joint angle correction unit 50 corrects the target joint angles θA20 to θA26.

As described above, when the target joint angle correction unit 50 outputs the target joint angles θA20 ′ to θA26 ′ to the servo amplifiers 20d to 26d, the servo amplifiers 20d to 26d have the angles of the joints 20 to 26 as the target joint angles θA20 ′ to θA26. The control command values T20 to T26 are output to the motors 20a to 26a so as to become '. Further, as shown in FIG. 5, the control command values T20 to T26 output from the servo amplifiers 20d to 26d are input to the target joint angle correction unit 50. The target joint angle correction unit 50 stores the input control command values T20 to T26. Therefore, at the start of the flowchart of FIG. 6, the target joint angle correction unit 50 stores the control command values T20 _{−1 to} T26 ₋₁ of the previous control cycle.

6, the target joint angles θA20 to θA26 and the target posture of the walking robot 10 are input to the target joint angle correction unit 50. Then, the target joint angle correction unit 50 determines whether or not the input target posture is a posture in which both the leg portions 15 and 16 are grounded (that is, a posture in which the walking robot 10 is inverted with both legs) (step S4). . When the target posture of the walking robot 10 is not a posture in which both legs 15 and 16 are grounded (that is, NO in step S4), the target joint angle correction unit 50 directly uses the target joint angles θA20 to θA26 as the target joint angles θA20 ′ to θA26. 'Is calculated (step S6). When the target posture of the walking robot 10 is a posture in which both the leg portions 15 and 16 are grounded (that is, YES in step S4), the target joint angle correction unit 50 stores the control command value T20 _{−1 in the} previous cycle stored. ～T26 _-1 from the difference value _{ΔT1 (= || T22 -1 || T26} -1 ||) and _{ΔT2 (= || T20 -1 || T24} -1 ||) is calculated (step S8). Based on the difference values ΔT1 and ΔT2, it is determined whether or not the feet 15c and 16c are normally grounded.

For example, as shown in FIG. 7, it is assumed that the left leg 16 rides on an obstacle on the floor while the walking robot 10 is standing on both legs. In this case, the foot 16c comes into contact with the obstacle at the point A near the outside, the foot 15c comes into contact with the floor at the point B near the outside, and the walking robot 10 tilts to the right.
When the foot 16c comes into contact with the obstacle at the point A, the floor reaction force F1 acts on the foot 16c from the contact point A. As a result, a moment M1 acts on the foot 16c around the rotation axis 26c of the joint 26. In such a case, the servo amplifier 26d outputs a control command value T26 to the motor 26a in order to maintain the angle of the joint 26 at the target joint angle θA26, and drives the joint 26 with the torque M1 ′ in a direction to cancel the moment M1. .
Further, a floor reaction force F2 is applied to the foot 15c from the contact point B, and a moment M2 is applied to the foot 15c around the rotation axis 22c of the joint 22. In such a case, the servo amplifier 22d outputs the control command value T22 to the motor 22a in order to maintain the angle of the joint 22 at the target angle θA22, and drives the joint 22 with the torque M2 ′ in the direction to cancel the moment M2.
As described above, when the feet 15c and 16c cannot be properly grounded and a moment acts on the feet 15c and 16c, the servo amplifiers 22d and 26d drive the motors 22a and 26a in a direction to cancel the moments M1 and M2. Therefore, the servo amplifiers 22d and 26d drive the motor 22a and the motor 26a with high torque. As described above, when the motor 22a and the motor 26a are driven at a high torque for a long time, the servos of the motor 22a and the motor 26a are dropped, so the angles of the feet 15c and 16c need to be corrected.
Further, when the walking robot 10 is tilted, the magnitudes of the floor reaction force F2 acting on the foot 15c and the floor reaction force F1 acting on the foot 16c are different. Further, the direction in which the moment M2 acts on the floor reaction force F2 (angle φ2 in FIG. 7) is different from the direction in which the moment M1 acts on the floor reaction force F1 (angle φ1 in FIG. 7). Therefore, the magnitude of the moment M2 acting on the foot 15c is different from the magnitude of the moment M1 acting on the foot 16c. For this reason, the magnitudes of the drive torque M2 ′ of the motor 22a and the drive torque M1 ′ of the motor 26a are also different. That is, the control command value T22 input to the motor 22a is different from the control command value T26 input to the motor 26a. Therefore, whether or not the walking robot 10 is normally grounded can be determined based on the difference between the magnitude (absolute value) of the control command value T22 and the magnitude (absolute value) of the control command value T26.

Similarly, as shown in FIG. 8, when the left leg 16 rides on an obstacle on the floor while the walking robot 10 is standing on both feet, the foot 16 c is obstructed at a point C near the front side. The foot 15c comes into contact with the floor at a point D near the rear side, and the walking robot 10 tilts backward. In such a case, the difference value ΔT2 of the absolute value of the motor 20a is outputted to the previous period to the absolute value and the motor 24a of the control command value _{T20 -1} outputted in the previous cycle _{T24 -1} is the threshold [Delta] T _min It is possible to determine whether or not the feet 15c and 16c are normally grounded in the front-rear direction of the walking robot 10.

Accordingly, in step S10, the target joint angle correction unit 50 determines whether or not the difference value ΔT1 is larger than the threshold value ΔT _min . Target joint angle corrector 50, when the difference value ΔT1 is larger than the threshold value [Delta] T _min adds a predetermined value to the angle correction amount Derutashitaei1 _-1 in the previous cycle, it calculates an angle correction amount Derutashitaei1 in the current cycle. Then, the target joint angles θA22 and θA26 are corrected by the calculated angle correction amount ΔθA1 (step S12). At this time, the target joint angle correction unit 50 corrects the target joint angles θA22 and θA26 in the direction opposite to the direction in which the motors 22a and 26a are driving (for example, the directions of moments M1 and M2 in FIG. 7). In this manner, θA22 and θA26 are corrected, and the corrected target joint angles θA22 ′ and θA26 ′ are calculated.
On the other hand, when the difference value ΔT1 is less than the threshold value [Delta] T _min is (that is, NO in step S10), and the target joint angle corrector 50, the same correction amount and the correction amount Derutashitaei1 _-1 of the previous period, the target joint angle θA22 , ΘA26 are corrected, and target joint angles θA22 ′ and θA26 ′ are calculated (step S14).
In step S16, the target joint angle correction unit 50 determines whether or not the difference value ΔT2 is larger than the threshold value ΔT _min . Target joint angle corrector 50, when the difference value ΔT2 is larger than the threshold value [Delta] T _min adds a predetermined value to the angle correction amount Derutashitaei2 _-1 in the previous cycle, it calculates an angle correction amount Derutashitaei2 in the current cycle. Then, the target joint angles θA20 and θA24 are corrected by the calculated angle correction amount ΔθA2 (step S18). At this time, the target joint angle correction unit 50 corrects the target joint angles θA20 and θA24 in the direction opposite to the direction in which the motors 20a and 24a are driven. In this manner, θA20 and θA24 are corrected, and the corrected target joint angles θA20 ′ and θA24 ′ are calculated.
On the other hand, when the difference value ΔT2 is smaller than the threshold value [Delta] T _min is (that is, NO in step S16), and the target joint angle corrector 50, the same correction amount and the correction amount Derutashitaei2 _-1 of the previous period, the target joint angle θA20 , ΘA24 are corrected, and target joint angles θA20 ′ and θA24 ′ are calculated (step S20).

When the target joint angles θA20 ′ to θA26 ′ are calculated, the target joint angle correction unit 50 outputs the calculated target joint angles θA20 ′ to θA26 ′ to the servo amplifiers 20d to 26d (step S22). The servo amplifiers 20d to 26d output control command values T20 to T26 according to the input target joint angles θA20 ′ to θA26 ′. The output control command values T20 to T26 are input to the motors 20a to 26a, respectively, and the motors 20a to 26a are driven. As a result, the angles of the joints 20 to 26 are controlled to angles corresponding to the target joint angles θA20 ′ to θA26 ′. The control command values T20 to T26 output from the servo amplifiers 20d to 26d are input to the target joint angle correction unit 50. Then, the target joint angle correction unit 50 stores the control command values T20 to T26 (step 24). The stored control command value T20~T26, in the next cycle is used as the previous control command value _{T20 -1 ~T26} -1.

As described above, when the feet 15c and 16c are not normally grounded, the angle of the joints 20 to 26 is gradually corrected by repeatedly executing the flowchart of FIG. Then, for example, the feet 15c and 16c grounded as shown in FIG. 7 are in a stable state as shown in FIG. 9, and the feet 15c and 16c grounded as shown in FIG. 8 are shown in FIG. It will be in a stable state. Foot 15c, when 16c is stabilized, excessive moment joints 20-26 will not act, the difference value Delta] T1, Delta] T2 becomes smaller than the threshold value [Delta] T _min. Then, the target joint angle correction unit 50 does not correct the target joint angles θA20 to θA26 any more. Therefore, the stable state of the feet 15c and 16c is maintained.

  Further, the correction amount (ΔθA1, ΔθA2) when the target joint angle correction unit 50 corrects the target joint angles θA20 to θA26 (that is, the ankle joint correction amount data (ΔθA1, ΔθA2)) is controlled by a later process. 40 to the transmitting antenna 32. If any of the target joint angles θA20 to θA26 is not corrected, the correction amount of the target joint angle that has not been corrected is output as zero.

(Regarding the process in which the control device 40 controls each joint)
FIG. 11 shows a flowchart of processing in which the control device 40 controls each joint. The control device 40 repeatedly executes the processing shown in the flowchart of FIG. 11 for each control cycle, thereby controlling each joint of the walking robot 10 and causing the walking robot 10 to perform a desired operation.
Further, the current position calculation unit 54 of the control device 40 continues to calculate the current position (x, y, z) of the main body 11 at a predetermined cycle (cycle shorter than the control cycle). Further, the control device 40 reads the current position (x, y) of the main body 11 at that time from the current position calculation unit 54 in step S48 described later. Then, position deviation data (Δx, Δy) is calculated from the current position (x, y) and the target position (xA, yA), and the calculated position deviation data (Δx, Δy) is stored. Therefore, at the start of the flowchart of FIG. 11, the control device 40 stores the positional deviation data (Δx, Δy) in the previous cycle.

  When the operator of the walking robot 10 operates the joystick 82 of the controller 80, the operation command data (that is, the moving direction and the moving speed are instructed) to the control device 40 via the transmission antenna 84 of the controller 80 and the receiving antenna 30 of the walking robot 10. Command) is input (step S30). When the operation command data is input, the control device 40 calculates the target position (xA, yA) according to the input operation command data (step S32).

Next, the control device 40 calculates the calculated target position (xA, yA), the target position (xA ₋₁ , yA ₋₁ ) in the previous control cycle, and the stored positional deviation data (in the previous control cycle). A target movement amount (dx, dy) is calculated from (Δx, Δy) (step S34).
For example, as shown in FIG. 12, if the point 100 is the target position (xA ₋₁ , yA ₋₁ ) in the previous cycle and the point 102 is the current position (x, y) of the main body 11, the position shift The data (Δx, Δy) becomes the vector 104 in FIG. At this time, if the target position (xA, yA) of the current cycle is the point 106, the target movement amount (dx, dy) of the current cycle is the vector 108 in FIG. Therefore, the control device 40 calculates the target movement amount (dx, dy) by the following calculation formula.
dx = (xA−xA ₋₁ ) + Δx
dy = (yA−yA ₋₁ ) + Δy

  In step S36, the control device 40 sets the target joint angles θA18 to 26 of the joints 18 to 26 in the current cycle so that the main body 11 moves by the target movement amount (dx, dy) during the current control cycle. Calculate (step S36). Thus, by calculating the target joint angles θA18 to θA26 of the joints 18 to 26, the target posture of the walking robot 10 in the current control cycle is defined. When calculating the target joint angles θA18 to θA26, the control device 40 outputs the target joint angles θA18 to the corresponding servo amplifiers 18d (step S38). At substantially the same time, the control device 40 executes the flowchart of FIG. 6 to correct the target joint angles θA20 to θA26, and outputs the target joint angles θA20 ′ to θA26 ′ to the servo amplifiers 20d to 26d, respectively (step S40). As a result, the servo amplifiers 18d to 26d output control command values T18 to T26 to the motors 18a to 26a, and the joints 18 to 26 are controlled to angles corresponding to the target joint angles θA18 and θA20 'to θA26'. Therefore, the main body 11 of the walking robot 10 moves to a position corresponding to the target position (xA, yA).

  When the walking robot 10 performs the operation, the control device 40 calculates the target tilt angle (PA, RA) of the main body 11 from the target posture of the walking robot 10 calculated in step S38. The control device 40 reads the current inclination angle (P, R) of the main body 11 detected by the inclination angle sensor 70. Then, a difference value (ΔP, ΔR) between the calculated target inclination angle (PA, RA) and the current inclination angle (P, R) (that is, inclination angle deviation data (ΔP, ΔR) of the main body 11) is calculated ( Step S42).

  Next, the control device 40 acquires image data from the camera 74 (step S44).

  Next, the control device 40 reads the current position (x, y) of the main body 11 from the current position calculation unit 54. Then, position deviation data (Δx, Δy) of the main body 11 is calculated from the read current position (x, y) and the target position (xA, yA) of the main body 11 calculated in step S32. The control device 40 stores the calculated positional deviation data (Δx, Δy) (step S46).

  In step S48, the control device 40 corrects the correction values (ankle joint correction amount data (ΔθA1, ΔθA2)) obtained by correcting the target joint angles θA20 to θA26 in step S40, and the tilt angle deviation data (ΔP, ΔR), the image data acquired in step S44, and the positional deviation data (Δx, Δy) calculated in step S46 are output to the transmission antenna 32. Then, these data are input to the display device 88 of the controller 80 via the transmission antenna 32 and the reception antenna 86 of the controller 80. Thereby, the image displayed on the display device 88 is updated to an image based on each newly input data (that is, the current control state of the walking robot 10).

The control apparatus 40 repeatedly performs the flowchart of FIG. 11 for every control period, and controls the angles of the joints 18 to 26. Therefore, the walking robot 10 walks in response to the operator operating the controller 80.
In addition, the control device 40 transmits position deviation data (Δx, Δy), inclination angle deviation data (ΔP, ΔR), ankle joint correction amount data (ΔθA1, ΔθA2), and image data to the controller 80. Since the control device 40 repeatedly executes the flowchart of FIG. 11 for each control cycle, the controller 80 includes positional deviation data (Δx, Δy), inclination angle deviation data (ΔP, ΔR), and ankle joint correction amount data (ΔθA1, ΔθA2). ) And image data are repeatedly input every control cycle. Therefore, the image captured by the camera 74 is displayed as a substantially real-time moving image on the main part M of the display device 88 of the controller 80, and the positional deviation data (Δx, Δy) and the inclination angle deviation data are displayed on the upper part N of the display device 88. The values of (ΔP, ΔR) and ankle joint correction amount data (ΔθA1, ΔθA2) are displayed in substantially real time (see FIG. 4).

As described above, in the robot control system 8 of the present embodiment, the display device 88 of the controller 80 displays an image captured by the camera 74 of the walking robot 10 as a substantially real-time moving image. Therefore, the operator of the walking robot 10 can appropriately control the walking robot 10 while confirming the image displayed on the display device 88.
In the robot control system 8, the display device 88 of the controller 80 displays the positional deviation data (Δx, Δy) in substantially real time. A large positional deviation data (Δx, Δy) means that the walking robot 10 is disturbed by an obstacle or the like and is not controlled as operated. Therefore, the operator of the walking robot 10 can operate the walking robot 10 while determining whether or not the walking robot 10 is disturbed from the value of the positional deviation data (Δx, Δy). For example, when it can be determined that a disturbance is acting on the walking robot 10, it is possible to control the walking robot 10 without overturning by reducing the moving speed of the walking robot 10 and driving carefully. Become. Alternatively, by changing the direction of the walking robot 10, it is possible to take measures such as confirming the situation around the walking robot 10 with the camera 74. Therefore, the operator can easily maneuver the walking robot 10 as intended.
In the robot control system 8, the display device 88 of the controller 80 displays the tilt angle deviation data (ΔP, ΔR) in substantially real time. The large inclination angle deviation data (ΔP, ΔR) means that the walking robot 10 collides with an obstacle, the walking robot 10 rides on the obstacle, or the floor on which the walking robot 10 walks is inclined. This means that the balance of the walking robot 10 is poor. Therefore, the operator of the walking robot 10 can operate the walking robot 10 while judging whether the balance state of the walking robot 10 is good from the value of the tilt angle deviation data (ΔP, ΔR). Therefore, the operator can easily maneuver the walking robot 10 as intended by changing the moving speed or the like according to the balance state of the walking robot 10.
Further, in the robot control system 8, the display device 88 of the controller 80 displays the ankle joint correction amount data (ΔθA1, ΔθA2) in substantially real time. The large ankle joint correction amount data (ΔθA1, ΔθA2) means that the feet 15c and 16c are not normally grounded due to the walking robot 10 getting on an obstacle or the like. Therefore, the operator of the walking robot 10 determines the walking robot 10 while determining whether the feet 15c and 16c of the walking robot 10 are normally grounded from the values of the ankle joint correction amount data (ΔθA1, ΔθA2). You can steer. Therefore, the operator can grasp the situation of the floor surface from the ground contact state of the feet 15c and 16c of the walking robot 10, and easily change the walking speed of the walking robot 10 by changing the moving speed etc. according to the situation of the floor surface. Can be maneuvered as intended.

  In the above-described embodiment, the positional deviation data (Δx, Δy) calculated by the positional deviation amount calculation unit 56 is used when the target movement amount (dx, dy) is calculated in step S34 of the next cycle. However, when the position of the walking robot 10 can be controlled without calculating the target movement amount (dx, dy) in this way (for example, when the operator performs fine adjustment according to the amount of displacement), The positional deviation data (Δx, Δy) calculated in the next cycle may not be used.

Further, in the embodiment described above, based on the difference value ΔT1 of the control command value _{T22 -1} and _{T26 -1} (or the difference value ΔT2 of the control command value _{T20 -1} and _{T24 -1),} foot 15c, 16c is It was determined whether or not it was properly grounded. However, the present invention is not limited to such an embodiment. For example, a torque sensor that detects the driving torque of the motor is installed in each of the motors 20a to 26a, and it is determined whether or not the feet 15c and 16c are normally grounded based on detection values of the torque sensors. Also good. Further, a sensor (for example, a contact-type pressure sensor) for detecting the ground contact state of the feet 15c and 16c may be installed on the ground contact surfaces of the feet 15c and 16c.
In the above-described embodiment, the ankle joint correction amount data (ΔθA1, ΔθA2) is displayed on the display device 88, but the present invention is not limited to such an embodiment. For example, the display device 88 may display the difference value ΔT1 between the control command values T22 ₋₁ and T26 ₋₁ or the difference value ΔT2 between the control command values T20 ₋₁ and T24 ₋₁ . By displaying the difference values ΔT1 and ΔT2, it is possible to determine whether or not the feet 15c and 16c are normally grounded. Moreover, when installing the torque sensor which detects the drive torque of a motor in each of motor 20a-26a, you may display the detected value of those torque sensors with a display apparatus. Further, when a sensor for detecting the ground contact state of the foot 15c, 16c is installed on the ground contact surface of the foot 15c, 16c, the detection value of the sensor may be displayed.

  In the above-described embodiment, as shown in FIG. 4, the ankle joint correction amount data (ΔθA1, ΔθA2), the positional deviation data (Δx, Δy), and the inclination angle deviation data (ΔP, ΔR) are displayed as a bar graph. The display may be as shown in FIG. In FIG. 13, the ankle joint correction amount data is displayed as a coordinate diagram with ΔθA1 as the horizontal axis and ΔθA2 as the vertical axis, and the positional deviation data is displayed as a coordinate diagram with Δx as the horizontal axis and Δy as the vertical axis. The tilt angle deviation data is displayed as a coordinate diagram with ΔP as the vertical axis and ΔR as the horizontal axis. When each data is displayed in this manner, it is possible to grasp at a glance whether the walking robot 10 is displaced or tilted, and the operator can grasp the state of the walking robot 10 more accurately.

  In the above-described embodiment, the controller 80 and the walking robot 10 are physically separated. However, in a robot control system in which a pilot maneuvers the walking robot while on the walking robot, the walking robot 10 is used. A controller may be installed.

Specific examples of the present invention have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above.
The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology illustrated in the present specification or the drawings achieves a plurality of objects at the same time, and has technical utility by achieving one of the objects.

The perspective view of the robot control system 8. FIG. The block diagram of the robot control system 8. FIG. The enlarged view of the ankle joint 20-26. The figure which shows the display screen of the controller. The block diagram which shows the detail of the X section of FIG. The flowchart which shows the process at the time of outputting control command value T20-T26 to motor 20a-26a. Explanatory drawing of the grounding state of foot 15c, 16c. Explanatory drawing of the grounding state of foot 15c, 16c. Explanatory drawing of the grounding state of foot 15c, 16c. Explanatory drawing of the grounding state of foot 15c, 16c. The flowchart which shows the process at the time of controlling each part of the walking robot. Explanatory drawing of target moving amount (dx, dy). The figure which shows the display screen of the controller 80 of another Example.

Explanation of symbols

8: Robot control system 10: Walking robot 11: Body 12: Head 13: Right arm 14: Left arm 15: Right leg 15a: Upper leg 15b: Lower leg 15c: Foot 16: Left leg 16a: Upper leg 16b: Lower leg 16c: Foot 18-26: Joint 18a-26a: Motor 18b-26b: Encoder 20c-26c: Rotating shaft 18d-26d: Servo amplifier 30: Reception antenna 32: Transmission antenna 40: Control Device 42: Target position calculation unit 44: Target movement amount calculation unit 48: Target joint angle calculation unit 50: Target joint angle correction unit 52: Inclination angle deviation amount calculation unit 54: Current position calculation unit 56: Position deviation amount calculation unit 70 : Tilt angle sensor 72: acceleration sensor 74: camera 80: controller 82: joystick 84: transmission antenna 86: reception antenna 88: display device

Claims (5)

A robot control system in which an operator controls a mobile robot by operating a controller,
The controller
An input means for inputting an operation command to the mobile robot;
It has a display means to display the control status of the mobile robot to the operator,
Mobile robot
The body,
Moving means for moving the main body;
Detecting means for detecting the posture state of the mobile robot;
Target value determining means for determining a target value of the posture state of the mobile robot when a predetermined time has elapsed based on an operation command input from the controller;
Control means for controlling the moving means so that the target value determined by the determined posture value of the mobile robot when the predetermined time elapses;
Difference value calculation means for calculating a difference value between the posture state detected by the detection means when the predetermined time has elapsed and a target value;
A robot control system, wherein the display means displays an index based on a difference value calculated by the mobile robot. The detecting means detects the position of the main body,
The target value determining means determines the target position of the main body when a predetermined time has elapsed based on the input operation command,
The control means controls the moving means so that the main body moves to the target position when the predetermined time has elapsed,
The robot control system according to claim 1, wherein the difference value calculation unit calculates a difference value between the position of the main body detected by the detection unit and the target position when the predetermined time has elapsed. The target value determining means determines the target position of the main body at a predetermined cycle,
The control means controls the moving means based on the target position of the current cycle determined by the target value determining means and the difference value calculated by the difference value calculating means in the previous cycle. Robot control system. The detection means detects the tilt angle of the main body,
The target value determining means determines a target tilt angle of the main body when a predetermined time elapses based on the input operation command,
The control means controls the moving means so that the inclination angle of the main body becomes the target inclination angle when the predetermined time has elapsed,
The robot control system according to claim 1, wherein the difference value calculating unit calculates a difference value between the tilt angle of the main body and the target tilt angle detected by the detecting unit when the predetermined time has elapsed. A robot control system for operating a walking robot including a main body and a first leg and a second leg connected to the main body by an operator operating a controller,
The controller
An input means for inputting an operation command to the walking robot;
It has a display means for displaying the control state of the walking robot to the operator,
Walking robot
A first ankle joint that changes the angle of the ground contact portion of the first leg;
A first actuator for driving the first ankle joint;
A second ankle joint for changing the angle of the contact portion of the second leg;
A second actuator for driving the second ankle joint;
A target angle determining means for determining a target angle of each ankle joint based on the input motion command;
Detection means for detecting the ground contact state of each leg,
Correction means for correcting the target angle of the first ankle joint and the second ankle joint based on the ground contact state of each leg;
For an ankle joint whose target angle is corrected, the actuator that drives the joint is controlled so that the joint becomes the corrected target angle, and for an ankle joint whose target angle is not corrected, the joint is determined. Control means for controlling the actuator that drives the joint so that the target angle is set,
A robot control system characterized in that the display means displays an index based on the angle correction amount of the first ankle joint and / or the second ankle joint.

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