JP7549340B2 - robot - Google Patents

Description

This invention relates to robots, and in particular to mobile robots.

In recent years, research and development of various mobile robots has been progressing.

For example, from the perspective of utilizing existing social infrastructure, research and development is underway on robots with human-like leg structures, such as bipedal robots.

In addition, in logistics sites, mobile cart robots such as AGVs (Automated Guided Vehicles) or unmanned transport robots that transport cargo with high mobility due to wheels or other features have been put to practical use.

Recently, mobile robots that combine the advantages of both robots in terms of mobility have been developed, that is, robots equipped with a mobility mechanism such as wheels at the tips of multiple legs. For example, Patent Document 1 discloses a leg-wheel type robot equipped with omnidirectional wheels at the tips of multiple legs.

JP 2014-161991 A

However, with previous mobile robots of this type, it was difficult to control and maintain their posture, making it difficult to ensure stable movement.

Figure 10 is a schematic diagram of a robot 900 with wheels at the tips of its legs, viewed from the front. In the figure, the robot main body 910 is supported by a pair of left and right legs 930 that contact the floor via wheels 921. Each leg 930 is composed of two joints 931, 933, a tip 920 that supports the wheels, and a link connecting them.

Assuming the state shown in the figure, we will consider applying general position control to maintain the robot's posture.

In this case, for example, if speed control or the like is applied to the wheel 921 and all of the axes included in the joints 931, 933 are driven by position control, all of the joints will be in a so-called servo-locked state, resulting in excessive constraints, and if a small control error occurs, excessive stress may be generated in the structural members that make up the robot 900. Also, if the wheel 921 becomes lifted up for some reason, there is a risk that the traction between the lifted wheel 921 and the floor surface will be lost, making it difficult to move appropriately.

On the other hand, in order to avoid such excessive constraints, it is possible to designate only some of the joints 931, 933 as drive shafts, and the other shafts as passive shafts (so-called free joint state). However, with such a configuration, if the wheel 921 becomes lifted off the ground for some reason, the passive shaft may rotate due to the influence of gravity, etc., causing the posture to be lost, making it difficult to return to its original position.

The present invention was made in consideration of the above-mentioned technical background, and its purpose is to achieve stable movement in a robot that moves by having a movement mechanism at the tip of multiple legs.

The above technical problems can be solved by a robot having the following configuration:

That is, the robot according to the present invention is a robot comprising a main body, a plurality of moving mechanism parts each including a moving mechanism for moving on a floor surface, and a plurality of legs each including one or more joint parts and connecting the main body and each of the moving mechanism parts, and the joint parts include a drive shaft driven by impedance control.

With this configuration, the drive shaft included in the joint is impedance controlled, so that in a robot that moves with multiple moving mechanisms, the moving mechanisms can move in a way that follows the ground surface. This makes it possible to prevent, for example, the generation of internal stress due to excessive constraints. It is also possible to ensure traction between the transition mechanism and the ground surface. In other words, stable movement can be achieved in a robot that moves with multiple leg tips and moving mechanisms.

The drive shaft may be elastically biased to hold the joint in a target position.

With this configuration, the joints are elastically biased to maintain the target posture through impedance control, so that they can immediately return to the target posture even if an external force is applied.

The joint may further include a joint posture detection mechanism that detects the current posture of the joint, and the drive shaft may be controlled to bring the current posture closer to the target posture.

With this configuration, changes in posture can be detected based on the current posture of the joints, and the posture can be immediately returned to the target posture.

The target attitude may be a bias attitude that is slightly shifted from the ideal attitude to counteract the moment generated by the weight of the vehicle.

With this configuration, the target posture is a bias posture that is slightly shifted from the ideal posture to counteract the moment generated by the robot's own weight, making it easier to return to the ideal posture.

The drive shaft may be elastically biased to position a predetermined portion of the robot to a target position.

This configuration allows the robot's designated parts to always return to their designated positions even if an external force is applied.

The movement mechanism may further include a reaction force detection unit that detects a reaction force from a floor surface, and the degree of force applied to the drive shaft may be adjusted based on the reaction force.

With this configuration, for example, it is possible to detect floating of the moving mechanism or the possibility of floating, and prevent it from happening or minimize its effects.

The drive shaft may be elastically biased to position a predetermined part of the robot at a target position and to hold the leg in a target posture.

This configuration allows the robot to maintain a specific part in a specific position and the legs in a specific posture, allowing it to move stably as desired.

The impedance control may be performed using a reference coordinate system that is fixedly set with respect to the robot.

With this configuration, impedance control can be performed in a reference coordinate system.

The reference coordinate system may be a coordinate system centered on the zero moment point of the robot.

With this configuration, calculations can be performed in a coordinate system centered on the zero moment point, which is usually located near the center of the robot.

The joint may further include a torque detector that detects the torque applied to the joint, and the impedance control may be performed based on the torque.

With this configuration, position and posture can be controlled based on joint torque.

A multi-axis force sensor may be provided between the leg and the movement mechanism, and the impedance control may be performed according to the detection value of the multi-axis force sensor.

With this configuration, position and orientation can be controlled based on the detection values of the multi-axis force sensor without having to install sensors at each joint.

The impedance control may be performed by changing any of the stiffness, damping coefficient, target position, or target attitude.

With this configuration, impedance control can be performed by changing not only the stiffness and damping coefficient, but also the target position or posture.

Each of the moving mechanisms may be a moving mechanism capable of moving in all directions.

This configuration allows a robot equipped with multiple movement mechanisms capable of omnidirectional movement to achieve stable movement.

The moving mechanism may be a plurality of drive wheels with passive rotating wheels on the contact surface.

With this configuration, omnidirectional movement can be achieved by driving the drive wheels that have passive rotating wheels on the contact surface.

The number of drive wheels may be four, and the four drive wheels may be independently controlled.

With this configuration, omnidirectional movement can be achieved by independently controlling the four drive wheels.

The robot may be able to move in all directions by linking multiple movement mechanisms.

With this configuration, even if each moving mechanism unit itself cannot move in all directions, the moving mechanisms can work together to achieve omnidirectional movement. This allows each moving mechanism unit to be designed to be lightweight and compact.

The legs may have a walking function.

This configuration allows for both walking and movement on the floor using wheels, etc.

The main body may include a robot arm.

This configuration makes it possible to realize a robot arm that can move stably.

The main body may be the upper body of a humanoid robot.

This configuration makes it possible to create a humanoid robot with excellent mobility.

The present invention makes it possible to achieve stable movement in a robot that moves by having a movement mechanism at the tips of multiple legs.

FIG. 1 is a schematic diagram showing the structure of a robot according to a first embodiment. FIG. 2 is a diagram showing the configuration of the rear surface of the tip portion. FIG. 3 is a rear view of a tip portion according to a modified example. FIG. 4 is a flowchart showing the basic flow of impedance control. FIG. 5 is an explanatory diagram of an example in which the target posture is set to a posture slightly deviated from the ideal posture for a leg in which the first joint portion is located on the outer side of the second joint portion. FIG. 6 is an explanatory diagram of an example in which the target posture is set to a posture slightly deviated from the ideal posture for a leg in which the first joint portion is located inside the second joint portion. FIG. 7 is a flowchart relating to the stiffness adjustment. FIG. 8 is a conceptual diagram relating to adjustment of stiffness. FIG. 9 is an explanatory diagram relating to control that combines various techniques. FIG. 10 is a schematic diagram of a robot having wheels at the ends of its legs as viewed from the front.

The preferred embodiment of the present invention will be described in detail below with reference to the attached drawings.

1. First embodiment
As a first embodiment, an example in which the present invention is applied to a robot 100 having a moving mechanism at the tip of a pair of left and right legs will be described. Note that in this embodiment, the robot is described as having a pair of left and right legs, but the present invention is not limited to this configuration. Therefore, the present invention can be applied to a robot having, for example, three or more legs.

(1.1 Configuration)
1 is a schematic diagram showing the structure of a robot 100 according to a first embodiment. As is clear from the figure, the robot 100 includes a main body 10, which is connected to and supported by a pair of left and right legs 30.

The shape of the main body 10 is an example for explanatory purposes, and may be, for example, the upper body or torso leading up to the upper body of a humanoid robot. In addition, various other devices and mechanisms may be mounted or coupled to the main body 10, and for example, mechanisms such as robot arms and sensors such as cameras may be provided. In particular, when the robot 100 is humanoid, it may be equipped with a torso, dual-arm robot arms provided on the left and right sides of the torso, a head connected to the top end of the torso, a camera provided on the head, etc.

The leg 30 is composed of a tip 20 that supports wheels 21 that come into contact with the floor surface, and, in order from the tip 20, a first joint 31 and a second joint 33, and a link member that connects them. The tip 20 and the wheels 21 may be collectively referred to as a mobile cart, etc.

In this embodiment, a servo motor and a drive shaft, which is an axis that reduces the output of the servo motor, are arranged in the first joint unit 31 and the second joint unit 33 in order to control the rotation of the joint unit. As described later, controlling this drive shaft makes it possible to control the posture, etc. Note that the drive shaft may be the output shaft of the servo motor without going through reduction.

The first joint unit 31 and the second joint unit 33 are also equipped with an angle detection sensor for detecting the joint angle and a torque detection sensor for detecting the torque applied to the joint angle. The control described below is performed based on the detection values from these sensors.

The legs 30 may be configured to enable both bipedal walking and running on the wheels 21. With such a configuration, a robot 100 with high mobility can be realized.

In addition, although FIG. 1 shows each tip 20 as being equipped with one wheel 21, this is a schematic representation, and in reality, four wheels 21 are in contact with the floor side (back side) of the tip 20.

Figure 2 is a diagram showing the configuration of the rear surface of the tip portion 20. As is clear from the figure, the tip portion 20 has a rectangular cross section, and at each of its four corners, there are four wheels 21a to 21d (drive wheels) that are driven by a servo motor or the like. In addition, the contact surface of each wheel is provided with a number of passive wheels 22 that are roughly barrel-shaped.

As known to those skilled in the art, the four wheels 21a to 21d can be independently controlled to allow the robot 100 to move freely in all directions. The configuration of the rear surface of the tip 20 is not limited to this configuration. Therefore, for example, other components such as a battery may be mounted in addition to the wheels.

In this embodiment, the wheels 21, which are so-called Mecanum wheels, are used as an example of a moving mechanism that runs on the floor surface, but the moving mechanism is not limited to this type. Therefore, for example, other moving mechanisms that can move in all directions, such as omni wheels, may be used. Furthermore, even if the moving mechanism cannot move in all directions by itself, it may be a mechanism that can move in all directions by linking multiple moving mechanisms.

Figure 3 is a back view of the tip 70 of a modified example of a movement mechanism in which movement in all directions is possible only when multiple movement mechanisms are linked together. As is clear from the figure, two drive wheels 71a, 71b are arranged on the back of the tip 70, one above the other in the figure. In addition, a number of passive wheels 72 having an approximately barrel shape are arranged on the contact surface of each drive wheel 71a, 71b. By providing such a configuration at the tips of a pair of left and right legs 30, the robot 100 can move in all directions. With such a configuration, the legs 30 can be made lighter and more compact.

In this embodiment, the controller that controls the operation of the robot 100 is stored in the main body 10. However, the location of the controller is not limited to this example, and the controller may be located in another part of the robot 100 or outside the robot 100. The controller may also be connected by wire or wirelessly to an information processing device located inside or outside the robot 100.

1.2 Operation
Next, the operation of the robot 100 having the above-mentioned configuration will be described.

(1.2.1 Basic operations)
First, the flow of basic operations executed by the robot 100 will be described, and then detailed examples will be described.

Figure 4 is a flowchart showing the basic flow of impedance control performed by the controller provided in the robot 100. As is clear from the figure, when the impedance control process starts, a process is performed to obtain sensor detection values from the angle detection sensor and the torque detection sensor (S1).

After this process of acquiring the sensor detection values, a process is performed to generate the current state, i.e., the current position and current posture of the joints or robot 100, based on the sensor signals (S3).

Then, a predetermined target state, i.e., a target position and a target attitude, is read out, and an impedance control signal is generated based on the target state and the current state (S5). More specifically, the control signal for impedance control is generated based on the following equation for the spring-mass-damper model:

Here, _Xd represents the target state, and X represents the current state. Also, τ represents the force to be generated by control, M represents inertia, D represents the damping coefficient (viscosity), and K represents the spring constant (rigidity).

The drive values of each drive axis that generate the force τ thus generated are transmitted to each drive axis (S7), and impedance control is realized by performing current control, etc. based on the values. After that, the process returns to the sensor signal acquisition process (S1), and the series of processes are repeated.

In the robot 100 that performs the basic operations described above, optimal impedance control is performed by changing each parameter of the above formula according to various conditions through interrupt processing when necessary. An example of impedance control is described below.

In the present embodiment, impedance control in the narrow sense is performed, with position as input and force as output. However, the present invention includes impedance control in the broad sense and is not limited to this configuration. Therefore, for example, admittance control, with force as input and position as output, may be performed.

The above calculations may be based on a joint coordinate system or another coordinate system fixed to the robot 100. The coordinate system fixed to the robot 100 may be, for example, a coordinate system centered on the zero moment point of the robot 100.

1.2.2 Target Attitude Bias
An example in which an ideal posture is realized by setting the target posture (X _d ) to a predetermined mode in the impedance-controlled robot 100 will be described with reference to FIGS.

Figure 5 is an explanatory diagram of an example in which the target posture is slightly shifted from the ideal posture for the leg 30 in which the first joint 31 is located outside the second joint 33. In this example, the ideal posture is a posture in which the wheel 21 is positioned perpendicular to the floor surface in order to ensure appropriate traction with the wheel 21.

Figure 5(a) shows the target attitude in this example. As is clear from the figure, in this example, the target attitude is biased by tilting the wheels 21 slightly outward relative to the floor surface (so-called negative camber). At this time, each joint 31, 33 is impedance controlled, and more specifically, each joint 31, 33 is biased to return to the target attitude as shown by the virtual springs 51, 52 in the figure. At this time, the spring constant (K) of the virtual spring is set to an appropriate value required to return to the target attitude. For example, it is set to a value such that the moment generated on the ground surface by the spring tension generated by the virtual springs 51, 52 is slightly smaller than the moment generated on the ground surface by the weight of the main body 10, etc.

Figure 5(b) shows the actual posture resulting from the control shown in Figure 5(a). As is clear from the figure, when the control according to this example is performed, the wheel 21 is placed perpendicular to the floor surface or in a posture close to that.

With this configuration, the target posture is biased in advance at each of the joints 31, 33 that are biased toward the target posture by impedance control, so that the moment generated at the ground surface by the tension generated by the virtual springs 51, 52 and the moment generated at the ground surface by the weight of the main body 10 or the like cancel each other out, and as a result, the ground posture can be guided to an ideal posture. In other words, the traction between the wheels 21 and the floor surface can be appropriately ensured, allowing the robot 100 to move stably.

Figure 6 is an explanatory diagram of an example in which the target posture is slightly shifted from the ideal posture for the leg 30 in which the first joint 31 is located inside the second joint 33. Note that the ideal posture, in this example as well, is a posture in which the wheel 21 is positioned perpendicular to the floor surface in order to ensure appropriate traction with the wheel 21.

Figure 6(a) shows the target attitude in this example. As is clear from the figure, in this example, the target attitude is biased by tilting the wheels 21 slightly inward relative to the floor surface (so-called positive camber). At this time, each joint 31, 33 is impedance controlled, and more specifically, each joint 31, 33 is biased to return to the target attitude as shown by the virtual springs 53, 54 in the figure. At this time, the spring constant (K) of the virtual springs 53, 54 is set to an appropriate value required to return to the target attitude. For example, it is set to a value such that the moment generated on the ground surface by the spring tension generated by the virtual springs 53, 54 is slightly smaller than the moment generated on the ground surface by the weight of the main body 10, etc.

Figure 6 (b) shows the actual posture resulting from the control shown in Figure 6 (a). As is clear from the figure, when the control according to this example is performed, the wheel 21 is placed perpendicular to the floor surface or in a posture close to that.

With this configuration, the drive shafts included in the joints 31, 33 are impedance controlled, so that in the robot 100 that moves with multiple legs 30 and wheels 21, the wheels 21 can move in a way that conforms to the ground surface. This makes it possible to prevent, for example, the generation of internal stress due to excessive constraint. It is also possible to ensure traction between the wheels 21 and the ground surface. In other words, stable movement can be achieved in the robot 100 that moves with a movement mechanism such as the wheels 21 at the tips of the multiple legs 30.

With this configuration, the target posture is biased in advance at each of the joints 31, 33 that are biased toward the target posture by impedance control, so that the moment generated at the ground surface by the tension generated by the virtual spring and the moment generated at the ground surface by the weight of the main body 10 or the like cancel each other out, and as a result, the ground posture can be guided to an ideal posture. In other words, the traction between the wheels 21 and the floor surface can be appropriately ensured, allowing the robot 100 to move stably.

In this example, the ideal posture is one in which the relationship between the floor surface and the wheels 21 is perpendicular, but other parts may be configured to have the ideal posture.

(1.2.3 Impedance control parameter change process)
Next, an example of changing the parameters of the impedance control based on the position of the second joint 33 of the robot 100 will be described with reference to FIGS.

Figure 7 is a flowchart related to stiffness adjustment according to this embodiment. As is clear from the figure, when processing starts, first, in the controller or information processing device, the current posture and center of gravity position of the robot 100 are generated based on the detection values of the angle detection sensors of each joint 31, 33 (S81). After that, the ideal reaction force (F1, F2) that each leg 30 should receive from the floor surface is calculated from the current posture and center of gravity position and parameters such as the weight information of the robot 100 (S82).

After calculating the ideal reaction forces (F1, F2), the torque applied to each joint is detected based on the detection value of the torque detection sensor provided in each joint 31, 33. Based on this torque from each joint, the reaction force actually occurring on the ground contact surface of each leg 30, i.e., the actual reaction force (R1, R2), is calculated (S84).

Then, the difference between the calculated ideal reaction force and the actual reaction force (F1-R1, F2-R2) is calculated (S85). If this difference is positive (S87 YES), i.e., if it is determined that the leg 30 is floating or has floated, a process is executed to change the stiffness parameter (K) to suppress this (S88). On the other hand, if the difference is negative (S87 NO), i.e., if the leg 30 is in an overloaded state, a process is executed to change the stiffness parameter (K) to suppress this (S89). When such a change process is performed, impedance control is performed based on the changed parameters. In either case, after the change process is completed, the process returns to the beginning and the series of steps is repeated.

Figure 8 is a conceptual diagram of the stiffness adjustment in this example.

Figure 8(a) is a diagram showing the state before the stiffness is adjusted. As is clear from the figure, in this example, left and right virtual springs 56, 57 are set to maintain the second joint 33 at a predetermined position or height relative to the floor surface by impedance control. In the example shown in the figure, the wheel 21 is floating a distance d (>0) from the floor surface, and there is no traction between the wheel 21 and the floor surface. At this time, the difference (F1-R1) is positive (S87YES), so a process to change the stiffness (K) is performed (S88). More specifically, in this example, a process to reduce or weaken the stiffness of the right virtual spring 57 is performed.

Figure 8(b) shows the state after the stiffness has been adjusted. As is clear from the figure, by reducing the stiffness of the virtual spring 57 on the right side, the floating leg 30 immediately touches the ground.

With this configuration, the drive shafts included in the joints 31 and 33 are impedance controlled, so that the robot 100 that moves with multiple legs 30 and wheels 21 can achieve a motion in which the wheels 21 follow the ground surface. This makes it possible to prevent, for example, the generation of internal stress due to excessive constraint. It is also possible to ensure traction between the wheels 21 and the ground surface. In other words, the robot 100 that moves with a moving mechanism such as the wheels 21 at the tips of multiple legs 30 can achieve stable movement.

Furthermore, with this configuration, it is possible to detect the floating of the leg 30 or the possibility of it floating, and to prevent it from happening or minimize its effects.

(1.2.4 Combinatorial Control)
Next, with reference to FIG. 9, an example in which the configuration for biasing the target attitude described above and the process for changing the control parameters are combined will be described.

Figure 9 is an explanatory diagram regarding the control of the robot 200 according to this example. As is clear from the figure, the robot 200 has approximately the same configuration as the robot 100 shown in Figure 1, but differs in that the leg 130 has six joints (first to sixth) 131 to 136 and six corresponding drive shafts. Furthermore, impedance control is performed on the premise of a reference coordinate system centered on a zero moment point (the intersection of the Z-axis and Y-axis in the center of the figure) located near the main body 110 of the robot 200.

As is clear from the figure, in this example, the target posture is biased by tilting the wheels 21 slightly outward relative to the floor surface (so-called negative camber). At this time, each joint 131-136 is impedance controlled, and more specifically, each joint 131-136 is biased to return to the target posture, as shown by the virtual spring 151 in the figure. At this time, the spring constant (K) of the virtual spring 151 is set to an appropriate value required to return to the target posture. For example, it is set to a value such that the moment generated on the ground surface by the spring tension generated by the virtual spring 151 is slightly smaller than the moment generated on the ground surface by the weight of the main body 10, etc.

In addition, in this example, left and right virtual springs 152 are set to maintain the zero moment point at a specified position or height relative to the floor surface through impedance control. In this state, the ideal reaction force and actual reaction force between the wheel 121 and the floor surface are calculated using the method described above, and the stiffness parameters of the virtual springs 152 are changed based on the difference between them.

In other words, with this configuration, the drive shafts included in each of the joints 131 to 136 are impedance controlled, so that in a robot that moves with multiple movement mechanisms, it is possible to realize a movement in which the wheels 121 follow the ground surface. This makes it possible to prevent, for example, the generation of internal stress due to excessive constraints. It is also possible to ensure traction between the wheels 121 and the ground surface. In other words, stable movement can be realized in a robot that moves with movement mechanisms at the tips of multiple legs.

(2. Modifications)
In the above embodiment, the process of changing the stiffness as a parameter of the impedance control has been described, but the process of changing other parameters such as the damping coefficient may also be used.

In the above embodiment, the load and reaction force acting on the left and right legs are calculated by detecting the torque provided in the joints, but the present invention is not limited to this configuration. Therefore, for example, a six-axis force sensor may be provided between the legs and the tip.

Although the embodiments of the present invention have been described above, the above embodiments merely show some of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments. Furthermore, the above embodiments can be combined as appropriate to the extent that no contradictions arise.

The present invention can be used at least in the mobile robot manufacturing industry.

10 Main body 20 Tip 21 Wheel (driving wheel)
22 Passive wheel 30 Leg 31 First joint 32 Second joint 51 Virtual spring 52 Virtual spring 53 Virtual spring 54 Virtual spring 56 Virtual spring 57 Virtual spring 70 Tip 71 Wheel (driving wheel)
72 Passive wheel 100 Robot 110 Main body 120 Tip 121 Wheel (driving wheel)
130 Leg 131 First joint 132 Second joint 133 Third joint 134 Fourth joint 135 Fifth joint 136 Sixth joint 151 Virtual spring 152 Virtual spring 200 Robot

Claims (17)

A main body portion,
A plurality of moving mechanism units each including a moving mechanism that moves on a floor surface;
a plurality of legs each including one or a plurality of joints and each connecting the main body and each of the moving mechanisms,
the joint unit includes a drive shaft that is driven by impedance control,
The drive shaft is controlled so as to bring a current posture of the joint unit closer to a target posture,
The target posture is a posture biased from an ideal posture that results in ideal traction between the floor surface and the moving mechanism. The robot according to claim 1 , wherein the drive shaft is elastically biased so as to hold the joint portion in the target posture. The robot according to claim 1, wherein the drive shaft is elastically biased to position a predetermined portion of the robot to a target position. The moving mechanism further includes a reaction force detection unit that detects a reaction force from a floor surface,
The robot according to claim 3 , wherein the degree of bias of the drive shaft is adjusted based on the reaction force. The robot according to claim 1, wherein the drive shaft is elastically biased to position a predetermined part of the robot at a target position and to hold the leg in a target posture. The robot according to claim 1 , wherein the impedance control is performed by utilizing a reference coordinate system that is fixedly set with respect to the robot. The robot of claim 6 , wherein the reference coordinate system is a coordinate system centered about a zero moment point of the robot. The joint unit further includes a torque detector that detects a torque applied to the joint,
The robot according to claim 1 , wherein the impedance control is performed based on the torque. a multi-axis force sensor is provided between the leg portion and the moving mechanism portion;
The robot according to claim 1 , wherein the impedance control is performed in response to a detection value of the multi-axis force sensor. The robot according to claim 1 , wherein the impedance control is performed by changing any one of stiffness, a damping coefficient, a target position, or a target posture. The robot according to claim 1 , wherein each of the mobile mechanisms is a mobile mechanism capable of moving in all directions. The robot of claim 11 , wherein the locomotion mechanism is a plurality of drive wheels with passive rotating wheels on a ground contact surface. The robot of claim 12 , wherein the number of drive wheels is four, and the four drive wheels are independently controlled. The robot according to claim 1 , wherein the plurality of movement mechanism parts are linked together to realize omnidirectional movement of the robot. The robot according to claim 1 , wherein the legs have a walking function. The robot of claim 1 , wherein the body portion includes a robotic arm. The robot according to claim 1 , wherein the main body is an upper body of a humanoid robot.

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