Information processing apparatus and information processing method to manage path information of a mobile robot
Provided is an information processing apparatus that processes information regarding a path of a mobile robot. The information processing apparatus includes a management section that manages path information for each path, the path information including postural stability information acquired when the mobile robot traverses the path. The postural stability information includes at least one of a variance of a position of center of gravity or a postural variance acquired during travel of the mobile robot in the path. Also, the postural stability information includes a CoP control quantity that includes a deviation between a target CoP and an actual measured value of the mobile robot whose walking is controlled based on ZMP. Also, the postural stability information further includes a landing position correction quantity that includes an error between a planned floor touching point and an actual measured value of the mobile robot that walks with multiple legs.
1. An information processing apparatus, comprising:
at least one processor configured to:
acquire path information associated with at least one path traversed by a mobile robot, wherein
the path information includes postural stability information,
the postural stability information includes a degree of achievement of a control target of the mobile robot, and
the path information is acquired during a travel of the mobile robot in the at least one path; and
control a movement of the mobile robot based on the path information.
2. The information processing apparatus according to claim 1 , wherein the postural stability information further includes at least one of a variance of a position of a center of gravity or a postural variance acquired during the travel of the mobile robot in the at least one path.
3. The information processing apparatus according to claim 1 , wherein the postural stability information further includes a deviation between the control target based on a control target value and an actual measured value of the mobile robot.
4. The information processing apparatus according to claim 3 , wherein
the at least one processor is further configured to control the movement of the mobile robot based on a Zero Moment Point (ZMP),
the ZMP corresponds to a Centre of Pressure (CoP) applied by a road surface in the at least one path traversed by the mobile robot, and
the postural stability information further includes a CoP control quantity that includes a deviation between a target CoP and the actual measured value of the mobile robot.
5. The information processing apparatus according to claim 1 , wherein
the postural stability information further includes a landing position correction quantity that includes an error between a planned floor touching points of the mobile robot and an actual measured value of the mobile robot, and
the mobile robot walks with multiple legs.
6. The information processing apparatus according to claim 1 , wherein
the at least one processor is further configured to manage the path information in association with identification information associated with the mobile robot.
7. The information processing apparatus according to claim 1 , wherein the at least one processor is further configured to manage the path information in association with information associated with a date on which the mobile robot traversed the at least one path.
8. The information processing apparatus according to claim 1 , wherein the at least one processor is further configured to provide the path information to the mobile robot.
9. A non-transitory computer-readable medium having stored thereon computer-executable instructions that when executed by a processor, cause the processor to execute operations, the operations comprising:
acquiring path information associated with at least one path traversed by a mobile robot, wherein
the path information includes postural stability information,
the postural stability information includes a degree of achievement of a control target of the mobile robot, and
the path information is acquired during a travel of the mobile robot in the at least one path; and
controlling a movement of the mobile robot based on the path information.