1. A controller of a leg type moving robot for causing the leg type moving robot equipped with a plurality of legs extended from a body thereof to perform an operation of moving an object, the controller comprising:
a desired motion state amount determining means which sequentially determines a desired motion state amount, which is a desired value of a motion state amount of an object on an object dynamic model showing a relationship between a force acting on the object and a motion of the object, on the basis of at least a moving plan of the object;
a desired action force determining means which sequentially determines a desired action force between the robot and the object, which is a desired value of a force acting between the robot and the object, such that the motion state amount of the object on the object dynamic model follows at least the determined desired motion state amount;
a desired moving position determining means which sequentially determines a desired moving position of the object as an output of the dynamic model by inputting the determined desired action force between the robot and the object into the object dynamic model;
a controlling means which controls an operation of the robot on the basis of at least the determined desired action force between the robot and the object and the determined desired moving position;
an actual moving position grasping means which grasps an actual moving position, which is a real moving position of the object; and
a motion manipulated variable determining means which determines a motion manipulated variable of an object on the object dynamic model on the basis of a difference between the grasped actual moving position and the determined desired moving position such that the difference approximates zero,
wherein the desired moving position determining means determines the desired moving position while correcting the motion state amount of the object on the object dynamic model on the basis of the determined motion manipulated variable.
2. The controller of a leg type moving robot according to claim 1, comprising: a disturbance force estimating means which sequentially estimates a disturbance force other than a force acting on the object from the robot in a force acting on the object; and a moving plan correcting means which corrects the moving plan on the basis of a change in the estimated disturbance force.
3. The controller of a leg type moving robot according to claim 1, comprising: a disturbance force estimating means which sequentially estimates a disturbance force other than a force acting on the object from the robot in a force acting on the object, wherein the desired motion state amount determining means determines the desired motion state amount on the basis of at least the moving plan and the estimated disturbance force.
4. The controller of a leg type moving robot according to claim 2, wherein the disturbance force estimating means is a means for estimating the disturbance force on the basis of the determined desired action force between the robot and the object and the moving velocity of the object on the object dynamic model.
5. The controller of a leg type moving robot according to claim 3, wherein the disturbance force estimating means is a means for estimating the disturbance force on the basis of the determined desired action force between the robot and the object and the moving velocity of the object on the object dynamic model.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A solenoid valve comprising:
an opening and closing valve that is a solenoid-operated valve and includes a first valve element, wherein a first valve seat is disposed in a first valve chamber, into which fluid is supplied, and the first valve element is seatable against and is liftable away from the first valve seat to close and open a valve hole communicated with the first valve chamber;
a flow quantity adjusting valve that is a pressure-operated valve and includes:
a second valve element that adjusts a flow quantity of the fluid, which flows through a second valve chamber that receives the fluid from the first valve chamber through the valve hole, in response to an amount of stroke of the second valve element relative to a second valve seat disposed in the second valve chamber during a valve opening time of the opening and closing valve; and
a spring that urges the second valve element toward a valve opening side in an axial direction of the second valve chamber; and
a housing that reciprocatably receives the first valve element in the first valve chamber and reciprocatably receives the second valve element in the second valve chamber, wherein:
the housing includes:
a first housing that is placed on a radially outer side of the first valve chamber and the second valve chamber in a radial direction, which is perpendicular to the axial direction; and
a second housing that is loosely fitted into a radially inner side of the first housing and forms the first valve chamber, the second valve chamber and the valve hole in an inside of the second housing; and
one of the first housing and the second housing includes a spring seat, at which an end of the spring is held or secured.
2. The solenoid valve according to claim 1, comprising a solenoid that includes a coil, which generates a magnetic force to magnetically attract a plunger toward a valve opening side of the first valve element when the coil is energized, wherein the first valve element is connected to the plunger in a manner that enables integral movement of the first valve element and the plunger.
3. The solenoid valve according to claim 2, wherein:
the solenoid and the first housing include a first annular step and a second annular step, respectively, which are opposed to each other in the axial direction while the first annular step and the second annular step are spaced from each other by a predetermined axial distance; and
the second housing is clamped and is held between the first annular step and the second annular step.
4. The solenoid valve according to claim 2, comprising a solenoid case that receives the solenoid.
5. The solenoid valve according to claim 4, wherein:
the first housing includes:
a first peripheral wall, which is configured into a tubular form and surrounds the second housing in a circumferential direction; and
a connecting portion, at which the first housing is connected to the solenoid case;
the second housing includes a second peripheral wall that is configured into a tubular form and is fitted into the first peripheral wall to surround the first valve chamber in the circumferential direction; and
the second peripheral wall has a first seal material, which is configured into an annular form and is held between an inner peripheral surface of the first peripheral wall and the second peripheral wall to limit leakage of the fluid from the first valve chamber to an outside of the first peripheral wall through a gap formed at the connecting portion.
6. The solenoid valve according to claim 4, wherein:
the second housing forms the first valve chamber between the second housing and the solenoid case and also forms the second valve chamber between the second housing and the first housing;
the second housing includes a limiting wall that is configured into an annular form and limits a maximum amount of stroke of the second valve element; and
the valve hole extends through the limiting wall and communicates between the first valve chamber and the second valve chamber.
7. The solenoid valve according to claim 1, wherein:
the first housing includes:
a first peripheral wall, which is configured into a tubular form and surrounds the second housing in a circumferential direction;
a first flow passage, which is placed on an upstream side of the first valve chamber in a flow direction of the fluid; and
a second flow passage, which is placed on a downstream side of the second valve chamber in the flow direction of the fluid;
the second housing includes a second peripheral wall that is configured into a tubular form and is fitted into the first peripheral wall to surround the second valve chamber in the circumferential direction; and
the second peripheral wall has a second seal material, which is configured into an annular form and is held between the second peripheral wall and an inner peripheral surface of the first peripheral wall to limit leakage of the fluid from the first valve chamber to the second valve chamber or the second flow passage.
8. The solenoid valve according to claim 1, wherein during the valve opening time of the first valve element, the amount of stroke of the second valve element is changed according to balance between a pressure of the fluid, which is guided from the first valve chamber into the second valve chamber through the valve hole, and a spring force of the spring, and the second valve element adjusts the flow quantity of the fluid, which passes through the second valve chamber, according to a change in the amount of stroke of the second valve element.
9. The solenoid valve according to claim 1, wherein the second valve element includes:
a tubular wall that opens at one side where the second valve chamber is placed, wherein a pressure chamber is formed in an inside of the tubular wall; and
a pressure receiving wall that closes an opposite side of the tubular wall, which is opposite from the one side of the tubular wall where the second valve chamber is placed, wherein the pressure receiving wall receives a pressure of the fluid guided into the second valve chamber.
10. The solenoid valve according to claim 9, wherein:
the first housing includes:
a first flow passage, which is placed on an upstream side of the first valve chamber in a flow direction of the fluid; and
a second flow passage, which is placed on a downstream side of the second valve chamber in the flow direction of the fluid;
the tubular wall of the second valve element includes a plurality of lateral holes, each of which opens in a direction perpendicular to the axial direction; and
the pressure receiving wall includes a restriction hole that restricts the flow quantity of the fluid, which flows from the second valve chamber toward the second flow passage.
11. The solenoid valve according to claim 1, wherein the first housing includes a guide that supports the second valve element in a manner that enables reciprocation of the second valve element in the axial direction of the second valve chamber.
12. The solenoid valve according to claim 1, wherein:
the first housing includes:
a first flow passage, which is placed on an upstream side of the first valve chamber in a flow direction of the fluid; and
a second flow passage, which is placed on a downstream side of the second valve chamber in the flow direction of the fluid; and
the second housing is inserted and is placed between the first flow passage and the second flow passage in the first housing.