Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2001-03-20
2002-12-10
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S246000, C700S247000, C700S251000, C700S253000, C700S256000, C700S260000, C700S261000, C318S568100, C318S568110, C318S568120, C318S568160, C318S568170, C318S568200, C901S001000, C901S009000, C901S046000, C901S047000, C701S023000
Reexamination Certificate
active
06493606
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to an articulated robot like a legged robot having at least limbs and a trunk, and a method of controlling the motion of the articulated robot, and, more particularly, to a legged robot which executes various motion patterns by using the limbs and/or the trunk, and a method of controlling the motion of the legged robot.
Still more particularly, the present invention relates to a legged robot which communicates by moving the limbs and/or the trunk, and a method of controlling the motion of the legged robot. Even still more particularly, the present invention relates to a legged robot which comes to an understanding through various motion patterns making use of the limbs and/or the trunk, and a method of controlling the motion of the legged robot.
2. Description of the Related Art
A robot is a mechanical device which emulates the motion of a human being by making use of electrical and magnetic actions. The term robot is said to be derived from the Slavic word ROBOTA (slavish machine). In our country, the widespread use of robots began from the end of the 1960s, many of which were industrial robots, such as manipulators and conveyance robots, used, for example, for the purpose of achieving automatic industrial operations in factories without humans in attendance.
Installation-type robots, such as arm-type robots, which are provided so as to be implanted at a particular place function only in fixed/localized working spaces for carrying out parts assembly/sorting and the like. In contrast, mobile robots can function in unlimited working spaces, so that they can freely move in predetermined paths or pathless areas in order to perform in place of human beings a predetermined or a desired human task, or to provide various wide-ranging services in place of living beings such as humans and dogs. Of the mobile robots, legged mobile robots are unstable compared to crawler-type robots and wheeled robots, so that it becomes difficult to control their posture and walking. However, legged mobile robots are excellent robots in that they can move up and down steps and ladders, go over obstacles, and walk/run flexibly regardless of whether the ground is leveled or unleveled.
In recent years, advances have been made in the research and development of legged mobile robots such as pet robots and humanoid robots, with pet robots emulating the mechanism of the body of an animal which moves using four legs, such as a dog or a cat, and the motion thereof, and with humanoid robots being designed using as a model the mechanism of the body of an animal which moves erect using two legs, such as a human being, and the motion thereof. Therefore, there is increasing expectations for putting such robots into practical use.
The significance of carrying out research and development on legged mobile robots called humanoid robots can be understood from, for example, the following two viewpoints.
The first viewpoint is related to human science. More specifically, through the process of making a robot having a structure which is similar to that having lower limbs and/or upper limbs of human beings, thinking up a method of controlling the same, and simulating the walking of a human being, the mechanism of the natural motion of a human being, such as walking, can be ergonomically understood. The results of such research can considerably contribute to the development of other various research fields which treat human motion mechanisms, such as ergonomics, rehabilitation engineering, and sports science.
The other viewpoint is related to the development of practical robots as partners of human beings which help them in life, that is, help them in various human activities in situations in living environments and in various other situations in everyday life. Functionally, in various aspects of the living environment of human beings, these robots need to be further developed by learning methods of adapting to environments and acting in accordance with human beings which have different personalities and characters while being taught by human beings. Here, it is believed that making the form and structure of the robot the same as those of a human being is effective in achieving smooth communication between the robot and a human being.
For example, when teaching a robot a way of passing through a room by avoiding obstacles which should not be stepped on, it is much easier for the user (worker) to teach it to a robot which walks using two legs having the same form as the user than a crawler-type or a robot which walks using four legs having a completely different structure from the user. In this case, it must also be easier for the robot to learn it (Refer to, for example, “Controlling a Robot Which Walks Using Two Legs” by Takanishi (Jidosha Gijutsukai Kanto Shibu <Koso> No. Apr. 25, 1996).
The working space and living space of human beings are formed in accordance with the behavioral mode and the body mechanism of a human being which walks erect using two legs. In other words, for moving present wheeled mechanical systems or other such driving devices as moving means, the living space of human beings has too many obstacles. It is preferable that the movable range of the robot be about the same as that of human beings in order for the mechanical system, that is, the robot to carry out various human tasks in place of them, and to deeply penetrate the living space of human beings. This is the reason why there are great expectations for putting a legged mobile robot into practical use. In order to increase the capability of the robot to exist harmoniously in the living environment of human beings, it is essential for the robot to possess a human form.
Humanoid robots can be used to carry out various difficult operations, such as in industrial tasks or production work, in place of human beings. They carry out in place of human beings dangerous or difficult operations at places where human beings cannot easily step into, such as maintenance work at nuclear power plants, thermal power plants, or petrochemical plants, parts transportation/assembly operations in manufacturing plants, cleaning of tall buildings, rescuing of people at places where there is a fire, and the like.
Humanoid robots can also be used “to live together” in the same living space as human beings, that is, for entertainment purposes. In this application, the robot is characterized more as being closely related to life rather than as helping human beings in life such as performing tasks in place of them.
The theme of entertainment robots is the research and development of the motion patterns which are executed during a task rather than realizing specific industrial purposes at high speeds and with high precision. In other words, it is preferable for the entertainment robots to faithfully reproduce the mechanism which allows harmonious movement of the whole body possessed by nature by animals which walk erect using two legs, such as human beings and monkeys, and to make them realize this natural and smooth movement. In emulating a highly intelligent animal which stands erect, such as human beings and monkeys, it is to be considered that a motion pattern using the four limbs is natural for a living body, and that it is desirable that the motions are sufficiently indicative of emotions and feelings.
Further, entertainment robots are required not only to faithfully execute a previously input motion pattern, but also to express its feelings by moving in a lively manner in response to the words and actions of a person (such as speaking highly of someone, scolding someone, or hitting someone). In this sense, entertainment robots which emulate human beings are rightly called humanoid robots.
In conventional toy machines, the relationship between the operations which are carried out by the user and the response motion is fixed/standardized, so that the same motion is merely repeated, causing the user to eventually get tired of the toy machines. In contrast, entertainment robots, thoug
Kuroki Yoshihiro
Saijo Hiroki
Cuchlinski Jr. William A.
Frommer William S.
Frommer & Lawrence & Haug LLP
Marc McDieunel
Sony Corporation
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