Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Reexamination Certificate
2000-12-22
2003-03-25
Masih, Karen (Department: 2837)
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
C318S568110, C318S561000, C901S008000, C901S011000, C901S001000
Reexamination Certificate
active
06538410
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a realistic robot which is constructed as a result of modeling the operation and mechanism of a living body, and, more particularly, to a legged mobile robot in which the mechanism of the body of a legged mobile animal, such as a human being and a monkey, is modeled.
Even more particularly, the present invention relates to a legged mobile robot which can operate independently or semi-independently while being subjected to various external forces in the living space/living environment of human beings. Still more particularly, the present invention relates to a legged mobile robot which can operate while being subjected to an external force as a result of coming into contact with an obstacle or other external objects, and which makes it possible to reduce shock which is produced when it comes into contact with an external object.
2. Description of the Related Art
A robot is a mechanical device which moves by emulating the movement 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 production operations in factories without humans in attendance.
Stationary robots, such as arm robots, which are implanted at certain places carry out, for example, parts assembly/sorting operations only at fixed/local working spaces. In contrast, the working space of movable robots is not limited. The robots move along a predetermined path or a pathless place in order to perform predetermined or any human tasks in place of human beings or to provide a wide variety of other services in place of human beings, dogs, or other living beings. Of the movable robots, legged mobile robots, though being unstable compared to crawler and tire type robots so that their postures and walking are difficult to control, are excellent robots in that they can go up and down steps and ladders, go over obstacles, and flexibly walk/run on any surface, regardless of whether the surface is a leveled or an unleveled surface.
In recent years, progress has been made in the research and development of legged mobile robots, such as pet robots which emulate the movements and mechanisms of the body of animals, such as dogs and cats, which walk on four feet, and humanoid robots which are designed as a result of modeling the movements and mechanisms of the body of animals, such as human beings, which walk erect on two feet. Accordingly, there is a higher expectation of putting them into practical use.
The significance of carrying out research and development of one type of 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 a structure 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 movement of a human being, such as walking, can be ergonomically understood. The results of such research can considerably contribute to the development of various other research fields which treat human movement 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 living environments and in various circumstances 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 they are 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 for smooth communication between human beings and robots.
For example, when teaching a robot a way of passing through a room while avoiding obstacles which should not be stepped on, it is much easier for the user (worker) to teach it to a robot walking on two feet which has the same form as the user than to a crawler-type or a four-footed robot 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 On Two Feet” by Takanishi (Jidosha Gijutsukai Kanto Shibu <Koso> No. 25, April, 1996.)
Most of 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 on two feet. In other words, for moving present mechanical systems using wheels 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 to help them or in place of them, and to deeply penetrate the living space of human beings. This is the reason why there is a great expectation of putting the legged mobile robot into practical use. In order to enhance the affinity of the robot to 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 operations, such as in industrial activities/production work, in place of human beings. They carry out in place of human beings dangerous/difficult operations at places where human beings cannot enter easily. Examples of the dangerous/difficult operations include maintenance work at nuclear power plants, thermal power plants, or petrochemical plants, parts transportation/assembly operations in manufacturing plants, cleaning in tall buildings, and rescuing of people at, for example, places where there is a fire.
Another application of the humanoid robot is related to the living together in the same living space as human beings, that is, to entertainment. In this type of application, the robot is deeply characterized as being closely connected to life rather than as helping human beings in life by, for example, performing tasks in place of them.
For entertainment robots, the production of an operation pattern, itself, which is executed during the operation is a theme regarding the research and development thereof rather than the constructing of them so that they can be industrially used as specified with high speed and high precision. In other words, it is preferable that the whole body harmoniously moving type operation mechanism which animals, such as human beings and monkeys, which walk erect on two feet actually possess be faithfully reproduced in order to achieve smooth and natural movement. In addition, in emulating highly intelligent animals, such as human beings and monkeys, which stand in an upright posture, it is to be considered that the use of an operation pattern which uses the four limbs is natural as a living body, and it is desirable that the movements are sufficiently indicative of emotions and feelings.
Entertainment robots are required not only to faithfully execute a previously input operation pattern, but also to act 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.
When humanoid robots which walk on two feet are formed to operate in a working space, they are constructed so as to possess many more degrees of freedom than other portable robots, such as crawler-type robots and robots wh
Mori Naoto
Shimizu Satoru
Frommer William S.
Frommer & Lawrence & Haug LLP
Masih Karen
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