Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2002-09-30
2004-12-14
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S247000, C700S249000, C700S250000, C700S252000, C700S253000, C700S258000, C700S260000, C700S264000, C318S568100, C318S568110, C318S568120, C318S568150, C318S568160, C318S568170, C318S568220, C318S568250, C180S008100, C180S008600, C901S001000, C901S002000, C901S009000
Reexamination Certificate
active
06832131
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a realistic robot mechanism which is constructed as a result of modeling the operation and mechanism of a living body, and, more particularly, to a legged mobile robot mechanism 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 controlling mechanism of a legged mobile robot capable of getting up by itself when it has fallen down while walking or the like. Still more particularly, the present invention relates to a controlling method mechanism for a legged mobile robot which can get up by itself even when it has fallen down in various postures in order to automatically start to work again after the work has been interrupted because it has fallen down.
2. Description of the Related Art
A robot is a mechanical device which emulates 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 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.
In recent years, progress has been made in the research and development of legged mobile robots which emulate the movements and mechanisms of the body of an animal, such as a human being or a monkey, which walks on two feet while in an erect posture, so that there is a higher expectation of putting them into practical use. The posture and walking of legged mobiles which walk on two feet while in an erect posture are more unstable than those of crawler types or types having four or six legs, so that they are more difficult to control. However, the legged mobiles which walk on two feet while in an erect posture are excellent robots in that they can move and work flexibly because they can move along uneven surfaces such as unleveled surfaces and working paths having, for example, obstacles therein, and walk along walking surfaces which are not continuous, such as going up and down steps and ladders.
Legged mobile robots which emulate the mechanisms and movements of the bodies of human beings are called humanoid robots. Humanoid robots can, for example, help people in life, that is, help them in various human activities in living environments and in various circumstances in everyday life.
The significance of carrying out research and development on 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 whose 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 other various research fields which treat human movement mechanisms, such as ergonomics, rehabilitation engineering, and sports science.
The other viewpoint is related to the development of 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 being taught by human beings. Here, it is believed that making the form and structure of a robot the same as those of a human being is effective for smooth communication between human beings and robots.
For example, when teaching to 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 walking-on-two-feet-type robot which has the same form as the user than a crawler-type or a four-feet-type robot having completely different structures 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.)
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 on two feet while in an upright posture. 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 many obstacles. However, it is preferable that the movable range of the robot is 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 enhance the affinity of the robot to the living environment of human beings, it is essential for the robot to possess a human form.
One application of humanoid robots is to make them 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, 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, and rescuing of people at places where there is a fire, and the like.
The most important theme is to design and manufacture industrial robots so that they can be industrially used as specified and can provide the specified functions. Industrial robots are constructed on the assumption that they walk on two feet. However, as mechanical devices, they do not necessarily have to faithfully reproduce the actual body mechanisms and movements of animals, such as human beings or monkeys, which walk while they are in an erect posture. For example, in order to produce an industrial robot for a particular use, the degree of freedom of the movement of particular parts, such as the finger tips, and their operational functions are increased and enhanced, respectively. On the other hand, the degrees of freedom of parts which are considered comparatively unrelated to a task, such as the head, the trunk (the backbone, etc.), and the waist, are limited in number or are not provided. This causes the industrial robot to have an unnatural external appearance when it works and moves, although it is a type of robot which walks on two feet. However, a compromise is inevitable.
Another application of humanoid robots is related to closely connecting them to life, that is, “to the living together with human beings” rather than helping them in life by carrying out difficult tasks in place of human beings. In other words, the ultimate purpose is to make these robots faithfully reproduce whole body harmoniously moving type operation mechanisms which animals, such as human beings and monkeys, which walk on two feet while they are in an erect posture actually have, and to make them move naturally and smoothly. In addition, in emulating highly intelligent animals, such as human beings or monkeys, which stand in an upright posture, an operation using the four limbs is natural for a living body, and it is desirable that the movements are sufficiently indicative of emotions and feelings. Further, the humanoid robot is required not only to faithfully execute a previously input operation pattern, but also to act vividly in response to the words and actions of a person (such as speaking highly of someone, scol
Hattori Yuichi
Ishida Tatsuzo
Yamaguchi Jinichi
Cuchlinski Jr. William A.
Frommer William S.
Frommer & Lawrence & Haug LLP
Marc McDieunel
Sony Corporation
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