Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
1998-04-21
2002-03-05
Sheikh, Ayaz (Department: 2155)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S079000, C700S900000, C700S095000, C700S096000, C312S223100, C340S870030, C361S689000, C361S689000, C361S724000, C318S568240, C318S568210, C414S728000, C414S744400, C414S936000, C414S937000
Reexamination Certificate
active
06353773
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a remote control system for remotely controlling a biped (two-legged) locomotion robot.
2. Description of the Prior Art
There has heretofore been known in the art a remote control system for remotely controlling a robot to operate with a robot manipulator such as a joystick.
For controlling a biped locomotion robot to walk forward, the operator operates the robot manipulator in a direction corresponding to the forward side of the robot. The stride, walking stride, etc. of the robot are commanded by the amount of movement of the robot manipulator as it is operated by the operator.
With the known remote control system, since the movement of each of the legs as the biped locomotion robot walks, i.e., as the legs are alternately landed on the floor and lifted off the floor, is of a pattern which is entirely different from the pattern of movement of the robot manipulator, the operator cannot easily obtain a feel of the actual movement of the robot legs. For example, when the operator commands the stride or walking speed of the biped locomotion robot with the amount of movement of the robot manipulator, the stride or walking speed which is actually while perceptively recognizing the movement of the legs of the robot, and also to move the robot in a wide range under various different environmental conditions.
To achieve the above object, there is provided in accordance with the present invention a remote control system for remotely controlling a biped locomotion robot as manipulated by an operator, comprising an upper body support mechanism for supporting an upper body of the operator while allowing the operator to move feet thereof, foot operation state detecting means for detecting operation states of the feet of the operator whose upper body is supported by the upper body support mechanism, and leg operation commanding means for applying leg operation commands to the biped locomotion robot depending on the operation states of the feet of the operator as detected by the foot operation state detecting means.
For operating the legs of the biped locomotion robot, the operator supports its own upper body on the upper body support mechanism, and moves the feet in a pattern, e.g., a walking pattern, in which the operator wants to move the legs of the biped locomotion robot. At this time, the foot operation state detecting means detects an operation state of each of the feet of the operator, e.g., the operation of each foot corresponding to the lifting of each leg of the biped locomotion robot from a floor, the operation of each foot corresponding to the landing of each leg of the biped locomotion robot on a floor, the position or orienta-achieved may be greater or smaller than the operator has expected, but the operator cannot perceptively recognize such an error from the amount of movement of the robot manipulator.
Therefore, the operator is required to be highly skilled to operate the robot manipulator in order to control the robot to operate exactly as intended by the operator.
Another tpye of remote control system has a master unit which is worn by the operator. For controlling the biped locomotion robot to walk with the master unit, the operator actually walks, and the master unit delivers a command representing the walking movement of the operator to the biped locomotion robot.
The remote control system requires that the master unit be equipped with a facility which provides the same environment as the environment in which the robot operates, i.e., a floor on which the robot moves and other structures surrounding the robot. Because of limitations imposed by such a facility, the remote control system fails to move the robot in a wide range under various different environmental conditions.
SUMMARY OF THE INVENTION
It is therefore an object of the present invention to provide a remote control system for remotely controlling a biped locomotion robot with a robot manipulator operated by the operator, the remote control system allowing the operator to move legs of the robot reliably as desired locomotion of each foot from time to time, or a rate of change thereof. Depending on the detected operation states of the feet of the operator, the leg operation commanding means applies leg operation commands to the biped locomotion robot. The legs of the biped locomotion robot are operated on the basis of the applied leg operation commands.
Therefore, the operator can manipulate the legs of the biped locomotion robot with the movement of its own feet, and can recognize the operation of the legs of the biped locomotion robot with the movement of its own feet. Since the operator is able to operate the legs of the robot by moving its own feet while the upper body is being supported by the upper body support mechanism, the operator is not required to move in order to operate the robot. Thus, the operator can move the robot at will under given environment conditions for the robot simply by moving the feet in view of the environment conditions for the robot.
With the remote control system, the operator can perceptively recognize the movement of the legs of the robot based on the movement of its own feet, and hence can move the legs of the robot reliably as desired. The operator can also move the robot in a wide range under various environmental conditions.
The operation states of the feet of the operator include at least an operation state of each of the feet of the operator which corresponds to lifting of each leg of the biped locomotion robot from a floor, and an operation state of each of the feet of the operator which corresponds to landing of each leg of the biped locomotion robot on a floor.
Since the biped locomotion robot moves or walks by repeatedly lifting and landing its legs like human beings, the operation states of the feet of the operator which correspond to the lifting and the landing of the legs of the robot are detected, and leg operation commands based on the detected operation states are given to the robot for thereby walking the robot accurately according to the pattern of movement of the feet of the operator.
Preferably, the foot operation state detecting means comprises operator foot position/orientation detecting means for detecting a relative positional and/or orientational relationship between the feet of the operator in at least the operation state of each of the feet of the operator which corresponds to landing of each leg of the biped locomotion robot on the floor, and the leg operation commanding means comprises means for applying a command representing a landed position and/or orientation of the leg to be landed of the biped locomotion robot to the biped locomotion robot depending on the relative positional and/or orientational relationship between the feet of the operator as detected by the foot operation state detecting means.
The landed position and/or orientation of each leg to be landed of the biped locomotion robot is determined by the relative positional and/or orientational relationship between the feet of the operator in the operation state of each of the feet of the operator which corresponds to landing of each leg of the biped locomotion robot on the floor. Therefore, when the operator moves the foot corresponding to one of the legs to be landed of the robot while walking the robot, the operator adjusts as desired the relative positional and/or orientational relationship of the foot to the other foot, so that the operator is able to control the stride of the robot and the direction of walking of the robot in the same manner as the operator walks. The operator can operate the legs of the robot as desired with a feel of unison between the movement of the feet and the movement of the legs of the robot.
The remote control system further comprises a foot support mechanism for supporting the feet of the operator whose upper body is supported by the upper body support mechanism, the foot support mechanism being movable with the feet of the operator, actuator means for actuating the
Backer Firmin
Honda Giken Kogyo Kabushiki Kaissha
Lyon & Lyon LLP
Sheikh Ayaz
LandOfFree
Remote control system for biped locomotion robot does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Remote control system for biped locomotion robot, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Remote control system for biped locomotion robot will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2845434