Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2005-03-08
2005-03-08
Chin, Gary (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S222000, C700S246000, C700S253000, C700S257000, C700S258000, C700S259000, C318S490000, C318S565000, C318S568120, C318S015000, C901S022000, C901S029000, C901S046000, C901S048000, C600S102000
Reexamination Certificate
active
06865446
ABSTRACT:
A robot apparatus is provided which includes body portions such as a head block (4), leg blocks (3A to3D), an actuator (25) to actuate the body portions and a CPU (10) to supply a control signal to the actuator (25). In this apparatus, information about an external force applied to the apparatus, such as the position, magnitude, direction, etc. of the external force, is computed on the basis of changes of the control signal supplied from the CPU (10) to drive the actuator (25) and a signal supplied as a response to the CPU (10) when the actuator (25) is driven. The external force information is supplied to the CPU (10) and used as information for selection of a behavior and emotion of the robot apparatus and the next behavior of the apparatus. Thus, in the robot apparatus, since the external force information is computed on the basis of an output from the CPU (10) and outputs from the actuator (25) and a potentiometer (26), so an external force can be detected by the use of existing devices and no dedicated sensors have to be additionally provided.
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Fujita Masahiro
Hugel Vincent
Yokono Jun
Frommer William S.
Frommer & Lawrence & Haug LLP
Marc McDieunel
Sony Corporation
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