Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2000-11-24
2002-08-20
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S095000, C700S108000, C700S109000, C700S110000, C700S163000, C700S186000, C700S193000, C702S010000, C701S023000, C901S023000, C901S029000
Reexamination Certificate
active
06438454
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 movable robot in which the mechanism of the body of a leg-movement-type animal, such as a human being and a monkey, is modeled.
Even more particularly, the present invention relates to a leg-movement-type-robot controlling system which can independently perform an actuating operation as a result of installing a controlling device thereat. Still more particularly, the present invention relates to a leg-movement-type robot controlling system which executes a self-diagnosis of failures or abnormalities in the system, and which can feed back the diagnosis results to the user.
2. Description of the Related Art
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 leg-movement-type 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 leg-movement types 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, they are excellent in that they can move and work flexibly. More specifically, leg-movement-type robots which walk on two feet are suited for walking along unleveled surfaces, working paths having obstacles, and floors having uneven surfaces, and walking along walking surfaces which are not continuous, so that they can, for example, go up and down steps and ladders.
Leg-movement-type robots which emulate the mechanisms and movements of living bodies are called humanoid robots. The significance of carrying out research and development on leg-movement-type robots which are 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 whose structure 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 structures which are completely different from the structure of 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, Apr., 1996.)
The working space and living space of human beings are formed in accordance with the behavioral mode and the mechanism of the body 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 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 or to help them carry out various human tasks, and to deeply penetrate the living space of human beings. This is the reason why there are great expectations for putting a leg-movement-type 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.
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 an animal, such as human beings and monkeys, which walk on two feet while in an erect posture actually possess be faithfully reproduced in order to achieve smooth and natural movement. In addition, in emulating highly intelligent animals, such as human beings or 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 vividly 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 responding operation is fixed/standardized, so that the same operations are merely repeated, causing the user to eventually get tired of the toy machines. In contrast, entertainment robots, though they execute operations in accordance with an operation generation time series model, can change this time series model, that is, impart a learning effect, in response to a detection of an external stimulus which is produced by, for example, the operation of the user. Therefore, the relationship between the operations which are carried out by the user and the responding operation is programmable, making it possible to provide an operation pattern which does
Cuchlinski Jr. William A.
Frommer William S.
Frommer & Lawrence & Haug LLP
Marc McDieunel
Sony Corporation
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