Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
1998-01-20
2001-04-17
Grant, William (Department: 2121)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C318S568120
Reexamination Certificate
active
06219588
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a robot apparatus of various forms having mechanical systems of different types arranged to use a command, which is independent from a mechanical system and which does not depend on the mechanical system, and enabled to be controlled by a common control system and to a control method therefor.
2. Description of Prior Art
Hitherto, a variety of robot apparatuses have been disclosed which include tired-robots capable of self-running by dint of the tires, and bipedal or quadrapedal walking robots, each of the foregoing robot apparatuses having various mechanical systems.
A robot apparatus of the foregoing type has a mechanical system in which actuators each having a predetermined degree of freedom and sensors for each detecting a predetermined physical quantity are disposed at predetermined positions. A control unit having a microcomputer individually operates the various actuators in accordance with outputs from the sensors and the control program. Thus, the self-running operation of the robot apparatus is permitted. Moreover, the robot apparatus performs a predetermined operation. The above-mentioned robot apparatus is assembled into a predetermined form in such a manner that various component units including a body, legs and a head maintain predetermined relative positions.
When a variety of robot apparatuses each having various mechanical systems are controlled, each robot apparatus must be controlled by using commands defined to correspond to the mechanical systems of the apparatus. It leads to a fact that a control program for each of the various robots each having different mechanical systems must be prepared even if a common operation, such as moving forwards, moving backward or stoppage, is performed.
OBJECT AND SUMMARY OF THE INVENTION
Accordingly, an object of the present invention is to provide a robot apparatus of various forms having mechanical systems of different types arranged to use a command, which is independent from a mechanical system and which does not depend on the mechanical system, and enabled to be controlled by a common control system and to a control method therefor.
According to one aspect of the present invention, there is provided a robot apparatus including: a mechanical system having at least one mechanical portion arranged to be operated by a drive portion; a mechanical-system-command converter arranged to receive a command which is independent from a mechanical system and which does not depend on the mechanical system to convert the command independent from the mechanical system into a command depending on the mechanical system and adaptable to the mechanical system; and a control portion for controlling the operation of the drive portion in accordance with the command depending on the mechanical system supplied from the mechanical-system-command converter.
According to another aspect of the present invention, there is provided a method of controlling a robot apparatus including a mechanical system having at least one mechanical portion arranged to be operated by a drive portion, the method including the steps of: converting a command which is independent from a mechanical system and which does not depend on the mechanical system into a command depending on the mechanical system adapted to the mechanical system; and controlling the drive portion in accordance with the command depending on the mechanical system.
Other objects, features and advantages of the invention will be evident from the following detailed description of the preferred embodiments described in conjunction with the attached drawings.
REFERENCES:
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patent: 5697829 (1997-12-01), Chainani et al.
patent: 5739655 (1998-04-01), Torii et al.
patent: 5832189 (1998-11-01), Tow
patent: 5870527 (1999-02-01), Fujikawa et al.
Hartikainen K. K. et al: “Mecant I: A Six Legged Walking Machine for Research Purposes in Outdoor Environment” Proceedings of the International Conference on Robotics and Automat, Nice, May 12-14, 1992, vol. 1, No. Conf. 8, May 1992, pp. 157-163, Institute of Electrical and Electronics Engineers.
Bihari T. E. et al: “Controlling the Adaptive Suspension Vehicle” Computer, vol. 22, No. Jun. 1989, pp. 59-64.
Rodney A. Brooks: “A Layered Intelligent Control System for a Mobile Robot” 1988, Robotics Research, The Third International Symposium, Edited by O. D. Faugeras and Georges Giralt, the MIT Press Cambridge, Massachusettes London, England.
Cabrera Zoila
Frommer William S.
Frommer Lawrence & Haug LLP.
Grant William
Savit Glenn F.
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