Robot
First Claim
1. A robot comprising:
- a first spherical cap portion;
a second spherical cap portion;
a spherical band-shaped main casing disposed between the first spherical cap portion and the second spherical cap portion, the spherical band-shaped main casing having a first flat surface to interface a flat surface of the first spherical cap portion, and a second flat surface to interface a flat surface of the second spherical cap portion;
a first shaft that joins the first spherical cap portion to the second spherical cap portion;
a display that is attached to the first shaft via an arm, and that displays at least part of a face of the robot in a forward direction;
a weight that is provided inside of the spherical band-shaped main casing and that rotates around a second shaft that is disposed perpendicular to the first shaft;
a first drive mechanism that drives a rotation of the first shaft to rotate the first spherical cap portion and the second spherical cap portion;
a second drive mechanism independent from the first drive mechanism, the second drive mechanism drives a rotation of the spherical band-shaped main casing about the first shaft to cause a linear movement of the robot, the linear movement including a movement in the forward direction and a movement in a backward direction;
a weight drive mechanism that rotates the second shaft;
a range finding sensor disposed in one of the first spherical cap portion and the second spherical cap portion to face a same direction as the display; and
a control circuit that;
determines whether a distance from the range finding sensor to an object disposed exterior to the robot is less than a first predetermined value,if the distance is less than the first predetermined value, executes a pivot turn mode, wherein in the pivot turn mode, the control circuit causes the robot to turn with a first turning radius by controlling the second drive mechanism to stop the linear movement of the robot, controlling the weight drive mechanism to tilt the weight towards a first side that is in a direction towards one of the first spherical cap or the second spherical cap, controlling the second drive mechanism to cause a forward movement of the robot with the weight tilted to the first side, controlling the second drive mechanism to stop the forward movement of the robot, controlling the weight drive mechanism to tilt the weight to a second side different from the first side, and controlling the second drive mechanism to cause a backward movement of the robot with the weight tilted to the second side.
1 Assignment
0 Petitions
Accused Products
Abstract
A spherical shaped robot with a drive mechanism and a weight drive mechanism is provided. If a distance from the robot to an object is less than a predetermined value, the robot executes a pivot turn mode. In the pivot turn mode, the robot controls the drive mechanism to stop linear movements of the robot, controls the weight drive mechanism to tilt the weight to a first side representing one of the right hand side and left hand side of the robot, controls the drive mechanism to cause a forward movement of the robot with the weight tilted to the first side, controls the drive mechanism to stop the forward movement of the robot, controls the weight drive mechanism to tilt the weight to a second side different from the first side, and controls the drive mechanism to cause a backward movement of the robot with the weight tilted to the second side.
89 Citations
12 Claims
-
1. A robot comprising:
-
a first spherical cap portion; a second spherical cap portion; a spherical band-shaped main casing disposed between the first spherical cap portion and the second spherical cap portion, the spherical band-shaped main casing having a first flat surface to interface a flat surface of the first spherical cap portion, and a second flat surface to interface a flat surface of the second spherical cap portion; a first shaft that joins the first spherical cap portion to the second spherical cap portion; a display that is attached to the first shaft via an arm, and that displays at least part of a face of the robot in a forward direction; a weight that is provided inside of the spherical band-shaped main casing and that rotates around a second shaft that is disposed perpendicular to the first shaft; a first drive mechanism that drives a rotation of the first shaft to rotate the first spherical cap portion and the second spherical cap portion; a second drive mechanism independent from the first drive mechanism, the second drive mechanism drives a rotation of the spherical band-shaped main casing about the first shaft to cause a linear movement of the robot, the linear movement including a movement in the forward direction and a movement in a backward direction; a weight drive mechanism that rotates the second shaft; a range finding sensor disposed in one of the first spherical cap portion and the second spherical cap portion to face a same direction as the display; and a control circuit that; determines whether a distance from the range finding sensor to an object disposed exterior to the robot is less than a first predetermined value, if the distance is less than the first predetermined value, executes a pivot turn mode, wherein in the pivot turn mode, the control circuit causes the robot to turn with a first turning radius by controlling the second drive mechanism to stop the linear movement of the robot, controlling the weight drive mechanism to tilt the weight towards a first side that is in a direction towards one of the first spherical cap or the second spherical cap, controlling the second drive mechanism to cause a forward movement of the robot with the weight tilted to the first side, controlling the second drive mechanism to stop the forward movement of the robot, controlling the weight drive mechanism to tilt the weight to a second side different from the first side, and controlling the second drive mechanism to cause a backward movement of the robot with the weight tilted to the second side. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
Specification