Articulated robot and method of controlling the motion of the same

• US 20010047226A1
• Filed: 03/20/2001
• Published: 11/29/2001
• Est. Priority Date: 03/21/2000
• Status: Active Grant

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Kuroki, Yoshihiro, Saijo, Hiroki
• Granted Patent: US 6,493,606 B2
• Time in Patent Office: Days
• US Class Current: 700/261
• CPC Class Codes: B25J 13/00 Controls for manipulators programme controls B25J9/16; control in general G05
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Abstract

A legged mobile robot realizes a motion language by a time-series change in an actuator angle or a motion pattern using the four limbs and the trunk. A motion language which includes, for example, a motion pattern which is an approximation of the contour/shape of a character is used, so that even a robot or a human being which does not possess the same motion language database can determine the meaning and character which is indicated by each motion pattern as a result of visually recognizing and interpreting the contour/form which is indicated by each motion pattern. For example, a robot which has stepped into a dangerous working area can give a message concerning, for example, the condition of the working area to an observer at a remote location without using any data communications means. The legged mobile robot communicates by moving the limbs and/or the trunk.

Claims

1. An articulated robot which comprises a plurality of joints, the articulated robot including:

a movement controller for controlling the movement of each of the joints;

a motion language accumulator for accumulating a motion language formed by a motion pattern of the joints, the motion patterns being executed to express the intentions and details of communication; and

a movement output controller for giving the motion language to be used to the movement controller as a result of taking the motion language to be used from the motion language accumulator.

2. An articulated robot according to

claim 1

, further including an external interface used for performing operations including an image input operation, a sound input/output operation, and a data transmission/reception operation through a communications medium, and a communication controller for controlling the communication based on input/output data through the external interface, wherein the communication controller determines the motion language to be used in accordance with the details of the communication.

3. An articulated robot according to

claim 1

, wherein the motion language is realized using a method which forms a sentence by repeating the formation of a plurality of characters with the basic mode of formation being in character units, or by using a method which realizes the communication by a motion which has a meaning or based on a time-series change in a joint angle.

4. An articulated robot according to

claim 1

, wherein a plurality of motion languages are combined to express the intentions of the robot or the details of the communication, and wherein the motion language accumulator includes a motion pattern used to direct the starting of the realization of the motion language, and/or a motion pattern used to direct the ending of the realization of the motion language.

5. An articulated robot according to

claim 1

, wherein a plurality of motion languages are combined to express the intentions of the robot or the details of the communication, and the motion language accumulator includes a motion pattern used for directing the provision of a delimiter between the motion languages.

6. An articulated robot according to

claim 1

, further including a movement teaching section for directly teaching the motion pattern which is executed to realize the motion language as a result of directly holding and operating each of the joints.

7. An articulated robot according to

claim 1

, further including a movement teaching section for indirectly teaching the motion pattern which is executed to realize the motion language as a result of actuating each of the joints along a coordinate system of the robot.

8. A method of controlling the motion of an articulated robot which comprises a plurality of joints and which accumulates a motion language which is formed by a motion pattern of each of the joints used to express the intentions of the robot and the details of communication, the method comprising the steps of:

determining the motion language to be used; and

controlling the movement of each of the joints for realizing the determined motion language.

9. A method of controlling the motion of an articulated robot according to

claim 8

, further comprising the steps of inputting and outputting data to the outside through a communications medium, the inputting and outputting of data including inputting of an image, inputting/outputting of sound, and transmitting/receiving of data, and of controlling communication based on the data input/output operation, wherein the motion language to be used is determined in accordance with the details of the communication.

10. A method of controlling the motion of an articulated robot according to

claim 8

, wherein the motion language is realized using a method which forms a sentence by repeating the formation of a plurality of characters with the basic mode of formation being in character units, or by using a method which realizes the communication by a motion which has a meaning or based on a time-series change in a joint angle.

11. A method of controlling the motion of an articulated robot according to

claim 8

, further comprising the step of executing a motion pattern used to direct the starting of the realization of the motion language and/or the step of executing the motion pattern used to direct the ending of the realization of the motion language.

12. A method of controlling the motion of an articulated robot according to

claim 8

further comprising the step of, when the intentions of the robot or details of the communication are expressed by combining a plurality of the motion languages, executing a motion pattern used to direct the provision of a delimiter between the motion languages.

13. A method of controlling the motion of an articulated robot according to

claim 8

, further comprising the step of directly teaching the motion pattern which is executed to realize the motion language as a result of directly holding and operating each of the joints.

14. A method of controlling the motion of an articulated robot according to

claim 8

, further comprising the step of indirectly teaching the motion pattern which is executed to realize the motion language as a result of actuating each of the joints along a coordinate system of the robot.