Biped robot control system
First Claim
1. A system for controlling a biped robot having a body and two legs each connected to the body, comprising:
- a plurality of cameras mounted on the robot and capturing a stereoscopic image around the robot;
captured image analyzer inputting and analyzing the image captured by the cameras;
moving object detector detecting presence of a moving object around the robot based on the analyzed image and if detected, calculating a position and an angle of the moving object relative to the robot;
stop motion determinator determining whether a motion of the robot needs to be stopped based on the detected position and angle of the moving object relative to the robot; and
robot motion controller controlling the robot to stop the motion when the motion of the robot is determined to be stopped, such that a distance of travel of the robot from the capture of image to the stopping of motion of the robot falls within a predetermined distance.
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Accused Products
Abstract
In a biped robot control system, stereoscopic images captured by CCD cameras are analyzed, the analyzed images are then utilized to detect presence of any moving object around the robot and if it present, to calculate moving object information, and based on the calculated moving object information, it is determined whether or not walking of the robot needs to be stopped. If it is determined to be stopped, the robot is controlled to stop within a period that brings the travel distance at stopping (distance moved between image capture by the CCD cameras and stopping of robot walking) to within a predetermined distance. With this, when the robot approaches a moving object during walking, it can be stopped within the predetermined distance to avoid collision with the moving object.
63 Citations
10 Claims
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1. A system for controlling a biped robot having a body and two legs each connected to the body, comprising:
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a plurality of cameras mounted on the robot and capturing a stereoscopic image around the robot;
captured image analyzer inputting and analyzing the image captured by the cameras;
moving object detector detecting presence of a moving object around the robot based on the analyzed image and if detected, calculating a position and an angle of the moving object relative to the robot;
stop motion determinator determining whether a motion of the robot needs to be stopped based on the detected position and angle of the moving object relative to the robot; and
robot motion controller controlling the robot to stop the motion when the motion of the robot is determined to be stopped, such that a distance of travel of the robot from the capture of image to the stopping of motion of the robot falls within a predetermined distance. - View Dependent Claims (2, 3, 4, 5)
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6. A method of controlling a biped robot having a body and two legs each connected to the body, comprising the steps of:
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capturing a stereoscopic image around the robot;
inputting and analyzing the captured image;
detecting presence of a moving object around the robot based on the analyzed image and if detected, calculating a position and an angle of the moving object relative to the robot;
determining whether a motion of the robot needs to be stopped based on the detected position and angle of the moving object relative to the robot; and
controlling the robot to stop the motion when the motion of the robot is determined to be stopped, such that a distance of travel of the robot from the capture of image to the stopping of motion of the robot falls within a predetermined distance. - View Dependent Claims (7, 8, 9, 10)
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Specification