ROBOT
First Claim
1. A robot which is provided with a main body, a plurality of legs connected to the main body and a controller, and is capable of moving autonomously with repeated motions involving leaving a floor and landing on the floor of the plurality of legs controlled by the controller,wherein the controller is provided witha first controlling element configured to determine a deviation of a position of the main body from a second target position as a second position deviation and a deviation of a posture of the main body from a second target posture as a second posture deviation when the robot is standing in a second specified area for executing a specified task involving an interaction with a target object, anda second controlling element configured to correct a second target path on the basis of either one or both of a current second position deviation and a current second posture deviation determined by the first controlling element so as to make either one or both of a subsequent second position deviation and a subsequent second posture deviation smaller after the robot has been controlled to move from the first specified area to the second specified area and stand in the second specified area with the position and posture of the main body following the second target path.
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Accused Products
Abstract
Provided is a robot capable of appropriately adjusting a position and the like of a main body in view of executing a specified task involving an interaction with a target object. While the position and posture of the main body (10) are being controlled according to a second target path, the robot (1) moves from a first specified area to a second specified area and stands there. In this state, a second position deviation (=the deviation of the position of the main body from a second target path) and a second posture deviation (=the deviation of the posture of the main body from a second target posture) are determined. According to the determination result, the second target path is corrected so that the subsequent position deviation and the like may be smaller.
37 Citations
7 Claims
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1. A robot which is provided with a main body, a plurality of legs connected to the main body and a controller, and is capable of moving autonomously with repeated motions involving leaving a floor and landing on the floor of the plurality of legs controlled by the controller,
wherein the controller is provided with a first controlling element configured to determine a deviation of a position of the main body from a second target position as a second position deviation and a deviation of a posture of the main body from a second target posture as a second posture deviation when the robot is standing in a second specified area for executing a specified task involving an interaction with a target object, and a second controlling element configured to correct a second target path on the basis of either one or both of a current second position deviation and a current second posture deviation determined by the first controlling element so as to make either one or both of a subsequent second position deviation and a subsequent second posture deviation smaller after the robot has been controlled to move from the first specified area to the second specified area and stand in the second specified area with the position and posture of the main body following the second target path.
Specification