ARM CONTROL APPARATUS, ARM CONTROL METHOD, ARM CONTROL PROGRAM, ROBOT, AND INTEGRATED ELECTRONIC CIRCUIT FOR ARM CONTROL
First Claim
1. An arm control apparatus for controlling a position and an orientation of a touch panel display, the apparatus comprising:
- a display information acquiring unit that acquires information displayed on a screen of the touch panel display;
a touch pattern estimating unit that estimates a region on the screen that is likely to be touched by a person and a motion direction of the touch based on the information acquired from the display information acquiring unit;
a stiffness parameter information generating unit that generates information for controlling the arm based on the region and the motion direction estimated by the touch pattern estimating unit so that the position and the orientation of the touch panel display do not change along a touch direction at a touch panel input time; and
an arm control unit that controls a stiffness parameter of the arm based on the information generated by the stiffness parameter information generating unit.
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Accused Products
Abstract
There is provided a display information acquiring unit for acquiring display information on a screen of a touch panel display, a touch pattern estimating unit for estimating a region on the screen likely to be touched by a person and a motion direction of the touch based on the display information, a load estimating unit for estimating a load or a torque to the display based on the estimated region and the motion direction, a stiffness parameter information generating unit for generating information for controlling the arm so that the position and the orientation of the display do not change along the touching direction at the time of touch panel input based on the estimated load or torque, and an arm control unit for controlling a stiffness parameter of the arm based on the generated information.
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Citations
18 Claims
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1. An arm control apparatus for controlling a position and an orientation of a touch panel display, the apparatus comprising:
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a display information acquiring unit that acquires information displayed on a screen of the touch panel display; a touch pattern estimating unit that estimates a region on the screen that is likely to be touched by a person and a motion direction of the touch based on the information acquired from the display information acquiring unit; a stiffness parameter information generating unit that generates information for controlling the arm based on the region and the motion direction estimated by the touch pattern estimating unit so that the position and the orientation of the touch panel display do not change along a touch direction at a touch panel input time; and an arm control unit that controls a stiffness parameter of the arm based on the information generated by the stiffness parameter information generating unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. An arm control method for controlling a position and an orientation of a touch panel display, the method comprising:
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acquiring information to be displayed on a screen of the touch panel display through a display information acquiring unit; estimating a region on the screen likely to be touched by a person and a motion direction of the touch through a touch pattern estimating unit based on the information acquired by the display information acquiring unit; generating information for controlling the arm through a stiffness parameter information generating unit so that the position and the orientation of the touch panel display do not change along a touching direction at a touch panel input time based on the region and the motion direction estimated by the touch pattern estimating unit; and controlling a stiffness parameter of the arm through an arm control unit based on the information generated by the stiffness parameter information generating unit.
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17. A computer-readable recording medium including an arm control program for controlling a position and an orientation of a touch panel display, the program making a computer to execute:
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a step of acquiring information to be displayed on a screen of the touch panel display through a display information acquiring unit; a step of estimating a region on the screen likely to be touched by a person and a motion direction of the touch through a touch pattern estimating unit based on the information acquired by the display information acquiring unit; a step of generating information for controlling the arm so that the position and the orientation of the touch panel display do not change along a touching direction at a touch panel input time through a stiffness parameter information generating unit based on the region and the motion direction estimated by the touch pattern estimating unit; and a step of controlling a stiffness parameter of the arm through an arm control unit based on the information generated by the stiffness parameter information generating unit.
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18. An integrated electronic circuit for arm control, that controls a position and an orientation of a touch panel display, the circuit configured to:
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acquire information to be displayed on a screen of the touch panel display through a display information acquiring unit; estimates a region on the screen likely to be touched by a person and a motion direction of the touch through a touch pattern estimating unit based on the information acquired by the display information acquiring unit; generate information for controlling the arm through a stiffness parameter information generating unit so that the position and the orientation of the touch panel display do not change along a touching direction at a touch panel input time based on the region and the motion direction estimated by the touch pattern estimating unit; and control a stiffness parameter of the arm through an arm control unit based on the information generated by the stiffness parameter information generating unit.
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Specification