Insect robot

• US 6,681,150 B1
• Filed: 07/08/2002
• Issued: 01/20/2004
• Est. Priority Date: 11/20/1999
• Status: Expired due to Fees

• Current Assignee: Bandai Company Limited (BANDAI NAMCO Holdings Inc.)
• Original Assignee: Bandai Company Limited (BANDAI NAMCO Holdings Inc.)
• Inventors: Suda, Shinichi, Haga, Yoshinori, Sawajiri, Yuji, Sato, Masayosi, Kazami, Keiichi
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US10/111,089
• Time in Patent Office: 561 Days
• Field of Search: 700/245, 700/255, 700/260, 446/356, 446/368, 446/376, 446/377, 446/353, 446/330, 446/390, 180/8.6, 244/72
• US Class Current: 700/245
• CPC Class Codes: A63H 11/205 performing turtle-like motion
• CPC Class Codes: A63H 3/006 provided with electrical lighting electrical lighting F21

Abstract

External state detection device detects an environmental state indicating whether there is an obstacle, external light, or a pheromone signal. On the basis of the detection result, sensor identification unit determining device determines an identifying unit that matches the environmental state. In response to determination of the sensor identifying unit, action units defining actions such as “move forward” or “move backward” related to the sensor identifying unit in an instruction unit are sequentially selected. Action unit execution device executes the action defined by the selected action unit for a preassigned execution time by rotating left and right leg driving wheels in a driving mode including a combination of “forward rotation”, reverse rotation”, and “stop”. Thus, there is provided an insect robot for simulating behavior in a vivid and realistic manner.

Claims

1. An insect robot comprising:

environmental state detection means A for detecting the environmental state of action space of the insect robot and outputting an environmental state signal;

a plurality of action unit means B for defining, at least, a type of an action of the insect robot and a duration of the action;

action unit selection means C for selecting one action unit means B from the plurality of action unit means B in accordance with the environmental state signal;

action unit execution means D for driving an actuator so as to execute the action defined by an action unit selected by the action unit selection means C for the duration of the action; and

leg means 8 and 9 that are moved by actuators 13 and 14 driven by the action unit execution means D so that the insect robot performs the action for the duration of the action.

2. An insect robot according to claim 1, wherein the environmental state detection means A detects an obstacle in the action space and outputs an obstacle state signal as the environmental state signal and also detects lightness in the action space and outputs a lightness state signal as an environmental state signal.

3. An insect robot according to claim 1, wherein the plurality of action unit means B respectively define one of “

forward movement”

, “

backward movement”

, “

right turn”

, “

left turn”

, and “

stop”

, as the type of the action of the insect robot and also define the duration and the execution speed of the defined action.

4. An insect robot according to claim 1, wherein the action unit selection means C selects one of the plurality of action unit means B in accordance with priorities preassigned to the respective action unit means B.

5. An insect robot according to claim 1, wherein the action unit execution means D drives motors serving as the actuators 13 and 14, respectively, in each of driving modes, “

forward rotation”

, “

reverse rotation”

, and “

stop”

, preassigned to each type of actions “

forward movement”

, “

backward movement”

, “

right turn”

, “

left turn”

, and “

stop”

with a duty ratio corresponding to the execution speed of an action being executed for the duration of the action.

6. An insect robot according to claim 1, further comprising:

pheromone signal transmitting means E for transmitting, into the action space, a pheromone signal representing identification information uniquely preassigned to the insect robot;

pheromone signal receiving means F for receiving a pheromone signal transmitted from pheromone signal transmitting means E of another insect robot present in the action space, the pheromone signal representing identification information uniquely preassigned to said another insect robot;

inter-robot behavioral relationship identifying means G for identifying an inter-robot behavioral relationship predefined between the insect robot itself and said another insect robot, on the basis of the identification information associated with said another insect robot represented by the received pheromone signal and the identification information associated with the insect robot itself;

a plurality of inter-robot action unit means H for defining, at least, a type of an inter-robot action of the insect robot and a duration of the inter-robot action;

inter-robot action unit selection means I for selecting one inter-robot action unit means H from the plurality of inter-robot action unit means H in accordance with the inter-robot behavioral relationship identified by the inter-robot behavioral relationship identifying means G;

inter-robot action unit execution means J for driving an actuator so as to execute the inter-robot action defined by an inter-robot action unit selected by the inter-robot action unit selection means I for the duration of the inter-robot action; and

leg means 8 and 9 that are moved by actuators 13 and 14 driven by the inter-robot action unit execution means J so that the insect robot performs the inter-robot action for the duration of the inter-robot action.

7. An insect robot according to claim 6, wherein the plurality of inter-robot action unit means H respectively define one of “

forward movement”

, “

threat”

, “

greeting”

, and “

escape”

, as the type of the inter-robot action of the insect robot itself and also define the duration and the execution speed of the defined inter-robot action.

8. An insect robot according to claim 7, wherein the action unit selection means C includes “

coward”

-type action unit selection means I or “

reckless”

-type action unit selection means I, the “

coward”

-type action unit selection means I serving to select one action unit means or one inter-robot action unit means from the plurality of action unit means B or the plurality of inter-robot action unit means H in accordance with priorities predefined for the “

coward”

type with respect to the respective action unit means B and respective inter-robot action unit means H, the “

reckless”

-type action unit selection means I serving to select one action unit means or one inter-robot action unit means from the plurality of action unit means B or the plurality of inter-robot action unit means H in accordance with priorities predefined for the “

reckless”

type with respect to the respective action unit means B and respective inter-robot action unit means H.

9. An insect robot according to claim 6, wherein the action unit selection means C includes “

coward”

-type action unit selection means I or “

reckless”

-type action unit selection means I, the “

coward”

-type action unit selection means I serving to select one action unit means or one inter-robot action unit means from the plurality of action unit means B or the plurality of inter-robot action unit means H in accordance with priorities predefined for the “

coward”

type with respect to the respective action unit means B and respective inter-robot action unit means H, the “

reckless”

-type action unit selection means I serving to select one action unit means or one inter-robot action unit means from the plurality of action unit means B or the plurality of inter-robot action unit means H in accordance with priorities predefined for the “

reckless”

type with respect to the respective action unit means B and respective inter-robot action unit means H.

10. An insect robot comprising:

external state detection means AA for detecting an external state such as an environmental state or obstacle state in action space of the insect robot and outputting an external state signal;

sensor identification unit determining means K for determining a sensor identifying unit in accordance with the external state signal;

instruction unit setting means L for setting one or more instruction units for the one or more sensor identifying units such that one or more action units, in each of which an action type and a duration thereof are defined, are connected to the one or more sensor identifying units, respectively;

instruction unit storage means M for storing one or more instruction units set by the instruction unit setting means L such that one or more instruction units are individually and sequentially readable;

action unit sequentially selecting means N for sequentially selecting one or more action units connected to one sensor identifying unit determined by the sensor identification unit determining means K, said one or more action units and said one sensor identifying unit being included in one instruction unit;

the action unit execution means D for driving an actuator so that an action of said type defined by an action unit selected by the action unit sequentially selecting means N is executed for a duration assigned to the action; and

leg means 8 and 9 that are moved by actuators 13 and 14 driven by the action unit execution means D so that the insect robot performs the action of said type for the duration assigned to the action.

11. An insect robot according to claim 10, wherein the external state detection means AA outputs, as an external state signal, an obstacle state signal generated in response to detection of an obstacle in the action space, a lightness state signal generated on the basis of detected lightness of the action space, a obstacle state signal generated in response to detection of contact with an obstacle present in the action space, and a constraint state signal in response to detecting that the insect robot is in a constraint state in the action space.

12. An insect robot according to claim 10, further comprising preferential action unit selection means O for preferentially selecting an action unit such that when an action unit in an instruction unit is being executed, if an action unit in another instruction unit including another sensor identifying unit determined by the sensor identification unit determining means K has a higher preassigned priority than that of the action unit being currently executed, the action unit in said another instruction is preferentially selected instead of the action unit being currently executed.

13. An insect robot according to claim 10, wherein the instruction unit setting means L sets an instruction unit so as to further define the permission/prohibition of interruption of a current action unit in the instruction unit to execute another action unit;

and the preferential action unit selection means O preferentially selects an action unit such that when an action unit in an instruction unit is being executed, when an action unit in another instruction unit including another sensor identifying unit determined by the sensor identification unit determining means K has a higher preassigned priority than that of the action unit being currently executed, if and only if the interrupt of the current action unit to execute another action unit is permitted, an action unit in another instruction unit is preferentially selected instead of the current action unit.

14. An insect robot according to claim 10, wherein the pheromone signal transmitting means E transmits, as a transmission pheromone signal, a self pheromone signal representing self identification information uniquely preassigned to said insect robot in the action space, or a notification pheromone signal representing notification information indicating the type of an action unit that can be set by the instruction unit setting means L;

the pheromone signal receiving means F receives, as a reception pheromone signal, an other'"'"'s pheromone signal representing other'"'"'s identification information uniquely preassigned to another insect robot, from the pheromone signal transmitting means E of said another insect robot present in the action space, or a notification pheromone signal representing notification information indicating the type of a given action unit, or a space pheromone signal present in the action space; and

the sensor identification unit determining means K determines a sensor identifying unit of “

presence of another insect robot of a particular type” and

“

pheromone signal reception”

in accordance with the reception pheromone signal.

15. An insect robot according to claim 10, wherein the instruction unit setting means L includes, as one type of action to be set in an instruction unit, a special command “

switch to another panel”

to switch the execution from one or more instruction units constituting a panel to one or more instruction units constituting another panel;

the instruction unit storage means M stores panels each including one or more instruction units in accordance with the panel designation signal such that any of the panels is individually readable; and

the action unit sequentially selecting means N is capable of selecting the special command “

switch to another panel”

included in one or more action units connected to the one sensor identifying unit; and

wherein the insect robot further comprises panel designation signal generating means R, for, when the special command “

switch to another panel”

is selected by the action unit sequentially selecting means N, generating a panel designation signal in accordance with designation of another panel by the command.

16. An insect robot according to claim 10, wherein the instruction unit setting means L includes, as one type of action to be set in an instruction unit, a sensor identifying unit “

trigger after elapse of a particular period of time”

for outputting a trigger signal when a predetermined trigger period has elapsed; and

the instruction unit storage means M stores instruction units including the sensor identifying unit “

trigger after elapse of a particular period of time”

such that the instruction units are individually and sequentially readable; and

wherein the insect robot further comprises a trigger signal generating means Q which counts a lapse of a particular period of time defined by the sensor identifying unit “

trigger after elapse of a particular period of time”

read from the instruction unit storage means M and generates a trigger signal when the particular period of time has elapsed; and

further wherein the sensor identification unit determining means K determines the sensor identifying unit “

trigger after elapse of a particular period of time”

in accordance with the trigger signal.

17. An insect robot according to claim 10, further comprising instruction unit transmission means P

wherein the instruction unit setting means L is implemented on a mobile computer disposed detachedly from the insect robot; and the instruction unit storage means M stores one or more instruction units set by the instruction unit setting means L and transmitted via the instruction unit transmission means P such that said one or more instruction units are individually and sequentially readable.