Motion controlling apparatus and method and remote controlling apparatus and method for legged mobile robot
First Claim
1. A motion controlling apparatus for a legged mobile robot having at least a plurality of movable legs, said apparatus comprising:
- command receiving means for receiving a command for actuating a robot body, entered from an operating system;
motion realization means for executing a motion of the robot body specified by said command for actuating the robot body;
sensor means for detecting an inner state of said robot body to output the sensor information;
error detection means for detecting an error occurring on said robot body and/or elimination of said error based on said sensor information; and
gate means for stopping the processing of said command for actuating the robot body by said motion realization means, responsive to said error detection, and/or re-initiating the processing of said command for actuating the robot body responsive to said error elimination,wherein said command receiving means has mounted thereto a communication protocol, exemplified by TCP/IP, and effects wired or wireless data communication with an external remote operating device.
1 Assignment
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Accused Products
Abstract
A legged mobile robot itself is responsive to the result of error detection during robot operations to perform error avoiding processing autonomously. In detecting an error, requested commands are all blocked by the internal processing within the robot so that an input to an actuating system does not affect the robot. The type of the error that has occurred is also notified to the actuating system so that feedback to an inputting system 32 may be applied in a manner specific to the error type. When the error is eliminated, that effect is notified to the actuating system to enable re-initiation of the usual command input from the remote operating system.
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Citations
30 Claims
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1. A motion controlling apparatus for a legged mobile robot having at least a plurality of movable legs, said apparatus comprising:
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command receiving means for receiving a command for actuating a robot body, entered from an operating system; motion realization means for executing a motion of the robot body specified by said command for actuating the robot body; sensor means for detecting an inner state of said robot body to output the sensor information; error detection means for detecting an error occurring on said robot body and/or elimination of said error based on said sensor information; and gate means for stopping the processing of said command for actuating the robot body by said motion realization means, responsive to said error detection, and/or re-initiating the processing of said command for actuating the robot body responsive to said error elimination, wherein said command receiving means has mounted thereto a communication protocol, exemplified by TCP/IP, and effects wired or wireless data communication with an external remote operating device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A motion controlling method for a legged mobile robot having at least a plurality of movable legs, said method comprising:
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a command receiving step of receiving a command for actuating a robot body, entered from an operating system; a motion realization step of executing a motion of the robot body specified by said command for actuating the robot body; a sensing step of detecting an inner state of said robot body to output the sensor information; an error detection step of detecting an error occurring on said robot body and/or elimination of said error based on said sensor information; and a gating step of stopping the processing of said command for actuating the robot body by said motion realization step, responsive to said error detection, and/or re-initiating the processing of said command for actuating the robot body responsive to said error elimination, wherein said command receiving means has mounted thereto a communication protocol, exemplified by TCP/IP, and effects wired or wireless data communication with an external remote operating device. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A remote operating apparatus for a legged mobile robot having at least a plural number of mobile legs, said apparatus comprising:
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inputting means for accepting the inputting of a command for actuating the legged mobile robot from a user; command processing means for converting the command via said inputting means for actuating the legged mobile robot to a command for actuating a robot body to transmit the resulting command for actuating the robot body to said legged mobile robot; and feedback means for receiving an error detection result from said legged mobile robot to feed back the so received error detection result to said inputting means, wherein said inputting means has mounted thereto a communication protocol, exemplified by TCP/IP, and effects wired or wireless data communication with an external remote operating device. - View Dependent Claims (24, 25, 26)
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27. A remote operating method for a legged mobile robot having at least a plural number of mobile legs, said method comprising:
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an inputting step of accepting the inputting of a command for actuating the legged mobile robot from a user; a command processing step of converting the command via said inputting step for actuating the legged mobile robot to a command for actuating a robot body to transmit the resulting command for actuating the robot body to said legged mobile robot; and a feedback step of receiving an error detection result from said legged mobile robot to feed back the so received error detection result to said inputting step, wherein said inputting step includes a communication protocol, exemplified by TCP/IP, and effects wired or wireless data communication with an external remote operating device. - View Dependent Claims (28, 29, 30)
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Specification