Robot controller
First Claim
1. A robot controller comprising:
- a motion control means for performing a calculation process for achieving motion control of an object to be controlled;
a recognition and planning means for performing task and motion planning of the object to be controlled and recognition of outside world;
an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled; and
a route selecting means for controlling communications by switching connections among the motion control means, the recognition and planning means, and the input/output interface by means of a switch that has a plurality of external input/output ports and switches among digital signal paths respectively connected to the motion control means, the recognition and planning means, and the input/output interface, whereinmotions of a robot of the object to be controlled are controlled on a basis of results of the task and motion planning of the object to be controlled and the recognition of the outside world while controlling the communications by switching the connections among the motion control means, the recognition and planning means, and the input/output interface by the route selecting means.
1 Assignment
0 Petitions
Accused Products
Abstract
Realized is a robot controller capable of handling a large amount of data of images and so on necessary for advanced intelligence of control while securing a real-time performance with a simple structure. For this purpose, there are provided a motion control device for performing a calculation process for achieving motion control of an object to be controlled, a recognition and planning device for performing task and motion planning of the object to be controlled and recognition of outside world, an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled, and a route selecting device for controlling communications by switching connections among the motion control device the recognition and planning device, and the input/output interface. While controlling the communications by switching the connections among the motion control device, the recognition and planning device, and the input/output interface by the route selecting device, the motions of the robot of the object to be controlled are controlled on the basis of the results of the task and motion planning of the object to be controlled and the recognition of the outside world.
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Citations
16 Claims
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1. A robot controller comprising:
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a motion control means for performing a calculation process for achieving motion control of an object to be controlled; a recognition and planning means for performing task and motion planning of the object to be controlled and recognition of outside world; an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled; and a route selecting means for controlling communications by switching connections among the motion control means, the recognition and planning means, and the input/output interface by means of a switch that has a plurality of external input/output ports and switches among digital signal paths respectively connected to the motion control means, the recognition and planning means, and the input/output interface, wherein motions of a robot of the object to be controlled are controlled on a basis of results of the task and motion planning of the object to be controlled and the recognition of the outside world while controlling the communications by switching the connections among the motion control means, the recognition and planning means, and the input/output interface by the route selecting means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A robot controller comprising:
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motion control means for performing a calculation process for achieving motion control of an object to be controlled; recognition and planning means for performing task and motion planning of the object to be controlled and recognition of outside world; an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled; a first route selecting means connected to the recognition and planning means by means of a switch that has a plurality of external input/output ports and switches a digital signal path connected to the recognition and planning means to one of the ports; and a second route selecting means connected to the motion control means, the first route selecting means, and the input/output interface by means of a switch that has a plurality of external input/output ports and switches among digital signal paths connected to the motion control means, the recognition and planning means, and the input/output interface, wherein motions of a robot of the object to be controlled is controlled on a basis of results of the task and motion planning of the object to be controlled and the recognition of the outside world while controlling communications by switching connections between the second route selecting means and the recognition and planning means by the first route selecting means and while controlling communications by switching connections between the recognition and planning means, the first route selecting means, and the input/output interface by the second route selecting means.
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Specification