System and method for controlling a bipedal robot via a communication device

• US 8,311,676 B2
• Filed: 11/27/2008
• Issued: 11/13/2012
• Est. Priority Date: 05/16/2008
• Status: Active Grant

• Current Assignee: Chi Mei Communication Systems Incorporated (Hon Hai Precision Industry Co., Ltd.)
• Original Assignee: Chi Mei Communication Systems Incorporated (Hon Hai Precision Industry Co., Ltd.)
• Inventors: Shih, Ruey-Ning
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Sample, Jonathan L
• Application Number:
  US12/324,853
• Publication Number:
  US 20090287353A1
• Time in Patent Office: 1,447 Days
• Field of Search: None
• US Class Current: 700/259
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A system for controlling a bipedal robot via a communication device. The system acquires a mapping data and a current location of the bipedal robot via a Global Positioning System (GPS), determines a route on the mapping data, and directs movement of the bipedal robot until it reaches a preset destination. A method for controlling the robot and a storage device containing computer instructions for execution of the method are also provided.

Claims

1. A communication device for controlling a bipedal robot, the communication device embodied in the bipedal robot, the communication device comprising:

a configuration module configured for receiving and setting a destination location of the bipedal robot;

an acquisition module configured for acquiring mapping data indicative of surrounding areas of the bipedal robot from a memory system, the mapping data including surrounding areas between a current location of the bipedal robot and the destination location of the bipedal robot, wherein the current location of the bipedal robot is determined through use of a Global Positioning System (GPS) embodied in the communication device;

a calculation module configured for determining a route from the current location to the destination location according to the mapping data, and determining contact surfaces upon which the bipedal robot steps according to the route;

a control module configured for directing the bipedal robot to move step-by-step from the current location to the destination location according to the determined contact surfaces and the determined route;

a capture module configured for using a camera device to capture visual data of a surrounding area around a contact surface of a next step of the bipedal robot;

a map processor module configured for digitally processing the visual data of the surrounding area around the contact surface of the next step; and

the calculation module further configured for determining an angle of a contact foot of the bipedal robot for the next step of the bipedal robot according to the visual data of the surrounding area around the contact surface of the next step, the control module further configured for directing the bipedal robot to move to the contact surface of the next step based on the angle of the contact foot of the next step; and

at least one processor, the at least one processor executing the configuration module, the acquisition module, the calculation module, the control module, the capture module, and the map processor module.

2. The system as claimed in claim 1, wherein the map processor module is further configured for digitally processing the mapping data.

3. The system as claimed in claim 2, wherein digitally processing the mapping data comprises:

converting the visual data of the mapping data to black and white;

applying gridlines to the mapping data according to original resolution of the visual data of the mapping data; and

determining a grayscale value of each grid by averaging grayscale values of the grid.

4. The system as claimed in claim 1, wherein the calculation module determines the angle of the contact foot of the next step by:

determining an average of the grayscale values in a first half of a grid, and an average of the grayscale values in a second half of the grid;

determining an inclined angle of the surrounding area around the contact surface of the next step according to a difference between the average of the grayscale values in the first half and the average of the grayscale values in the second half of the grid; and

determining the angle of the contact foot of the next step according to the inclined angle.

5. A computer-implemented method for controlling a bipedal robot via a communication device embodied in the bipedal robot, the method comprising:

registering a destination location of the bipedal robot on a map, wherein the destination location is user-selected;

acquiring mapping data indicative of surrounding areas of the bipedal robot from a memory system, the mapping data including surrounding areas between a current location of the bipedal robot and the destination location of the bipedal robot, wherein the current location of the bipedal robot is determined through use of a Global Positioning System (GPS) embodied in the communication device;

determining a route from the current location to the destination location according to the mapping data;

directing the bipedal robot to move step-by-step from the current location to the destination location according to the determined contact surfaces and the determined route;

using a camera device to capture visual data of a surrounding area around a contact surface for a next step of the bipedal robot;

digitally processing the visual data of the surrounding area around the contact surface of the next step; and

determining an angle of a contact foot of the bipedal robot for the next step of the bipedal robot according to the visual data of the surrounding area around the contact surface of the next step; and

directing the bipedal robot to move to the contact surface of the next step based on the angle of the contact foot of the next step.

6. The method as claimed in claim 5, wherein digitally processing the visual data of the surrounding area further comprises:

converting the visual data of the surrounding area around the contact surface of the next step to black and white;

applying gridlines to the visual data of the surrounding area according to original resolution of the visual data of the surrounding area around the contact surface of the next step; and

determining a grayscale value of each grid by averaging grayscale values of the grid.

7. The method as claimed in claim 5, wherein determination of the angle of the contact foot of the next step further comprises:

determining an average of grayscale values in a first half of a grid, and an average of grayscale values in a second half of the grid;

determining an inclined angle of the surrounding area around the location of the next step according to a difference between the average of the grayscale values in the first half and the average of the grayscale values in the second half of the grid; and

determining the angle of the contact foot of the next step according to the inclined angle.

8. The method as claimed in claim 5, wherein the method further comprises digitally processing the mapping data.

9. The method as claimed in claim 8, wherein digitally processing the mapping data comprises:

converting the visual data of the mapping data to black and white;

applying gridlines to the mapping data according to original resolution of the visual data of the mapping data; and

determining a grayscale value of each grid by averaging grayscale values of the grid.

10. A non-transitory computer-readable medium, comprising, stored thereon, instructions that, when executed by a computer, cause the computer to perform a method for controlling a bipedal robot via a communication device embodied in the bipedal robot, the method comprising:

registering a destination location of the bipedal robot on a map, wherein the destination location is user-selected;

acquiring mapping data indicative of surrounding areas of the bipedal robot from a memory system, the mapping data including surrounding areas between a current location of the bipedal robot and the destination location of the bipedal robot, wherein the current location of the bipedal robot is determined through use of a Global Positioning System (GPS) embodied in the communication device;

determining a route from the current location to the destination location according to the mapping data;

directing the bipedal robot to move step-by-step from the current location to the destination location according to the determined contact surfaces and the determined route;

using a camera device to capture visual data of a surrounding area around a contact surface for a next step of the bipedal robot;

digitally processing the visual data of the surrounding area around the contact surface of the next step; and

determining an angle of a contact foot of the bipedal robot for the next step of the bipedal robot according to the visual data of the surrounding area around the contact surface of the next step; and

directing the bipedal robot to move to the contact surface of the next step based on the angle of the contact foot of the next step.

11. The computer-readable medium as claimed in claim 10, wherein digitally processing on the visual data of the surrounding area further comprises:

converting the visual data of the surrounding area around the contact surface of the next step to black and white;

applying gridlines to the visual data of the surrounding area according to original resolution of the visual data of the surrounding area around the contact surface of the next step; and

determining a grayscale value of each grid by averaging the grayscale values of the grid.

12. The computer-readable medium as claimed in claim 10, wherein determination of the angle of the contact foot of the next step further comprises:

determining the average of grayscale values in a first half of a grid, and the average of grayscale values in a second half of the grid;

determining an inclined angle of a surrounding area around the location of the next contact foot according to a difference between the average of the grayscale values in the first half and the average of the grayscale values in the second half of the grid; and

determining the angle of the contact foot of the next step according to the inclined angle.

13. The computer-readable medium as claimed in claim 10, wherein the method further comprises digitally processing the mapping data.

14. The computer-readable medium as claimed in claim 13, wherein application of digital processing on the mapping data comprises:

converting the visual data of the mapping data to black and white;

applying gridlines to the mapping data according to original resolution of the visual data of the mapping data; and

determining a grayscale value of each grid by averaging grayscale values of the grid.