Battery-driven legged robot and method of controlling the same

• US 6,480,761 B2
• Filed: 05/21/2001
• Issued: 11/12/2002
• Est. Priority Date: 05/22/2000
• Status: Expired due to Fees

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Koyama, Osamu, Ueno, Kenichiro
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Marc, McDieunel
• Application Number:
  US09/862,401
• Publication Number:
  US 20020007230A1
• Time in Patent Office: 540 Days
• Field of Search: 700/56, 700/245, 700/246, 700/251, 700/253, 700/260, 700/261, 700/248, 700/247, 700/258, 318/568.1, 318/568.2, 318/568.11, 318/568.12, 318/568.16, 318/568.17, 901/1, 901/9, 901/46, 901/47, 180/8.6, 180/8.1, 701/23
• US Class Current: 700/245
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: H01M 10/345 Gastight metal hydride accumulators
• CPC Class Codes: H01M 10/44 Methods for charging or discharging circuits for charging H02J7/00
• CPC Class Codes: H01M 50/213 adapted for cells having curved cross-section, e.g. round or elliptic H01M50/209, H01M50/216 take precedence
• CPC Class Codes: H01M 6/42 Grouping of primary cells into batteries H01M6/40 takes precedence
• CPC Class Codes: H02J 7/0048 Detection of remaining charge capacity or state of charge [SOC]
• CPC Class Codes: H02J 9/005 using a power saving mode for copiers G03G15/5004
• CPC Class Codes: Y02E 60/10 Energy storage using batteries

Abstract

When the remaining capacity of a battery of a robot comes to a low level at a position in an operational area, power consumption can be reduced, thereby extending the life of the battery, by changing control parameters used by actuators and successively suspending operations of driving members of which the suspension of operations does not significantly affect the motion using a leg unit. Therefore, the robot can operate for a longer time, and energy, which is required for the motion for connection to a charging station or an external power supply device, can be maintained.

Claims

1. A battery-driven legged robot which comprises at least one movable leg unit and at least one driving member including the driving member for driving a trunk, the legged robot comprising:

control means for outputting a control signal for instructing driving of the driving member;

power-control means for monitoring the state of a battery; and

power supply-block means for supplying and blocking driving power to the driving member in accordance with the state of the battery monitored by the power-control means.

2. A battery-driven legged robot according to claim 1, wherein said control means blocks the output of the control signal to the driving member to which the driving power has been blocked.

3. A battery-driven legged robot according to claim 1, further comprising:

at least one device of an attitude sensor, an image input device, and a sound input-output device,

wherein the power-control means blocks the driving power to the at least one device of the attitude sensor, the image input device, and the sound input-output device when power of the battery decreases below a predetermined value.

4. A battery-driven legged robot according to claim 1, further comprising:

a head unit,

wherein the power-control means blocks the driving power to the head unit before blocking the driving power to the movable leg unit, when power of the battery decreases below a predetermined value.

5. A battery-driven legged robot according to claim 1, further comprising:

an arm unit,

wherein the power-control means blocks the driving power to the arm unit, before blocking the driving power to the movable leg unit, when power of the battery decreases below a predetermined value.

6. A battery-driven legged robot according to claim 1, further comprising:

a trunk unit,

wherein the power-control means blocks the driving power to the trunk unit before blocking the driving power to the movable leg unit, when power of the battery decreases below a predetermined value.

7. A battery-driven legged robot according to claim 1, wherein the control means provides an instruction to change a control parameter for the at least one driving member when the control means receives information from the power-control means that power of the battery has decreased below a predetermined value.

8. A battery-driven legged robot according to claim 1, wherein the control means changes a controlled motion set for the at least one driving member when the control means receives information from the power-control means that power of the battery has decreased below a predetermined value.

9. A battery-driven legged robot according to claim 8, wherein the change of the controlled motion includes a change of a target position of movement set for the driving member.

10. A battery-driven legged robot according to claim 8, wherein the change of the controlled motion includes suspension of movement of the at least one driving member.

11. A battery-driven legged robot according to claim 8, wherein the change of the controlled motion includes a motion for connecting to an external power supply device.

12. A battery-driven legged robot according to claim 8, wherein the change of the controlled motion includes a movement to a stable position in which the center of gravity of the legged robot is disposed sufficiently low and suspension of the supply of the driving power to substantially all the driving members when the legged robot is in the stable position.

13. A battery-driven legged robot according to claim 1, further comprising:

a head unit;

an arm unit; and

a trunk unit,

wherein the power-control means blocks the driving power to the head unit, the arm unit, and the trunk unit, one after another, when power of the battery decreases below a predetermined value.

14. A method of controlling a battery-driven legged robot which comprises at least one movable leg unit and at least one driving member including the driving member for driving a trunk, the method comprising the steps of:

monitoring the state of a battery; and

switching between supply and blocking of driving power to the at least one driving member in accordance with the state of the battery monitored in the monitoring step.

15. A method of controlling a battery-driven legged robot, according to claim 14, further comprising the step of:

blocking an output of a control signal to the driving member to which the driving power has been blocked.

16. A method of controlling a battery-driven legged robot, according to claim 14, wherein the legged robot further comprises at least one device of an attitude sensor, an image input device, and a sound input-output device;

and

wherein in said switching step, the driving power to the at least one device of the attitude sensor, the image input device, and the sound input-output device is blocked when determined in the monitoring step that power of the battery has decreased below a predetermined value.

17. A method of controlling a battery-driven legged robot, according to claim 14, wherein the legged robot further comprises a head unit;

and

wherein in said switching step, the driving power to the head unit is blocked before blocking the driving power to the leg unit, when determined in the monitoring step that power of the battery has decreased below a predetermined value.

18. A method of controlling a battery-driven legged robot, according to claim 14, wherein the legged robot further comprises an arm unit;

and

wherein in said switching step, the driving power to the arm unit is blocked before blocking the driving power to the leg unit, when determined in the monitoring step that power of the battery has decreased below a predetermined value.

19. A method of controlling a battery-driven legged robot, according to claim 14, wherein the legged robot further comprises a trunk unit;

and

wherein in said switching step, the driving power to the trunk unit is blocked before blocking the driving power to the leg unit, when determined in the monitoring step that power of the battery has decreased below a predetermined value.

20. A method of controlling a battery-driven legged robot, according to claim 14, further comprising the step of:

providing an instruction to change a control parameter for the at least one driving member when determined in the monitoring step that power of the battery has decreased below a predetermined value.

21. A method of controlling a battery-driven legged robot, according to claim 14, further comprising the step of:

changing a controlled motion set for the at least one driving member when determined in the monitoring step that power of the battery has decreased below a predetermined value.

22. A method of controlling a battery-driven legged robot, according to claim 21, wherein the change of the controlled motion includes a change of a target position of movement set for the driving member.

23. A method of controlling a battery-driven legged robot, according to claim 21, wherein the change of the controlled motion includes suspension of movement of the at least one driving member.

24. A method of controlling a battery-driven legged robot, according to claim 21, wherein the change of the controlled motion includes a motion for connecting to an external power supply device.

25. A method of controlling a battery-driven legged robot, according to claim 21, wherein the change of the controlled motion includes a movement to a stable position in which the center of gravity of the legged robot is disposed sufficiently low and suspension of the supply of the driving power to substantially all the driving members when the legged robot is in the stable position.

26. A method of controlling a battery-driven legged robot, according to claim 14, wherein the legged robot further comprises a head unit, an arm unit, and a trunk unit;

and

wherein in said switching step, the driving power to the head unit, the arm unit, and the trunk unit is blocked, one after another, when power of the battery decreases below a predetermined value.