JP3190026B1 - Humanoid robot experience presentation device and master-slave control device - Google Patents

Abstract

Abstract: PROBLEM TO BE SOLVED: To provide a bodily sensation presentation device capable of sensing the waist movement of a humanoid robot, and to remotely control the waist movement while sensing the waist movement of the humanoid robot. A master-slave controller is provided. SOLUTION: A head restraint part 3 for restraining a head of an occupant 4;
A seat 21 for placing the waist and a footrest 2 for placing the foot are provided. The head restraint portion loosely restrains the occupant's head, and the seat 21 is moved relative to the footrest in response to the movement of the robot's waist. In the device, the occupant 4 rests on the seat portion 21 in a standing posture in which the occupant 4 rests his / her foot on the footrest 2 and is restrained loosely with his / her head.
The seat 21 moves the waist of the occupant in conjunction with the waist movement of the robot, so that the bodily sensation of the robot is reproducibly felt.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an experience apparatus and a simulator used for presenting a human motion with a high sense of reality, and to a bodily sensation presentation apparatus used for a remote control device of a robot.

[0002]

2. Description of the Related Art Since a master-slave control type humanoid robot operates on behalf of a driver, accurate control can be performed only after the driver correctly senses the bodily sensation of the robot. For this reason, there is a master-slave control device in which the robot is provided with various sensory sensors to present the senses to the operator, and the operator can operate based on the presented senses. With such a control device, the load of the conveyed object can be reflected on the arm strength, and the gripping force of the hand can be controlled. However, in the conventional control device, since the waist is fixed to the seat, the relative movement of the waist cannot be sensed. For this reason, changes in the movement and posture of the waist itself of the robot, changes in the waist position caused by the tilting of the body and the movement of the center of gravity, and the sense of walking reflected in the movement and acceleration of the waist cannot be transmitted correctly.

[0003] As a bodily sensation presentation device, there is a device that presents a bodily sensation to a person by placing a seat on a moving base device and vibrating or tilting the whole, such as a cockpit of a flight simulator or a passenger seat of a virtual theater. For example, Japanese Patent Application Laid-Open No. Hei 7-253751 discloses that a video projector and a seat for a spectator are separately provided, and each of them can be controlled in attitude based on a video camera attitude at the time of shooting so that virtual reality can be sensed. A small and lightweight sensation imaging device is disclosed. With such an apparatus, it is possible to give a sense of realism by presenting the sensation and acceleration of the entire body. However, the above-mentioned bodily sensation presentation device is a device that accurately transmits the bodily sensation including the lower limbs of the body and enjoys a realistic sensation, and a humanoid robot such as a pilot shares a bodily sensation with the target machine to perform accurate operation. Cannot be applied to a control device for performing

[0004]

SUMMARY OF THE INVENTION Accordingly, the problem to be solved by the present invention is to provide a more complete presentation of bodily sensations, such as when manipulating them accurately, especially with the development of advanced humanoid robots that walk. To provide a bodily sensation presentation method and apparatus capable of sensing waist movement, and a master that remotely instructs and steers waist and upper body movement while sensing waist movement of a humanoid robot. It is to provide a slave control device.

[0005]

Means for Solving the Problems To solve the above-mentioned problems, a humanoid robot sensation presentation device of the present invention comprises a head restraint portion for restraining the occupant's head, a seat portion for placing the waist, and a foot. It has a footrest for mounting, and the head restraint loosely restrains the occupant's head,
The seat moves horizontally or vertically or horizontally and vertically relative to the footrest in response to the movement of the waist of the robot. In the sensation presentation device of the present invention,
The occupant places his or her feet on the footrest and fixes it, and rests on the seat in a standing position with the head loosely restrained. In this state, when the seat moves in conjunction with the movement of the waist of the robot, the waist of the occupant moves in accordance with the movement of the robot. For example, when the robot walks, the occupant's waist also moves back and forth up and down according to the walking rhythm, so that the occupant can reproducibly sense the bodily sensation of the robot.

In a humanoid robot, when the upper body is tilted forward like a human, the hips are pulled and when the body is tilted backwards, the hips are put out and the balance is maintained, but the occupant also moves through the movement of the seat. Since the user feels a change in the waist position, the change in the posture of the robot can be accurately recognized. Similarly, the left and right movements of the waist can sense the left and right inclination and swing of the upper body. The tilt of the upper body can be grasped by the positional relationship between the head and the waist, but since the relative position does not change when the head moves with the waist, the head is restrained loosely by the head restraint and it does not move with the waist Like that.

The head restraint may be configured to restrain the head loosely indirectly by restraining the occupant's shoulders and arms. The waist movement can be presented as a movement relative to the head, but can also be grasped based on a movement relative to the shoulder. In addition, since the shoulder is connected to the hand and the arm, the same effect as restraining the head can be obtained by restraining the shoulder and the hand and arm. The movement of the seat may be presented by enlarging or reducing the movement of the waist of the robot at a fixed rate. This is because the scale of the robot is not always the same as that of a human, and it is sometimes better to reduce or emphasize the impact received by the robot without directly presenting it to the human.

[0008] Further, the same effect can be obtained by fixing the footrest to the apparatus and moving the seat in place of the footrest, and fixing the seat to the apparatus main body so that the footrest moves horizontally with respect to the seat. can get. The footrest may be configured to place the occupant's foot, but may be provided with a gripper for gripping and fixing the occupant's foot. With the grasping tool, it is possible to prevent the occupant from making unnecessary movements for the presentation of the bodily sensation and the operation. In addition, the head restraint unit has a function to detect the amount of displacement of the occupant's head from the center of restraint, and regulates the upper body movement and waist movement of the robot by moving the occupant's head to control the robot. You may be able to do it. The robot body tilt angle and the occupant body tilt angle may have a predetermined magnification relationship. In addition, the seat may detect the movement of the occupant's waist and regulate the relative movement of the robot with respect to the waist of the robot so that the robot can be steered.

The master-slave control device of the present invention can control a humanoid robot by being provided with the above-described sensation presentation device or operation instruction device.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail based on embodiments with reference to the drawings. FIG. 1 is a configuration diagram showing an embodiment of a humanoid robot sensation presentation device according to the present invention,
FIG. 2 is a perspective view showing a configuration of a head restraint unit in the embodiment, FIG. 3 is a block diagram showing an embodiment of a master-slave control device for a humanoid robot of the present invention, and FIG. FIG. 5 is a block diagram of a computing method for performing master / slave control, and FIG.
FIG. 6 is a drawing for explaining the correspondence between the robot and an upright robot in the control device, and FIG. 7 is a drawing for explaining the correspondence when the upper body of the robot is tilted.

The humanoid robot sensation presentation device of the present embodiment comprises a seat 1, a footrest 2, and a head restraint 3, and an occupant 4
This is a device that presents the robot's bodily sensation to the robot and instructs the robot to perform an operation. Referring to FIG. 1, the seat portion 1 slides in a pedestal 11 placed on a floor, a first sliding plate 13 that moves left and right in a horizontal plane, that is, in the X-axis direction, and slides back and forth, that is, in the Y-axis direction. A second sliding plate 15, a support plate 17 that moves vertically, that is, in the Z-axis direction, a seat support plate 19 that moves vertically on the support plate 17, and a seat 21 fixed to the seat support plate 19. Be composed.

The first sliding plate 13 is driven by an X-axis drive motor 23 in the X-axis direction. The first sliding plate 13 moves smoothly with the linear guide 25 provided on the back surface engaged with the rail provided on the pedestal 11. Also, the second sliding plate 1
5 is driven by a Y-axis drive motor 27 in the Y-axis direction.
The linear guide 29 provided on the back surface of the second sliding plate 15 also engages with the rail provided on the first sliding plate 13 to smoothly move.

A pantograph and a Z-axis drive motor 33 for driving the pantograph are provided between the second slide plate 15 and the support plate 17. The pantograph has a linear guide 3 whose one end is rotatably supported by a bearing fixed to a second sliding plate or a supporting plate, and whose other end is translated with respect to the supporting plate or the second sliding plate.
A pair of shaft members 31 supported by bearings fixed on the shaft 7
And a plate member 35 having one end pivotally supported in the middle of the shaft member and the other end advanced and retracted by the Z-axis drive motor 33.
When the Z-axis drive motor 33 pushes the plate member 35, the tilt angle of the pair of shaft members 31 increases, so that the support plate 17 moves upward, and when the plate member 35 is pulled, the support plate 17 moves downward.

A pantograph 39 is provided on the support plate 17, and a seat support plate 19 is provided thereon. The pantograph 39 has one end rotatably supported by a bearing fixed to the support plate 17 or the seat support plate 19, and the other end fixed to a linear guide 41 that translates with respect to the seat support plate 19 or the support plate 17. And a pair of shaft members supported by bearings. A screw is provided at one end of one shaft member, and the seat 21 is moved up and down by rotating a handle 43 fixed to the screw to advance and retract the screw.

The footrest 2 is fixed to the floor. The head restraint 3 is rotatably attached to a member having one end fixed to the apparatus, and a helmet 45 on which the occupant 4 wears is attached to the other end. The head restraint portion 3 is provided with a damper mechanism having an appropriate strength to loosely restrain the head of the occupant 4. FIG. 2 is a diagram illustrating an example of the head restraint mechanism. This head restraint mechanism is such that the helmet 45 is attached to the end so that it can slide back and forth, left and right, and up and down. Spring is provided in the front and rear direction and the left and right direction so that the helmet 45 is gently restrained at the center position. It is. The helmet 45 is attached using a gimbal mechanism, and does not reflect the movement of the head rotating around the axis.

The helmet 45 may have a structure incorporating an HMD. Further, the weight may be balanced with a pulley to offset the weight of the HMD or the helmet. Furthermore, when the hand and arm are restrained by the master arm as a device for presenting the bodily sensation and movement of the arm and hand, the position of the shoulder and thus the position of the head is restrained by these restraining forces. Instead, it is also possible to substitute a means for restraining the hand and arm.

The occupant 4 adjusts the height of the seat 21 in accordance with the height of his / her waist by the handle 43, climbs the footrest 2, places his / her feet in a predetermined position on the footrest 2, and sits down. Seat 21
And put the helmet 45 of the head restraint 3 on the head.
At this time, the occupant 4 does not sit down deeply in the seat 21 and completely deposits the weight in the seat, but takes a standing posture and puts a great deal of weight on the feet so that the movement of the seat 21 can be felt by the waist. Is preferred. Note that the seat 21 is not limited to the seat shape, and may be a saddle shape over which a person straddles, or may be a structure for hanging the waist.

The humanoid robot sensation presentation device of the present embodiment presents the movement of the waist acquired by the detector provided in the humanoid robot to the occupant 4 as a sensation. Further, the sensory presentation device may be provided with a detector, and used by the occupant 4 to remotely control the humanoid robot by changing the posture on the device. FIG. 3 shows a configuration of a humanoid robot sensation presentation device that exchanges signals with a humanoid robot to perform sensation presentation and remote control. The bodily sensation presentation device is incorporated in a cockpit in which an operator remotely operates a robot.

The humanoid robot 50 includes a waist acceleration detector 51, a rotation angle detector 53 for measuring a rotation angle of each part in the robot driving mechanism, a waist movement amount calculating means 55, a communication means 57, and a robot motion control device. 59 are provided. The acceleration of the waist of the robot is calculated by the waist acceleration detector 5
1 directly detected. Further, the movement amount of the robot waist, that is, the movement amount or relative position information of the waist from the waist reference position at the standing position is calculated by the waist movement amount calculating means 55 using the measured value of the rotation angle detector 53 of each part. .
The measured values of the movement amount and acceleration of the waist are transmitted to the remote control device 60 via the communication means 57.

The remote control device 60 is a control device provided in the humanoid robot sensation presentation device. Remote control device 60
Comprises a communication means 61, a waist movement command calculating means 63, a waist position driving device 65, a mechanism 67 for moving the seat 21 on which the operator 4 sits, a means 71 for loosely restraining the head of the operator 4, a restraining center position Means 73 for detecting a deviation from
And a body posture command calculating means 69.

The waist movement command calculation means 63 inputs the movement amount and acceleration of the robot waist through the communication means 61, generates a drive command for reproducing the movement as the movement of the seat 21, and generates a drive command. The shaft drive motor 23, the Y-axis drive motor 27, and the Z-axis drive motor 33 are driven. The operator 4 who sits on the footrest 2 with his feet shallow and sits on the seat 21 can move his / her waist by changing the posture based on the movement of the waist that moves according to the seat 21 linked to the robot waist. It is possible to feel the state of relatively exercising.

The waist movement command is determined based on the waist acceleration and the waist movement amount. FIG. 4 is a block diagram illustrating the function of the movement command calculation circuit 63. The waist acceleration is multiplied by a first coefficient Ka and passed through a high-pass filter,
It is integrated by an integrator, converted into a moving amount, and input to an output adder. On the other hand, the amount of movement of the waist as viewed from the reference position is the second
Is multiplied by the coefficient Kp and input to the output adder. The output adder adds the two amounts and outputs the result as a waist movement command. The first coefficient Ka and the second coefficient Kp are determined by experiments so as to give an optimal bodily sensation. The high-pass filter acts as a washout filter for removing the offset component of the measured waist acceleration and applying the same to the integrator.

Also, by using the sensation presentation device of the present invention as a master-slave control device for a robot,
Can control the posture of the robot. The head restraint 3 incorporates a deviation detector 71 for measuring the amount of head deviation from the restriction center position. Operator 4
Moves his head intentionally by tilting his upper body. Then, the deviation detector 71 detects the deviation direction and the deviation amount from the constraint center position, and inputs them to the body posture command calculation means 69.
The body posture command calculating means 69 indicates that the movement amount of the seat 21 is X
The movement amounts of the shaft drive motor 23, the Y-axis drive motor 27, and the Z-axis drive motor 33 are input, and a body posture command for instructing the inclination of the robot body is output in consideration of these information. The body posture command signal is sent to the motion control device 59 of the humanoid robot via the communication means 61 and 57, and drives the mechanism of each part to control the posture of the robot. When the waist position of the robot changes due to the change in the posture, the change amount and the change acceleration are detected by the detector of the robot, sent to the remote control device 60, and by driving the seat 21, the waist of the operator 4 is changed. Feedback on position.

FIG. 5 is an image diagram of a cockpit for performing master-slave control of a humanoid robot. Operator 4
Stands on the waist in front of a display screen that projects an image seen by the robot, rests the foot on the foot pedal 2, sits lightly on the seat 21, and mounts the HMD 45 attached to the tip of the head restraint 3, and the tip of an arm. A master hand 81 with an operating device is mounted on the master hand 81. A stereophonic sound device 83 is provided around the display screen. Operator 4
When you need a wide range of images, such as when a robot is moving,
Control while observing the image on the display screen,
When instructing the operation using the hand, the master band 81 is received based on the tactile sensation and the force sense of the robot while receiving the robot's work environment with a sense of realism by the stereoscopic image by the HMD 45 and the stereoscopic sound by the sound device 83. The robot controls the fingers and arms of the robot by operating it, and furthermore, controls the upper body posture of the robot by moving the head while feeling the whole body movement and posture of the robot based on the movement of the seat 21.

FIG. 6 is a drawing for explaining the correspondence between the cockpit operator 4 and the upright humanoid robot 5. When the robot 5 is standing upright, the direction of the line of sight of the robot can be controlled by the movement of the head. The tilt of the robot's line of sight is defined by the line connecting the head reference position P0 and the neck reference position P2 of the operator 4, the waist reference position P1, and the neck reference position P2.
Is controlled based on the angle of the line connecting. The panning of the robot's visual field is instructed based on the rotation of the head. Note that position control such as forward and backward movement of the robot is performed separately based on an instruction from the auxiliary control stick.

FIG. 7 is a drawing showing the relationship between the waist position of the humanoid robot 5 and the waist position of the operator 4 operating in the cockpit. The robot 5 stands in a posture in which the upper body is tilted forward, and the operator 4 puts his feet on the floor and his head is loosely restrained, and the seat 2 is seated.
I'm sitting on one. When the robot 5 is leaning forward,
The coordinate system ^Sの unique to the robot having the origin at the waist of the robot and having the axis at the upper body is relative to the reference coordinate system ^SBの of the robot having the origin at the waist position when the robot is standing upright. The axis of the body is tilted at the tilt angle θ _S and the origin position is retracted by the distance X ₁ to offset the movement of the center of gravity.

[0027] In response to the change in the attitude of the robot 5, bodily sensation presentation device moves P ₁ of the seat 21 to the rear. Then, the waist operator 4 is retracted, since the legs and head are fixed, upper body inclination by the inclination angle theta _M, the operator 4 can know that the inclined upper body of the robot. At this time, the presentation ratio α
May be determined and presented so that θ _M = αθ _S. The presentation ratio β can also be determined between the movement distance P ₁ of the seat 21 and the movement amount X ₁ of the waist of the robot 5.

When the operator 4 inclines the upper body, the helmet or the HMD 45 is displaced from the center of the restraint, so that the deviation amount is detected by the deviation detector 73, and the posture of the robot 5 is changed according to the deviation measurement amount. . The deviation instruction amount of the operator is multiplied as necessary by a coefficient to enlarge or reduce and reflect it on the robot posture. In this way, by presenting the amount of movement and acceleration of the waist by multiplying the actual movement of the robot by an appropriate magnification, if the scale of the humanoid robot is different or the impact received by the robot is reduced or emphasized. For example, in the case of transmitting the information, it is possible to set an appropriate magnification so that a person can respond.

[0029]

As described above, the humanoid robot bodily sensation presentation device of the present invention can present the robot's posture bodily. Therefore, by incorporating the robot into the master-slave control device, the operator can accurately sense the robot's posture while feeling it. The posture can be controlled in a short time. Further, since the posture of the body and the movement of the lower limb are faithfully transmitted, by applying the present invention to a simulation device, it is possible to give a high sense of reality and perform a simulation closer to reality.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an embodiment of a humanoid robot sensation presentation device according to the present invention.

FIG. 2 is a perspective view illustrating a configuration of a head restraint unit according to the embodiment.

FIG. 3 is a block diagram showing an embodiment of a master-slave control device for a humanoid robot of the present invention.

FIG. 4 is a block diagram of a calculation method used for the master-slave control device in the embodiment of FIG. 3;

FIG. 5 is an image diagram of a cockpit that performs master-slave control using the control device of the present embodiment.

FIG. 6 is a diagram illustrating a correspondence relationship between the control device of the present embodiment and an upright robot.

FIG. 7 is a diagram illustrating a correspondence relationship when the upper body of the robot is tilted in the control device of the present embodiment.

[Explanation of symbols]

 Reference Signs List 1 seat portion 2 footrest 2 3 head restraint portion 4 occupant / operator 5 humanoid robot 11 pedestal 13 first slide plate 15 second slide plate 17 support plate 19 seat support plate 21 seat 23 Y-axis drive motor 25 , 29, 37, 41 Linear guide 27 X-axis drive motor 31 Shaft member 33 Z-axis drive motor 35 Plate member 39 Pantograph 43 Handle 45 Helmet 50 Humanoid robot 51 Waist acceleration detector 53 Rotation angle detector 55 Waist movement calculation means 57 communication means 59 movement control device 60 remote control device 61 communication means 63 waist movement command calculation means 65 waist position driving device 67 seat movement mechanism 69 body posture command calculation means 71 head restraint means 73 head deviation detection means 81 master hand 83 three-dimensional sound system

──────────────────────────────────────────────────続 き Continuing from the front page (72) Eiichi Yagi 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Inside the Akashi Factory (72) Tetsuya Kubota 1-1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki (72) Inventor: Shigeru Shikoda 1-1, Kawasaki-cho, Akashi City, Hyogo Prefecture, Japan Inside the Akashi Factory (56) References JP-A-10-180657 (JP, A) Kaihei 11-10567 (JP, A) JP-A-61-142084 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B25J 3/00-3/10 B25J 9/10- 9/22 B25J 13/00-13/08 B25J 19/02-19/06 G09B 9/00

Claims (8)

(57) [Claims] A head restraint portion for restraining an occupant's head, a seat portion for placing a hip, and a footrest on which a foot is placed, wherein the head restraint portion loosely restrains an occupant's head; A humanoid robot, wherein the part moves horizontally or vertically or horizontally and vertically relative to the footrest, and the seat moves in response to the movement of the waist of the robot. Experience presentation device. 2. The humanoid robot sensation presentation device according to claim 1, wherein the head restraint portion restrains the occupant's shoulders and hands and arms and indirectly restrains the head loosely. 3. The humanoid robot sensation presentation device according to claim 1, wherein the seat portion makes a stroke motion at a fixed rate times the motion of the waist of the robot. 4. The apparatus according to claim 1, wherein the seat is fixed to the apparatus body.
4. The method according to claim 1, wherein the footrest moves horizontally or vertically or horizontally and vertically with respect to the seat.
The humanoid robot sensation presentation device according to any one of the above. 5. The body of the occupant tilts as the seat moves relative to the head restraint, and the occupant's upper body tilt angle is a constant rate of the robot's upper body tilt angle. The humanoid robot sensation presentation device according to any one of claims 1 to 4, wherein: 6. The head restraint section detects an amount of displacement of the occupant's head from a restraint center.
The humanoid robot sensation presentation device according to any one of the above. 7. The humanoid according to claim 1, wherein the seat moves with the occupant's waist and detects the movement of the occupant's waist by relative movement with the footrest. Robot experience presentation device. 8. A master-slave control device comprising the humanoid robot sensation presentation device according to claim 1 and controlling a humanoid robot by an occupant.