JPH1158280A - Robot device and its control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To carry out complicated movement by little description quantity on various types of robot devices furnished with different types of mechanism systems free to control by a common control system by using a mechanism system independent command not depending on the mechanism system. SOLUTION: A mechanism system dependent target command giving part 113 outputs a mechanism system dependent target command in accordance with a mechanism system independent command from a mechanism system independent command giving part 112. This mechanism system dependent target command giving part 113 has a function to select one mechanism system dependent target command from a plural number of the mechanism system dependent target commands corresponding to the same mechanism system independent command and to output. A mechanism system dependent command row giving part 114 outputs a mechanism system dependent command row to match a mechanism system in accordance with the mechanism system dependent target command. A control command giving part 115 converts a mechanism system dependent command row to a control command. A control part carries out driving control of a driving part of a mechanism system in accordance with the control command.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to various types of robot apparatuses having different types of mechanical systems which can be controlled by a common control means using mechanical system independent commands which do not depend on the mechanical systems, and a control method thereof.

[0002]

2. Description of the Related Art Hitherto, various types of robot apparatuses having different types of mechanical systems, such as a tire type robot that runs by rotation of a tire and a two- or four-foot independent walking robot, have been proposed.

A robot apparatus of this type includes a mechanism system in which an actuator having a predetermined degree of freedom, a sensor for detecting a predetermined physical quantity, and the like are arranged at predetermined positions, and various sensors are controlled by a control unit using a microcomputer. By individually driving and controlling various actuators in accordance with the output and the control program, it is possible to self-run and perform a predetermined operation. In addition, this type of robot apparatus is assembled in a predetermined shape by coupling respective constituent units such as a body, a leg, and a head in a state having a predetermined correlation.

[0004]

By the way, in various types of robot apparatuses having different types of mechanical systems, operations dependent on the respective mechanical systems are performed. Therefore, commands defined corresponding to the mechanical systems for each apparatus are transmitted. The control was performed using this. Therefore, in various types of robot devices having different types of conventional mechanical systems, a control program must be prepared for each device even when performing operations that can be commonly defined such as forward, backward, and stop. There was a problem that it had to be done.

Accordingly, an object of the present invention is to provide various types of robot apparatuses having different types of mechanism systems that can be controlled by a common control system using mechanism system independent commands that do not depend on the mechanism systems, and a control method thereof. Is to do.

[0006]

A robot apparatus according to the present invention receives a mechanical system having at least one mechanical unit driven by a driving unit, and a mechanical system independent command independent of the mechanical system, and receives the input. A mechanism-dependent command conversion unit that converts the independent command into a mechanism-dependent command adapted to the mechanism,
A control command converter for converting a mechanism-dependent command supplied from the mechanism-dependent command converter into a control command for the mechanism, and driving the drive unit in response to the control command supplied from the control command converter; A control unit for performing control, wherein the mechanism-dependent command conversion unit registers one or more mechanism-dependent commands as a search key of the mechanism-dependent command, and inputs the one or more mechanism-dependent commands first. It has a function of extracting one or more corresponding mechanism-dependent instructions registered using the mechanism-dependent instructions as a search key, and selecting and outputting one mechanism-dependent instruction from the extracted mechanism-dependent instructions. Features.

In the robot apparatus according to the present invention, for example,
The mechanism-dependent command conversion unit receives a mechanism-dependent command and outputs a mechanism-dependent target command tailored to the mechanism in response to the command. A mechanism-dependent command sequence generator configured to generate a mechanism-dependent command sequence consisting of a posture transition sequence adapted to the mechanism in accordance with the mechanism-dependent target command supplied from the system-dependent target command generator; The instruction conversion unit converts the mechanism-dependent instruction sequence supplied from the mechanism-dependent instruction sequence generator into a control instruction for the mechanism.

[0008] In the robot apparatus according to the present invention, the mechanism-dependent target command generating unit may stochastically generate one mechanism-dependent target command from a plurality of mechanism-dependent target commands corresponding to the same mechanism independent command. Select and output.

In the robot apparatus according to the present invention, the mechanism-dependent target command generator corresponds to, for example, the posture at the time when the mechanism-dependent command is input to the same mechanism-dependent command. And outputs different mechanism-dependent target instructions.

Further, in the robot apparatus according to the present invention, the mechanism-dependent target command generation unit may change the emotional state at the time when the mechanism-dependent command is input for the same mechanism-dependent command. Correspondingly outputs different mechanism-dependent target instructions.

[0011] The control method of the robot apparatus according to the present invention comprises:
A method for controlling a robot apparatus including a mechanical system having at least one mechanical unit driven by a driving unit, wherein the mechanical system-dependent instruction adapted to the mechanical system is converted by converting a mechanical system-independent instruction independent of the mechanical system. Is generated and the drive control of the drive unit is performed, one or more mechanism-dependent commands are registered as a key for searching for a mechanism-dependent command, and the inputted mechanism-dependent command is input first. Extracting one or more corresponding mechanism-dependent instructions registered as a search key, selecting one mechanism-dependent instruction from the extracted mechanism-dependent instructions, and performing drive control of the driving unit. Features.

In the method of controlling a robot apparatus according to the present invention, for example, one mechanical system-dependent target instruction is stochastically selected from a plurality of mechanical system-dependent target instructions corresponding to the same mechanical system independent instruction. A mechanism system dependent command corresponding to the dependent target command is generated to control the drive of the drive unit.

In the method of controlling a robot apparatus according to the present invention, for example, for the same mechanical system independent command, a different mechanical system dependent target command corresponding to the posture at the time the mechanical system independent command is input is provided. Is selected, and a mechanism-dependent command corresponding to the mechanism-dependent target command is generated to control the drive of the drive unit.

Further, in the method of controlling a robot apparatus according to the present invention, for example, for the same mechanical system independent command, different mechanical system dependent targets correspond to emotional states at the time when the mechanical system independent command is input. An instruction is selected, and a mechanism-dependent command corresponding to the mechanism-dependent target command is generated to control the driving of the driving unit.

[0015]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 shows a robot apparatus 100 according to the present invention.
FIG. 2 is a block diagram showing a basic configuration of FIG.

The robot apparatus 100 includes a central processing unit (CPU) 101, a control unit 102, a driving unit 103, an external environment 104, and a sensor unit 10.
5 is comprised.

The CPU unit 101 includes a CPU (Central
And a peripheral circuit element such as a memory, and converts a mechanical independent instruction that does not depend on the mechanical system into a mechanical dependent instruction as described later, and converts the control instruction into the control unit 102.
Give to. The control unit 102 and the driving unit 103 are each paired with a plurality of units.
One driving unit 103 is controlled. The control unit 102 controls the driving unit 103 by using a detection output value of a sensor unit 105 that detects a predetermined physical quantity such as a position of a mechanical system constituting an external environment 104 of the robot device 100. Then, the driving section 103 drives a mechanical system constituting the external world 104. The sensor unit 105 is for autonomously operating the robot device 100, and includes a potentiometer for detecting a position of a mechanical system and the like.

FIG. 2 shows a software configuration of the CPU section 101 in the robot apparatus 100.

That is, the software configuration of the CPU unit 101 includes a sensor processing unit 111, a mechanical system independent command generating unit 112, a mechanical system dependent target command generating unit 113, a mechanical system dependent command sequence generating unit 114, and a control command generating unit. 115.

The sensor processing section 111 has a timer, an obstacle sensor, and a sound sensor as inputs. Here, the timer counts in units of 1 millisecond, and turns off when a certain time is set, and turns on when a set time elapses. In order to simplify the description, the obstacle sensor includes a front obstacle sensor, a right obstacle sensor, and a left obstacle sensor provided on the front side, left side, and right side of the apparatus main body. It shall be. The sound sensor captures sound with a microphone, detects the sound pressure level, and turns on when the sound level exceeds a preset level.

The procedure for determining the state transition rule of the mechanism independent instruction generator 112 is shown in the flowcharts of FIGS. The mechanism independent instruction generation unit 112 converts a mechanism independent instruction defined as described later into a mechanism system dependent target instruction generation unit, which is the next software module, when performing a state transition from one state to another state. Output to 113. The data output from the mechanism independent command generation unit 112 is data represented by a character string and, optionally, parameters accompanying the command.

In this embodiment, five types of (1) standing (2) move (parameter angle [deg]), (3) sleeping (4) hello (5) laughing are defined as the mechanical system independent instructions.

The mechanism independent instruction generating unit 112
As shown in the flowchart of FIG. 3, when the process is started (started), first, initialization is performed in a process S1, the state is set to "rest", and the process proceeds to the process S2 to determine the current state. Then, according to the determination result in the process S2, the process SA, the process SB, or the process SC in the current state is performed, and the process S2 is repeatedly performed. "Stop"
SB and “move” process SC.

In the "rest" process SA, as shown in FIG. 4, first, a process SA for determining whether the sound sensor is on or off.
1 is performed, and if the sound sensor is off, a process SA2 for determining the on / off of the pre-failure sensor is performed. If the pre-failure sensor is off, a process S for determining the on / off of the left sensor is performed.
A3 is performed, and if the left sensor is off, a process SA4 for determining whether the right sensor is on / off is performed. If the right sensor is off, a process for determining on / off of the timer is performed S.
Perform A5, and if the timer is off, set the next state to "rest"
Is performed, and the flow advances to the next state.

In the "rest" process SA, the process S
If the sound sensor is turned on in A1, a process SA11 for outputting a mechanical system independent command "standing" and setting the next state to "stop" is performed, and a process SA12 for setting a timer is performed. Move to If the pre-failure sensor is ON in the above-mentioned process SA2, the process outputs the mechanical system independent command “standing”, performs the process SA21 for setting the next state to “stop”, and further performs the process SA22 for setting the timer. Move to the next state.
If the fault left sensor is ON in the above-mentioned process SA3, the process outputs the mechanical system independent command “standing”, performs the process SA31 for setting the next state to “stop”, and performs the process SA32 for setting the timer. Move to the next state. If the fault right sensor is ON in the above-mentioned process SA4, a process SA41 for outputting the mechanical system independent command “standing” and setting the next state to “stop”.
Is performed, and a process SA42 for setting a timer is performed, and the process proceeds to the next state. Further, if the timer is turned on in the above-mentioned process SA5, the process S outputs the mechanical system independent command "standing" and sets the next state to "stop" S
Processing SA52 of performing A51 and further setting a timer
To go to the next state.

Also, in the above-mentioned "stop" processing SB, FIG.
As shown in (1), first, a process SB1 for determining ON / OFF of the sound sensor is performed. If the sound sensor is OFF, a process SB2 for determining ON / OFF of the pre-failure sensor is performed. A process SB3 for determining ON / OFF of the faulty left sensor is performed. If the faulty left sensor is OFF, a process SB4 for determining ON / OFF of the faulty right sensor is performed. If the faulty right sensor is OFF, a timer ON / OFF is performed. A process SB5 for determining off is performed, and if the timer is off, a process SB6 for setting the next state to “stop” is performed, and the process proceeds to the next state.

In the "stop" process SB, the above process S
If the sound sensor is turned on in B1, a process SB11 for outputting a mechanism independent command “move (parameter angle [0 deg]”, setting the next state to “move”, and further setting a timer SB12 Then, if the pre-failure sensor is on in the above-mentioned process SB2, a process SB21 for outputting the mechanical system independent command “hello” and setting the next status to “stop” is performed. Then, the process goes to the next state by performing a process SB22 for setting a timer, and if the failure left sensor is on in the process SB3, the mechanical system independent command "laughin" is executed.
g), the process SB31 for setting the next state to "stop" is performed, and the process S for setting the timer is performed.
Perform B32 to move to the next state. Further, the processing SB
If the fault right sensor is ON in step 4, the process SB41 for setting the next state to "stop" is performed, and the process SB42 for setting the timer is performed, and the process proceeds to the next state.
Further, if the timer is turned on in the above-mentioned process SB5, a process SB51 for outputting a mechanism independent command "sleeping" and setting the next state to "rest" is performed, and a process SB52 for setting the timer is performed. Move to the next state.

Further, in the "movement" process SC, as shown in FIG. 6, first, a process SC1 for judging on / off of the sound sensor is performed, and if the sound sensor is off, on / off of the pre-failure sensor is performed. SC2 is performed to determine the on / off state of the failed left sensor if the pre-fault sensor is off, and to the on / off state of the failed right sensor if the left sensor is off. SC4 is performed, and if the right sensor is off, a process SC5 for determining whether the timer is on / off is performed. If the timer is off, a process SC6 for setting the next state to "stop" is performed, and the next state is performed. Move to

In the "move" processing SC, the processing S
If the sound sensor is turned on at C1, a process SC11 for outputting a mechanical system independent command "hello" and setting the next state to "stop" is performed, and a process SC12 for setting a timer is performed. Move to If the pre-failure sensor is ON in the above-described process SC2, the process SC21 outputs the mechanical system independent command “move (parameter angle [180 deg]” and sets the next state to “move”.
Is performed, and a process SC22 for setting a timer is performed, and the process proceeds to the next state. If the fault left sensor is ON in the above-described process SC3, the mechanical system independent instruction “move (par
ameter angle [90 deg] "is output, the process SC31 for setting the next state to" move "is performed, and the process SC32 for setting a timer is performed, and the process moves to the next state.
If the fault right sensor is on in the above-described process SC4, the mechanism independent instruction “move (parameter angle [−90 de
g] ”, performs a process SC41 of setting the next state to“ move ”, and further performs a process S of setting a timer.
Perform C42 to move to the next state. Further, the processing S
If the timer is turned on at C5, a process SC51 for outputting the mechanical system independent command "standing" and setting the next state to "stop" is performed, and further, a process SC52 for setting the timer is performed and the process proceeds to the next state. Move on.

Further, the mechanism-dependent target instruction generation unit 11
Reference numeral 3 designates a mechanism-dependent target instruction corresponding to the mechanism constituting the external world 104 to the mechanism-dependent instruction sequence generator 114 in accordance with the mechanism independent instruction output from the mechanism independent instruction generator 112. Supply. The mechanism-dependent command sequence generator 114 controls a mechanism-dependent command sequence consisting of a posture transition sequence adapted to the mechanism in accordance with the mechanism-dependent target command supplied from the mechanism-dependent target command generator 113. It is supplied to the instruction generation unit 115. This control command generator 115
The mechanism-dependent command sequence supplied from the mechanism-dependent command sequence generating unit 114 is converted into a control command for the mechanism, and the control command is supplied to the control unit 102.

The control section 102 controls the driving of the driving section 103 in accordance with the control command supplied from the control command generating section 115.

Here, the mechanism-dependent target instruction generator 1
Reference numeral 13 has a function of selecting and outputting one mechanism-system-dependent target instruction from a plurality of mechanism-system-dependent target instructions corresponding to the same mechanism-system independent instruction. In this embodiment, the mechanism-dependent target instruction generation unit 113 stores a mechanism-dependent target instruction corresponding to the mechanism-dependent independent instruction, and inputs the input mechanism-related independent instruction in accordance with the procedure shown in the flowchart of FIG. In response to the instruction, a corresponding mechanism-system-dependent target instruction is stochastically selected and output.

That is, as shown in the flow chart of FIG. 7, the mechanism-system dependent target command generator 113 receives the mechanism-system independent command, and in the first process S11,
It is determined whether or not the input mechanical system independent instruction is “standing”. If the mechanism independent instruction is “standing”, the process proceeds to step S12, and the mechanism dependent target instruction “stan”
“ding” is output, and the processing for the input mechanical system independent instruction is terminated. If the mechanism independent instruction is not “standing”, the process proceeds to the next processing S13.

In this step S13, it is determined whether or not the input mechanical system independent command is "move". If the mechanism-dependent command is "move", the process proceeds to step S14 to output a mechanism-dependent target command "walking", and terminates the processing for the input mechanism-dependent command. If the mechanism independent instruction is not "move", the process proceeds to the next processing S15.

In this step S15, it is determined whether or not the input mechanical system independent command is "laughing". If the mechanical system independent instruction is “laughing”, the process S1
6 and output the mechanism-dependent target command “laughing”
The processing for the input mechanical system independent instruction is terminated. If the mechanical system independent instruction is not “laughing”, the process proceeds to the next processing S17.

In this step S17, it is determined whether or not the input mechanical system independent command is "sleeping". If the mechanism independent instruction is “sleeping”, the process S1
8 to output the mechanism-dependent target instruction “sleeping”
The processing for the input mechanical system independent instruction is terminated. If the mechanism independent instruction is not “sleeping”, the process proceeds to the next processing S19.

In this step S19, it is determined whether or not the input mechanism system independent command is "hello". And
If the mechanical independent instruction is "hello", the process proceeds to step S20. If the mechanical independent instruction is not "hello", the process for the input mechanical independent instruction is terminated.

In the above processing S20, [1], [2],
One of the numbers [3] is randomly generated.

Then, in the next processing S21, the processing S
It is determined whether or not the number generated in step 20 is [3].
If the number is [3], the process proceeds to step S22 to output the mechanism-dependent target command “hello”, and terminates the process for the input mechanism-dependent command. If the number is not [3], the process proceeds to the next step S23.

In step S23, it is determined whether or not the number generated in step S20 is [2]. And
If the above-mentioned number is [2], the process proceeds to step S24 to output a mechanism-dependent target command "right_hand_up", and terminates the process for the input mechanism-dependent command. If the number is not [2], the process proceeds to the next process S25.

In step S25, it is determined whether or not the number generated in step S20 is [1]. And
If the above number is [1], the process proceeds to step S26 to output the mechanism-dependent target command “left_hand_up”, and terminates the process for the input mechanism-dependent command. If the number is not [1], the processing for the input mechanical system independent command is terminated.

That is, the mechanism-dependent target instruction generator 113 generates “standing”, “move”, “laughing”,
For five types of mechanical independent instructions, “sleeping” and “hello”, “standing”, “move”, “laughing”, “sl”
eeping "," hello "," right_hand_up "," left_ha
nd_up "can be output.

Then, the mechanism-dependent instruction generating unit 114
The mechanism-dependent target command is converted into a mechanism-dependent command sequence and supplied to the control command generator 115. That is, the mechanism-dependent command generation unit 114 supplies the control-system-dependent command sequence from the current posture to the posture corresponding to the given mechanism-system-dependent target command to the control command generation unit 115. Then, the mechanism-dependent target instruction generator 113 and the mechanism-dependent instruction sequence generator 114 convert the mechanism-dependent instruction supplied from the mechanism-dependent instruction generator 111 into a mechanism-dependent instruction conversion. The unit 116 is constituted.

Here, for example, in the self-standing walking robot device, the five types of mechanical system independent commands “standing” according to the control commands given to the control unit 102 by the CPU unit 101 having the software configuration shown in FIG. ”,“ Mov
In response to "e", "laughing", "sleeping", and "hello", seven types of mechanism-dependent target instructions "standing", "move", and "la" generated by the mechanism-dependent target command generator 113.
ughing "," sleeping "," hello "," right_hand_u
In taking the posture transition corresponding to “p” and “left_hand_up”, there are states that cannot make a direct transition, so define the “sitting” posture as an intermediate posture, and use the “sitting”
A transition is made to the desired posture via the posture.
FIG. 8 shows the constraint state of this posture transition. That is, "sl
When transitioning from the “eeping” posture to the “walking” posture, “s
A posture transition sequence of “itting” → “standing” → “walking” is used as a control command from the CPU 101 to the controller 10.
Output to 2.

In this way, a mechanism-dependent instruction sequence is generated by the mechanism-dependent target instruction generator 113 and the mechanism-dependent instruction sequence generator 114 in accordance with the mechanism-dependent instruction given to the mechanism-dependent instruction generator 112. By converting this mechanism-dependent instruction sequence into a control instruction by the control instruction generation unit 115,
For example, the mechanism independent instruction "move (parameter angle [deg]"
When a movement command is given by a tire-type robot, the movement command can be executed by converting the rotation direction of the drive wheel into a designated movement command. In a quadruped walking robot, each leg is moved according to a walking pattern. The movement command can be executed by converting it into a movement command to move and move. In addition, the mechanical system independent instruction "hello"
Is converted to a command that corresponds to, for example, a right-turn operation three times on the spot for a tire-type robot, and corresponds to, for example, a motion that raises the right front leg and swings sideways in a sitting posture for a quadruped walking robot. By converting the
The mechanical independent instruction “hello” can be executed by either type of robot. In this way, the same instruction can be made to correspond to different movements depending on the mechanism system, and the software in the upper layer can be used at the source code or binary level by the mechanism-dependent target instruction generating unit 113. Therefore, it promotes software componentization,
It is possible to reuse part of the software that does not depend on the mechanism, and the software development can proceed efficiently.

In addition, the mechanism-dependent target instruction generator 1
13 shows three types of mechanism-dependent target instructions “hello” and “right_hand_u” for the same mechanism-dependent instruction “hello”.
By having a function of selecting and outputting one mechanism-system-dependent target command from "p" and "left_hand_up", it is possible to increase the number of mechanism-system-dependent target commands and to provide a variety of robot operations.

FIG. 9 is a diagram schematically showing a basic configuration of a mechanical system constituting an external part of a self-standing quadruped walking robot device 200 configured by applying the present invention.

The self-standing walking robot device 200 has four
An articulated robot that walks on its own with its feet, and includes a right foreleg 202, a left foreleg 203, and a right hind leg 2
04, the left hind leg part 205 and the neck head part 206 are connected via joint parts 211, 212, 213, 214 and 215, respectively.

The right fore leg 202 is connected to the body 201 via a joint 211 corresponding to a shoulder joint, and drives two servo motors (not shown) provided as actuators on the joint 211. It has a function to open the legs and a function to rotate back and forth. The right foreleg 202 includes a right foreleg upper portion 202U and a right foreleg lower portion 202L connected via a joint 216 corresponding to a knee joint. A servo motor (not shown) provided on the joint 216 as an actuator is provided. It has a function of rotating the lower right front leg 202L back and forth by driving.

The left front leg 203 is connected to the body 201 via a joint 212 corresponding to a shoulder joint. Two servo motors (not shown) provided as actuators in the joint 212 are provided. Has the function of opening the legs and the function of rotating back and forth. Further, the left front leg portion 203 includes a left front leg upper portion 203U and a left front leg lower portion 203 connected via a joint portion 217 corresponding to the knee joint.
L, and has a function of rotating the lower left front leg 203L back and forth by driving a servo motor (not shown) provided as an actuator in the joint 217.

The right hind leg 204 is connected to the body 201 via a joint 213 corresponding to the hip joint, and is driven by a servo motor (not shown) provided as an actuator at the joint 213. It has the function of rotating back and forth. The right hind leg portion 204 includes an upper right hind leg portion 204U and a lower right hind leg portion 204L connected via a joint portion 218 corresponding to a knee joint, and is provided on the joint portion 218 as an actuator (not shown). It has a function of rotating the lower right leg 204L back and forth by driving a servo motor.

The left rear leg 205 is connected to the body 201 via a joint 214 corresponding to the hip joint, and is driven by a servo motor (not shown) provided as an actuator at the joint 214. It has the function of rotating back and forth. The left hind leg part 205 is composed of a left hind leg upper part 205U and a left hind leg lower part 205L connected via a joint part 219 corresponding to a knee joint, and is provided as an actuator on the joint part 219 as an actuator (not shown). It has a function of rotating the lower left rear leg lower portion 205L back and forth by driving a servo motor.

Further, the neck head 206 is connected to the body 201 via a joint 215 corresponding to a neck joint, and two servo motors (not shown) provided as actuators in the joint 215 are provided. Has the function of rotating in the vertical and horizontal directions by driving the.

The self-standing walking robot device 20
0, the CPU having the software configuration shown in FIG.
Mechanism independent instruction generating unit 112 provided in the unit 101
Is converted into a control command corresponding to the mechanism by the mechanism-dependent target command generator 113, the mechanism-dependent command sequence generator 114, and the control command generator 115, and is given to the control unit 102. .

That is, the mechanism independent instruction “standing”
Is converted into a control command consisting of a posture transition sequence to standing. The control unit 102 drives the servo motor of the drive unit 103 in accordance with the control command, and
2. Left fore leg 203, right hind leg 204, left hind leg 205
To a "standing" posture with four legs.

Also, the mechanism independent instruction “move (parameter a
ngle [deg] ”is converted into a control command consisting of a posture transition sequence to walking. Specifically, when angle [deg] is positive using angle [deg] as a parameter, a control command including a posture transition sequence of a walking pattern for moving forward is generated. The control unit 102 responds to the control command to
By driving the servo motor of No. 3, the right fore leg 202, the left fore leg 203, the right hind leg 204, and the left hind leg 205 are transited to the "walking" posture.

The mechanism independent instruction “sleeping” is sl
It is converted into a control command consisting of a sequence of posture transitions to eeping.
The control unit 102 drives the servo motor of the drive unit 103 in response to the control command to extend the four legs of the right fore leg 202, the left fore leg 203, the right hind leg 204, and the left hind leg 205. Change to a "sleeping" posture.

The mechanism independent instruction "hello" is a hello
Is converted into a control command consisting of a sequence of posture transitions. The control unit 102 controls the driving unit 103 in response to the control command.
Drive the servo motor and sit down and bow
o ”posture.

Also, the mechanism independent instruction “laughing” is
It is converted into a control command consisting of a sequence of posture transitions to ughing.
The control unit 102 drives the servomotor of the drive unit 103 in response to the control command to cause the right foreleg 202 and the left foreleg 203 to shift to the “laughing” posture.

Further, the mechanism independent instruction "hello" is hel
It is converted into a control command consisting of a posture transition sequence to lo_hand, a control command consisting of a posture transition sequence to right_hand_up, or a control command consisting of a posture transition sequence to left_hand_up. The control unit 1
02 drives the servo motor of the drive unit 103 in response to a control command including a sequence of posture transitions to hello, thereby transiting to the “hello” posture of sitting and bowing. In addition, the control unit 102 responds to a control command including a posture transition sequence to the right_hand_up by using the drive unit 10.
By driving the servo motor of No. 3, the user shifts to the “right_hand_up” posture in which the user sits and raises the right front leg 202. Further, the control unit 102 controls the driving unit 10 in response to a control command including a posture transition sequence to the left_hand_up.
By driving the servo motor of No. 3, the user shifts to the "left_hand_up" posture in which the user sits and raises the left front leg 203.

Here, the mechanism-dependent target instruction generation unit 113 provided in the CPU unit 101 having the software configuration shown in FIG. 2 performs processing according to the procedure shown in the flowchart of FIG. Thus, three types of mechanism-dependent target instructions “hello”
ello "," right_hand_up "," left_hand_up "
Although the mechanism-dependent target command is selected and output stochastically, the mechanism-dependent target command may be generated according to the processing procedure shown in the flowchart of FIG.

In the case of the processing procedure shown in the flowchart of FIG. 10, when the mechanism-dependent command is input, the mechanism-dependent target command generator 113 determines in step S31 that the input mechanism-dependent command has not been executed. It is determined whether it is "standing" or not. And, the mechanism independent instruction is "standin
If "g", the process proceeds to step S32 to output a mechanism-dependent target command "standing", and ends the processing for the input mechanism-dependent command. Also, the mechanism independent instruction is "standi
If it is not "ng", the process moves to the next process S33.

In this step S33, it is determined whether or not the input mechanical system independent command is "move". If the mechanism-dependent command is "move", the process proceeds to step S34 to output a mechanism-dependent target command "walking", and ends the processing for the input mechanism-dependent command. If the mechanism independent instruction is not "move", the process proceeds to the next step S35.

In this process S35, it is determined whether or not the input mechanical system independent command is "laughing". If the mechanism independent instruction is “laughing”, the process S3
6 and output the mechanism-dependent target command “laughing”
The processing for the input mechanical system independent instruction is terminated. If the mechanical system independent command is not “laughing”, the process proceeds to the next processing S37.

In this process S37, it is determined whether or not the input mechanical system independent command is "sleeping". If the mechanism independent instruction is “sleeping”, the process S3
8 to output the mechanism-dependent target instruction “sleeping”
The processing for the input mechanical system independent instruction is terminated. If the mechanism independent instruction is not “sleeping”, the process proceeds to the next processing S39.

In this process S39, it is determined whether or not the input mechanical system independent instruction is "hello". And
If the mechanical independent instruction is "hello", the process proceeds to step S40. If the mechanical independent instruction is not "hello", the process for the input mechanical independent instruction is terminated.

In the above processing S40, the current posture is set to standi.
ng state, sitting state or sleeping state. If the current posture is in the standing state, the process proceeds to step S41, and the mechanism-dependent target command “standing
_hello ”is output, and the process for the input mechanical system independent instruction is terminated. If the current posture is in the sitting state or the sleeping state, the flow shifts to step S42 to output the mechanism-dependent target command “hello”, and terminates the processing for the input mechanism-dependent command.

That is, the mechanism-dependent target instruction generator 113 generates “standing”, “move”, “laughing”,
For five types of mechanical independent instructions, “sleeping” and “hello”, “standing”, “move”, “laughing”, “sl”
Outputs six types of mechanism-dependent target instructions of "eeping", "hello", and "standing_hello".

In this case, the mechanism independent instruction "hell
o "is a control command consisting of a posture transition sequence to hello or stan
It is converted into a control command including a posture transition sequence to ding_hello, and supplied to the control unit 102.

The control section 102 drives the servo motor of the drive section 103 in response to a control command consisting of a row of attitude transitions to hello, thereby transiting to the “hello” attitude of sitting and bowing. The control unit 102
Drives the servo motor of the drive unit 103 in response to a control command including a posture transition sequence to the standing_hello, and stands and bows “standing_hello”
Transition to posture.

As described above, the mechanism-dependent target instruction generator 113 responds to the same mechanism-dependent instruction “hello” by
Different mechanism-dependent target commands “hello” and “standing_he
llo "output function.
A variety of robot operations can be provided.

Further, as shown in FIG. 11, the mechanical system independent command generation unit 112 provided in the CPU unit 101 having the software configuration shown in FIG.
Condition determination unit 112A that operates based on an input from
And a processing function of the emotion processing unit 112B.

In the mechanical system independent instruction generator 112, the condition judging unit 112A performs five types of mechanical system independent instructions "standing", "move", and "move" in accordance with the procedure shown in the flowcharts of FIGS. sleeping ”,“ hell
o ”and“ laughing ”.

The emotion processing section 111B changes an emotion state based on the input from the sensor processing section 111, and outputs a state variable representing the emotion state. Here, two elements, joy and anger, indicating emotions are set as emotion variables.

Then, the mechanism independent instruction generating unit 112
The emotion variables generated by the above are passed as arguments together with the mechanism-dependent target instruction corresponding to the mechanism-dependent instruction and the mechanism-dependent instruction sequence, so that the same mechanism-dependent instruction differs according to the emotion according to the emotion Control unit 10 controls
Step 2

In this embodiment, the emotional state is 2
It is assumed that it is a dimensional vector em and is represented by em = [joy, anger]. Here, joy expresses a joy state, takes an integer value of 0 to 255, and interprets that the larger the value, the greater the joy. Anger expresses an anger state and takes an integer value of 0 to 255, and interprets that the larger the value, the greater the joy.

Then, based on the input from sensor processing section 111, emotion processing section 112B performs emotion processing SE for changing emotion state em according to the procedure shown in the flowchart of FIG.

That is, in this emotion processing SE, FIG.
As shown in (1), first, processing SE1 for determining whether the sound sensor is on or off is performed. If the sound sensor is on, the processing proceeds to processing SE2, the joy value is increased by "10", and the processing proceeds to processing SE3.
If the sound sensor is off, the process immediately proceeds to processing SE3.

In this process SE3, it is determined whether the pre-fault sensor is on or off. Then, if the pre-failure sensor is ON, the process shifts to process SE4 to increase the anger value by “10” and shifts to process SE5. If the pre-failure sensor is off, the process immediately proceeds to processing SE5.

In this process SE5, the on / off of the fault left sensor is determined. If the obstacle left sensor is ON, the process proceeds to processing SE6 to increase the anger value by “50”, and then proceeds to processing SE7. If the left sensor is off, the process immediately proceeds to step SE7.

In this processing SE7, it is determined whether the fault right sensor is on or off. If the fault right sensor is ON, the process proceeds to process SE8, where the anger value is increased by "50", and the process proceeds to process SE9. If the left sensor is off, the process immediately proceeds to step SE9.

In this process SE9, the joy value and the anger value are each decreased by "1".

Then, in the next processing SE10, if the joy value is smaller than “0”, the joy value is set to “0”, and jo
If the y value is greater than “255”, change the joy value to “25”.
5 ".

Further, in the next processing SE11, the anger value is set to “0” when the anger value is smaller than “0”, and the anger value is set to “255” when the anger value is larger than “255”. .

That is, the emotion processing SE shown in FIG.
Gives the emotional state em by a simple model in which the joy value and the anger value increase in accordance with the ON / OFF of each sensor, and decrease with time. In this embodiment, the emotional state em is input to the mechanism-dependent target command generator 113 and the control command generator 1
15 is also input.

Then, the mechanism-dependent target instruction generator 113
When the emotion state em is input together with the mechanical system independent command from the mechanical system independent command generation unit 112, a mechanical system dependent target command is generated according to the processing procedure shown in the flowchart of FIG.

In the case of the processing procedure shown in the flowchart of FIG. 13, when the mechanical system-dependent target command is input, the mechanical system-dependent target instruction generating unit 113, in the first process S51, converts the input mechanical system independent command to It is determined whether it is "standing" or not. And, the mechanism independent instruction is "standin
If "g", the process moves to step S52 to output a mechanism-dependent target command "standing", and ends the processing for the input mechanism-dependent command. Also, the mechanism independent instruction is "standi
If it is not "ng", the process moves to the next step S53.

In this step S53, it is determined whether or not the input mechanical system independent command is "move". If the mechanism-dependent command is "move", the process proceeds to step S54 to output a mechanism-dependent target command "walking", and ends the processing for the input mechanism-dependent command. If the mechanism independent instruction is not "move", the process moves to the next step S55.

In this process S55, it is determined whether or not the input mechanical system independent command is "laughing". If the mechanism independent instruction is “laughing”, the process S5
6 and output the mechanism-dependent target command “laughing”
The processing for the input mechanical system independent instruction is terminated. If the mechanical system independent command is not “laughing”, the process proceeds to the next process S57.

In this step S57, it is determined whether or not the input mechanical system independent command is "sleeping". If the mechanism independent instruction is “sleeping”, the process S5
8 to output the mechanism-dependent target instruction “sleeping”
The processing for the input mechanical system independent instruction is terminated. If the mechanism independent instruction is not “sleeping”, the process proceeds to the next processing S59.

In this step S59, it is determined whether or not the input mechanism independent command is "hello". And
If the mechanical independent instruction is "hello", the process proceeds to step S60. If the mechanical independent instruction is not "hello", the process for the input mechanical independent instruction is terminated.

In the process S60, it is determined whether or not the joy value which is a state variable indicating the emotional state em is larger than the threshold value Thjoy. If the joy value is larger than the threshold value Thjoy, the process shifts to step S61 to output the mechanism-dependent target command “hello-joy”, and ends the process for the input mechanism-dependent command. Also, the joy value is the threshold Th
If it is not larger than joy, the process moves to step S62.

In this processing 62, it is determined whether or not the anger value which is a state variable indicating the emotion state em is larger than the threshold value Thanger. And the anger value is the threshold Thanger
If it is larger, the process proceeds to step S63 to output the mechanism-dependent target command “hello-anger”, and terminates the process for the input mechanism-dependent command. If the anger value is not larger than the threshold value Thanger, the process proceeds to step S6.
4 and output the mechanism-dependent target instruction "hello"
The processing for the input mechanical system independent instruction is terminated.

That is, the mechanism-dependent target instruction generator 113 generates “standing”, “move”, “laughing”,
For five types of mechanical independent instructions, “sleeping” and “hello”, “standing”, “move”, “laughing”, “sl”
eeping "," hello "," hello-joy "," hello-ange
r ", seven types of mechanism-dependent target instructions are output.

In this case, the mechanism independent instruction “hell”
o "is a control command consisting of a sequence of posture transitions to hello, hello-
It is converted into a control command consisting of a posture transition sequence to joy or a control command consisting of a posture transition sequence to hello-anger, and is supplied to the control unit 102.

The control unit 102 drives the servo motor of the drive unit 103 in response to a control command consisting of a posture transition sequence to the hello, thereby transiting to the “hello” posture of sitting and bowing. The control unit 102
Drives the servo motor of the drive unit 103 in response to a control command consisting of a posture transition sequence to the hello-joy, thereby transiting to a “hello-joy” posture in which both right front legs are raised while sitting. Further, the control unit 102 controls the hell
By driving the servo motor of the drive unit 103 in accordance with a control command including a sequence of posture transitions to the o-anger, a transition is made to the "hello-anger" posture in which the user sits and raises the left front leg.

As described above, the mechanism-dependent target instruction generating unit 113 responds to the same mechanism-dependent instruction “hello” by
Different mechanism-dependent target commands "hello" and "hello-j" differ according to the emotional state at the time of input of the mechanism-dependent command.
By having a function to output "oy" and "hello-anger", it is possible to give a variety of robot operations.

An emotional state indicating an emotional state is similarly displayed for a mechanically independent instruction other than the mechanically independent instruction “hello”.
It is also possible to generate another mechanism-dependent target command depending on the value of joy, anger, which is a state variable indicating em.

Further, the control command generating section 115 receives the emotion state em as a parameter together with the mechanism-dependent command sequence, and sends a control command to the control section 102 in which the magnitude of the movement speed differs depending on the emotion state em. Can be supplied.

That is, in this embodiment, the mechanism-dependent instruction sequence is searched for a mechanism-dependent target instruction using a storage structure that can be represented as a graph structure as shown in FIG. The program and data of the control instruction generation are stored corresponding to the edges determined and defined between the nodes. In the control command generator 115,
This control command corresponding to the edge between the nodes is generated and supplied to the control unit 102.

Here, as described above, the mechanism-dependent target instruction generator has a function of selecting and outputting one mechanism-dependent target instruction from a plurality of mechanism-dependent target instructions corresponding to the same mechanism independent instruction. In the case where the operation of the robot is given diversity by providing it to the mechanism-dependent target command generation unit, it is necessary to add a selection program corresponding to the new mechanism-independent command in order to add a new mechanism-dependent command. When increasing the number of mechanism-dependent instructions, it is necessary to add an if statement in an existing program. However, by registering the correspondence between the mechanical independent instructions and the mechanical dependent instructions in advance, the registration in the storage unit and the mechanical independent instructions can be performed without directly writing the mechanical independent instructions and the mechanical dependent instructions in the program. By performing a search using a key, it is possible to find a corresponding mechanism-dependent instruction.

That is, as shown in FIG. 14, for example, the mechanism dependent instruction converter 1 converts a mechanism independent instruction supplied from the mechanism independent instruction generator 112 into a mechanism dependent instruction.
16, a mechanism independent instruction-mechanism dependent instruction correspondence storage unit 1
16A and a mechanism-dependent command search unit 116B are provided. For each mechanism-dependent command, the mechanism-dependent command is registered as a search key in the mechanism-dependent command-mechanism-dependent command correspondence storage unit 116A. One or more corresponding mechanism-dependent instructions registered earlier using the mechanism-dependent instruction as a search key are extracted from the instruction, and one mechanism-dependent instruction is selected from the extracted mechanism-dependent instructions and output. To do.

The mechanism-independent instruction-mechanism-dependent instruction correspondence storage section 116A is realized, for example, by using a method called Map as a computer information expression. Map
Is software for information storage provided as a basic library by many compilers such as the programming language C ++ or software of a development environment, and is a method of performing a search using a search key. Simple Map <T, Key> and List <T>
Will be described with reference to an example of a program list shown in FIG.

In this example, a name is registered in a List, and the last name is registered as a search key in a Map. That is, in lines 1 to 5 of the program list shown in FIG. 15, the names masahiro, miu, hiroko are registered in the list,
Masaki, mao, yoko are registered in another List.
In line 17, the former List is searched using the search key “fujita”.
Register to Map and search the latter List for “komoriya” Ke
Register to Map with y. And in lines 20 and 21,
List is extracted from Map using search key “fujita”, and the first String of List is extracted. What is contained in the result, name1, depends on the implementation method of the class named List, but the “ma
The implementation that comes out with “sahiro” is common.

Using such a Map to register a plurality of mechanism-dependent commands DepCMD using the mechanism-dependent command IndCMD as a search key, for example, Map <List <DepCMD>, IndCMD>map0fInd_DependCMD; List <DepCMD> temp = map0fInd_DependCMD [Hello]; By temp.push_back (Right_HandUp) ;, the mechanism-dependent instruction Right_
Register HandUp.

Therefore, the mechanism dependent instruction conversion unit 116
Then, receive the mechanism independent command, and use it as Key,
The List may be extracted, and one mechanism-dependent instruction may be selected from the list and output. To select a mechanism-dependent instruction,
Various methods in the mechanism-dependent target instruction generation unit 113 described above can be used.

[0108]

As described above, the robot apparatus according to the present invention is provided with a mechanism-dependent command conversion unit for converting a mechanism-dependent command into a mechanism-dependent command, thereby performing an operation corresponding to the mechanism-dependent command. It can be performed by a mechanical system, and
For one or more mechanism-dependent instructions, a mechanism-dependent instruction is registered as a search key, and one or more corresponding mechanism-registered instructions registered as a search key prior to the input mechanism-dependent instruction are input. By providing the mechanism-dependent instruction converter with a function of extracting the mechanism-dependent instruction and selecting and outputting one mechanism-dependent instruction from the extracted mechanism-dependent instruction, a complicated operation can be performed with a small amount of description. It can be carried out.

Further, in the control method of the robot apparatus according to the present invention, a mechanism-system-dependent command that is independent of the mechanism is converted to generate a mechanism-system-dependent command corresponding to the mechanism, thereby controlling the drive of the drive unit. , One or more mechanism-dependent commands are registered as a key for searching for a mechanism-dependent command, and the inputted mechanism-dependent command is registered as a search key prior to the input mechanism-dependent command. 1
More than one mechanism-dependent instruction is fetched, one mechanism-dependent instruction is selected from the fetched mechanism-dependent instructions, and drive control of the driving unit is performed, thereby performing complicated operation control with a small amount of description. be able to.

Therefore, according to the present invention, there are provided various types of robot apparatuses having different types of mechanism systems which can be controlled by a common control system using mechanism system independent commands which do not depend on the mechanism system, and a control method therefor. can do.
As a result, it is possible to make the same instruction correspond to different movements depending on the mechanism system, and use the software in the upper layer at the source code or binary level by the mechanism-dependent instruction conversion unit. As a result, it is possible to promote the use of software components, to reuse software that does not depend on the mechanical system, and to promote software development efficiently.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a basic configuration of a robot device according to the present invention.

FIG. 2 is a diagram showing a software configuration of a CPU unit in the robot device.

FIG. 3 is a flowchart showing a procedure for determining a state transition rule of a mechanism independent command generation unit in the robot apparatus.

FIG. 4 is a flowchart showing a “rest” processing procedure in a procedure for determining a state transition rule of the mechanism independent instruction generating unit.

FIG. 5 is a flowchart illustrating a “stop” processing procedure in a procedure for determining a state transition rule of the mechanism independent instruction generating unit.

FIG. 6 is a flowchart showing a “movement” processing procedure in a procedure for determining a state transition rule of the mechanism independent instruction generating unit.

FIG. 7 is a flowchart showing a processing procedure for generating a mechanism-dependent target command in a mechanism-dependent target command generator in the robot apparatus.

FIG. 8 is a state transition diagram showing a graph structure for generating a mechanism-dependent command in a mechanism-dependent command sequence generator in the robot apparatus.

FIG. 9 is a diagram schematically showing a basic configuration of a mechanical system forming an external part of a self-supporting quadruped walking robot device configured by applying the present invention.

FIG. 10 is a flowchart showing another processing procedure for generating a mechanism-dependent target instruction in the mechanism-dependent target instruction generator.

FIG. 11 is a diagram showing a configuration example of a mechanical system independent command generation unit in the robot device.

FIG. 12 is a flowchart showing a procedure of an emotion process in an emotion processing unit provided in the mechanism independent instruction generating unit.

FIG. 13 is a flowchart showing yet another processing procedure for generating a mechanism-dependent target instruction in the mechanism-dependent target instruction generator.

FIG. 14 is a diagram showing a configuration of a mechanism independent instruction generator having a function of searching for a mechanism dependent instruction by using a Map provided in the mechanism independent instruction generator.

FIG. 15 is a diagram showing a program list used to explain how to use Map <T, Key> and List <T>.

[Explanation of symbols]

REFERENCE SIGNS LIST 100 robot apparatus, 101 CPU unit, 102 control unit, 103 drive unit, 104 external world, 105 sensor unit, 111 sensor processing unit, 112 mechanical system independent command generation unit, 113 mechanism system dependent target command generation unit, 114 mechanism system dependent command Column generator, 115 control instruction generator, 1
16 Mechanism-dependent instruction converter

Claims (9)

[Claims] A mechanism system having at least one mechanism unit driven by a drive unit, and a mechanism system independent command independent of the mechanism system are input, and the mechanism system independent command is adapted to the mechanism system. A mechanism-dependent command conversion unit that converts the command into a command; a control command conversion unit that converts a mechanism-dependent command supplied from the mechanism-dependent command conversion unit into a control command of the mechanism; A control unit for controlling the driving of the driving unit in accordance with the supplied control command, wherein the mechanism-dependent command conversion unit registers the mechanism-dependent command as one of search keys for one or more mechanism-dependent commands. And
One or more corresponding mechanism-dependent instructions registered with this mechanism-dependent instruction as a search key earlier than the input mechanism-dependent instruction are extracted, and one mechanism-dependent instruction is extracted from the extracted mechanism-dependent instruction. A robot device having a function of selecting and outputting an image. 2. The mechanism-dependent command conversion section receives a mechanism-dependent command and outputs a mechanism-dependent target command tailored to the mechanism in response to the command. A mechanism-dependent instruction sequence generator that generates a mechanism-dependent instruction sequence consisting of a posture transition sequence tailored to the mechanism system according to the mechanism-dependent target instruction supplied from the mechanism-dependent target instruction generator. 2. The robot apparatus according to claim 1, wherein the control command conversion unit converts the mechanism-dependent command sequence supplied from the mechanism-dependent command sequence generation unit into a control command of the mechanism system. 3. 3. The mechanism-dependent target instruction generating section has a function of probabilistically selecting and outputting one mechanism-dependent target instruction from a plurality of mechanism-dependent target instructions corresponding to the same mechanism independent instruction. 3. The robot apparatus according to claim 2, wherein: 4. The mechanism-dependent target command generator outputs a different mechanism-dependent target command corresponding to the attitude at the time when the mechanism-dependent command is input, for the same mechanism-dependent command. 3. The robot apparatus according to claim 2, having a function. 5. The mechanism-dependent target command generator outputs a different mechanism-dependent target command corresponding to the emotional state when the same mechanism-dependent command is input for the same mechanism-dependent command. 3. A function to perform
The robot device as described. 6. A method for controlling a robot apparatus comprising a mechanical system having at least one mechanical unit driven by a driving unit, wherein the robot system is adapted to the mechanical system by converting a mechanical system independent command independent of the mechanical system. In performing the drive control of the drive unit by generating the mechanism-dependent command, the one or more mechanism-dependent commands are registered as keys for searching for the mechanism-dependent command, and the input mechanism-dependent command is input first. One or more corresponding mechanism-dependent instructions registered using this mechanism-dependent instruction as a search key are fetched, and one mechanism-dependent instruction is selected from the fetched mechanism-dependent instructions to drive the drive unit. A control method for a robot device, comprising: performing control. 7. A mechanism-dependent target instruction is stochastically selected from a plurality of mechanism-dependent target instructions corresponding to the same mechanism-dependent instruction, and a mechanism-dependent instruction corresponding to the selected mechanism-dependent instruction is selected. 7. The control method for a robot device according to claim 6, wherein the control unit generates and controls the driving of the driving unit. 8. For the same mechanical system independent command, a different mechanical system dependent target command is selected in accordance with the posture at the time when the mechanical system independent command is input, and according to the mechanical system dependent target command. 7. The control method for a robot device according to claim 6, wherein the drive control of the drive unit is performed by generating the mechanism-system dependent command. 9. For the same mechanism-dependent command, a different mechanism-dependent target command is selected according to the emotional state at the time when the mechanism-dependent command is input, and the selected mechanism-dependent command is selected. 7. The control method for a robot apparatus according to claim 6, wherein a driving mechanism of the driving unit is controlled by generating a corresponding mechanism system dependent command.