JP2003071761A - Robot and display device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To display operation mode and changes of an internal condition of a robot to allow a user to understand them easily. SOLUTION: As the concept on design of a corner lamp, it is possible to give the user the feeling that a ball-like object gleams vaguely in a round manner in a lamp to achieve the effect that the image of faint and soft 'light' such as light of a garden lantern and a bedside lamp leaks. By attaching the corner lamp having such concept to the top of a head part, the image like a healing and evolved teddy bear is taken over from the whole robot to direct the expression of feeling by calm and humble 'light' instead of the expression of aggressive feeling by active lighting.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a legged mobile robot having a plurality of movable legs, and more particularly, to an intelligent legged mobile robot capable of interacting with a user.

More specifically, the present invention provides a legged mobile robot that has internal states such as an instinct model and an emotional model, and performs interaction according to changes in the surrounding environment and internal states, as well as changes in internal states. The present invention relates to a display device for a legged mobile robot, and more particularly, to a legged mobile robot and a display device for the legged mobile robot that show changes in the surrounding environment and internal state to a user easily.

[0003]

2. Description of the Related Art A mechanical device that makes a motion similar to a human motion by using an electrical or magnetic action is called a "robot". The origin of the robot is the Slavic word "ROBO".
It is said that it is derived from "TA (slave machine)." In Japan, robots began to be popular since the end of the 1960s, but most of them are automation of production work in factories.
It was an industrial robot such as a manipulator and a transfer robot for the purpose of unmanned operation.

Stationary type robots, such as arm type robots, which are implanted in a specific place and used,
Work only in fixed and local work spaces such as assembly and selection of parts. On the other hand, a mobile robot has a non-limitative work space, and can freely move on a predetermined route or on a non-route to perform a predetermined or arbitrary human work on behalf of a human or a dog. Alternatively, various services that replace other life forms can be provided.

Recently, a pet type robot imitating the body mechanism and movement of a quadruped animal such as a dog or a cat, or a body mechanism or movement of an animal such as a human or a monkey that walks upright on two legs. Research and development on the structure of legged mobile robots such as “humanoid” or “humanoid” robots imitating humanoid (humanoid robot) and its stable gait control have progressed, and expectations for their practical application are increasing. These legged mobile robots are more unstable than crawler type robots, making posture control and walking control difficult, but they are superior in that they can realize flexible walking and running motions such as climbing stairs and climbing over obstacles. ing.

[0006] One of the uses of the legged mobile robot is to perform various difficult tasks on behalf of industrial activities and production activities. For example, maintenance work in nuclear power plants, thermal power plants, and petrochemical plants, parts transportation / assembly work in manufacturing plants, cleaning in high-rise buildings, agency of dangerous work / difficult work such as rescue at fire sites and the like. .

Further, as another application of the legged mobile robot, rather than the above-mentioned work support, it is a life-oriented type, that is, "symbiosis" or "entertainment" with humans.
There are uses. This kind of robot faithfully reproduces the motion mechanism of a relatively intelligent legged walking animal such as a human or a dog (pet) and the rich emotional expression using the limbs. In addition to simply faithfully executing the pre-entered motion pattern, it also dynamically responds to the words and attitudes received from the user (or other robot) (such as "praise", "scrib", "hit", etc.). There is also a need for intelligence that realizes corresponding and lively response expressions.

In the conventional toy machine, the relationship between the user operation and the response motion is fixed, and the motion of the toy cannot be changed according to the user's preference. As a result, the user eventually gets tired of the toy that repeats only the same operation.

On the other hand, the intelligent robot is equipped with a behavior model and a learning model caused by movements, and changes the emotion model and the instinct model based on external input information such as voice, image, and tactile sense. Autonomous thought and motion control are realized by deciding the motion by the action. When the robot prepares an emotion model or an instinct model, the robot can express an autonomous action according to the emotion or instinct of the robot itself. Further, the robot is equipped with an image input device and a voice input / output device, and by performing image recognition processing and voice recognition processing, it is possible to realize realistic communication with humans at a higher intellectual level. .

That is, since the legged mobile robot has an entertaining property, it is possible to provide a motion pattern which the user does not get tired of or adapts to his / her taste. In addition, the user can enjoy a kind of training simulation as if playing a game, or can enjoy dialogue with various characters expressed on the robot.

In order for the user to enjoy the dialogue with the robot,
Feedback to the user by the robot is extremely important. Most of the current robots can reply to the user by voice output and body movements such as gestures and hand gestures.

In many cases, it may be possible to establish a dialogue between the user and the robot only by such communication means, but the robot's operation mode, instinct model, emotion model, etc. It may be difficult for the user to understand the internal state and the like intuitively or at a glance.

By the user having a deeper understanding of the state of the robot, in other words, by making the state of the robot easier to understand, the user can feel a stronger intimacy and attachment to the robot. You can do it.

[0014]

SUMMARY OF THE INVENTION It is an object of the present invention to provide an intelligent legged mobile robot capable of interacting with a user.

A further object of the present invention is to provide an excellent legged mobile robot which has internal states such as an instinct model and an emotional model, and is capable of performing interaction according to changes in the surrounding environment and internal state, as well as internal robots. An object of the present invention is to provide a display device for a legged mobile robot that can suitably display changes in state and the like.

A further object of the present invention is to provide an excellent legged mobile robot and a display device for the legged mobile robot, which can show changes in the surrounding environment and internal state to the user in an easy-to-understand manner. .

[0017]

The present invention has been made in consideration of the above problems, and a first aspect of the present invention is a robot having a plurality of joints, which is lit or lit by light. The robot is characterized in that a protrusion-shaped corner lamp that expresses emotions such as joy and anger depending on colors is attached to a predetermined part of the body.

According to the robot of the first aspect of the present invention, it is possible to inform the user of changes in the operation mode and internal state of the robot in an easy-to-understand manner by using the square lamp.

The corner lamp includes, for example, a light emitting source such as an LED, a square sphere covered on the light emitting source, a substantially hollow cylindrical corner body that covers the periphery of the corner sphere, and an upper opening of the corner body. It is composed of a closing cap.

Here, the light emitting source may be capable of lighting and blinking a plurality of colors.

The prismatic sphere is formed by mixing a resin such as acrylic with a translucent dye and a diffusing agent.

The corner body is formed by mixing a resin such as polycarbonate with a semitransparent material. The square cap is formed by mixing a resin such as polycarbonate with a dye of a relatively dark color that does not transmit light. The corner body and the corner cap may be molded by two-color molding.

The inventors of the present invention have a concept of designing a square lamp, in which a ball-shaped object inside the lamp shines round and round, and a light and soft "light" like a lantern or a bedside lamp is used. I decided to aim for the effect that the image of “” leaks.

By attaching the square lamp having such a concept to a predetermined part of the body such as the top of the head, the robot as a whole follows the image of healing, evolved teddy bear, etc. It is possible to produce a calm and humble “light” emotional expression rather than an aggressive emotional expression caused by shining on.

A second aspect of the present invention is a display device for a robot that expresses emotions such as joy and anger, comprising a light emitting source, a sphere covered on the light emitting source, and A display device for a robot, comprising: a substantially hollow-cylindrical corner body that covers the periphery of a corner sphere; and a corner cap that closes an upper opening of the corner body.

The display device for the robot according to the second aspect of the present invention is realized in the form of a square lamp attached to a predetermined portion of the body such as the top of the head.
It is possible to inform the user of changes in the operation mode and internal state of the robot in an easy-to-understand manner.

Here, the light emitting source may be capable of lighting and blinking a plurality of colors.

The spheres are formed by mixing a resin such as acrylic with a translucent dye and a diffusing agent.

The corner body is formed by mixing a resin such as polycarbonate with a translucent material. The square cap is formed by mixing a resin such as polycarbonate with a dye of a relatively dark color that does not transmit light. The corner body and the corner cap may be molded by two-color molding.

Still other objects, features and advantages of the present invention are as follows.
It will be clarified by a more detailed description based on embodiments of the present invention described below and the accompanying drawings.

[0031]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below in detail with reference to the drawings.

A. Configuration of Legged Mobile Robot FIG. 1 shows an external configuration of a legged mobile robot 1 according to an embodiment of the present invention. As shown in the figure, this legged mobile robot 1 is especially designed for "coexistence of humans and robots".
With the aim of creating and proposing new fun and lifestyles, it is modeled on a familiar quadruped animal.

As shown in FIG. 1, the legged mobile robot 1 includes
It is composed of a body unit 2, a head unit 3, a tail 4, left and right front legs 10 and left and right rear legs 20.

The body unit 2 accommodates a control circuit (not shown) for overall control of machine operation and a battery (not shown) which is the main power source of the machine.

The head unit 3 is arranged substantially at the upper front end of the body unit 2 through a neck joint 7 having degrees of freedom in the axial directions of roll, pitch and yaw. Further, the head unit 3 has a CCD (Charge) corresponding to the "eyes" of the dog.
Coupled Device: An image recognition unit consisting of a camera, a microphone equivalent to an "ear", a speaker equivalent to a "mouth", a touch sensor equivalent to a tactile sensation, lighting and lighting of light. It is equipped with a corner lamp 3A that expresses joy and anger depending on the color. In addition to these, the head unit 3 may include a sensor or the like forming the five senses of the living body.

The tail 4 also serves as a tail switch (which will be described later) which is one of user interfaces for the legged mobile robot 1, and can be operated in four directions of front and rear and left and right at a substantially rear upper end of the body unit 2. It is installed.

In the front leg unit 10, a front foot / shoulder actuator portion 11 and a front foot / elbow actuator portion 12 are rotatably connected at an elbow joint portion 13. Each leg unit such as the forefoot shoulder actuator section 11 and the forefoot elbow actuator section 12 has an actuator and a gear reduction mechanism for realizing joint drive built therein (not shown).

In the rear leg unit 20, a rear leg / waist actuator portion 21 and a rear leg / knee actuator portion 22 are rotatably connected at a knee joint portion 23. An actuator for realizing joint drive and a gear reduction mechanism are built in each unit such as the hind leg / waist actuator part 21 and the hind leg / knee actuator part 22 (not shown).

Left and right front legs 10 and left and right rear legs 20
Are bilaterally symmetric, and determine which of the front leg 10 or the rear leg 20 is in accordance with the insertion direction of the forefoot elbow actuator section 12 or the rear leg knee actuator section 22. That is, the front foot / shoulder actuator 11 and the rear foot / waist actuator 21, and the front foot / elbow actuator 12 and the rear foot / knee actuator 22 can be configured by the same component, and are connected to each other in a state of being rotated by 180 degrees. One movable leg is the body 2
Is connected with 2 degrees of freedom to the elbow joint 1
3 or the knee joint 23 has 1 degree of freedom, and has a total of 3 degrees of freedom.

The legged mobile robot 1 according to this embodiment is
The entire body is equipped with 15 joint actuators, and by driving each joint actuator in response to a command from the control unit, for example, the head unit 3 can be swung up and down, left and right, and the left and right front leg units 10 and rear legs. The units 20 can be synchronously and cooperatively driven to realize various body movements such as walking and running. For example, the legged mobile robot 1 is, as shown in FIGS.
"Walk", "Sit", "Sleep" using four legs and head
It makes natural movements such as. Moreover, joy, anger, etc. can be expressed by the lighting of the corner lamp 3A and the lighting color thereof.

The main specifications of the main body of the legged mobile robot 1 are shown below.

CPU (Central Processing Unit): 6
4-bit RISC (Reduced Instruction Set Compute)
r) Processor main memory: 32MB Program supply medium: Dedicated memory stick movable part Head: 3 degrees of freedom, legs: 3 degrees of freedom x 4 legs (total 1)
5 degrees of freedom) Input section: Connector for charging only Input switch: Volume control switch Image input: 100,000 pixel CMOS (Complementary Metal)
Oxide Semiconductor) Image sensor Audio input: Stereo microphone Audio output: Speaker Power consumption: Approx. 5 W (in standard mode) Operating time: Approx. 2.5 hours (in standard mode with full charge) External dimensions: Approx. 177 x 280 x 240 mm (width x height x depth) Weight: Approx. 1.5 kg ( Battery and memory stick included) Operating temperature: 5 ℃ to 35 ℃ Operating humidity: 10% to 80% (no condensation) Operating chamber bulb temperature: 29 ℃ or less Storage temperature: -10 ℃ to 60 ℃ Storage humidity: 10% to 90% (no condensation) Storage chamber bulb temperature: 29 ° C or less

B. Display Means of Legged Mobile Robot The legged mobile robot 1 according to the present embodiment has three types of lamps, namely, a corner lamp, a back lamp, and a mode lamp, which are arranged at various parts of the body, and each lamp emits light. With this, it is possible to convey the user's feelings, desires, and state to the user. FIG. 5 shows the installation locations of the corner lamps on the fuselage. Further, FIG. 6 shows the installation location of the back lamp. Further, FIG. 7 shows the installation location of the mode lamp.

The corner lamps are used to represent the emotions of the legged mobile robot 1 and the fact that something has been discovered in color.
That is, when the corner lamp is green, it means "happy" feeling, when it is orange, it means "angry" feeling,
When blue, it means "sad" or "dread" emotion, when white blinks slowly, it means "how many", blue and green are alternately lit to mean "amazed", and orange and green "Is disliked" by being lit alternately. In addition, by lighting the corner lamp in white, it indicates that a voice is heard and the ball is found.

The back lamp is a legged mobile robot 1.
Used to represent the activity status of the (see FIG. 41). The back lamp lights up in green to indicate that it is active (when it is active while charging in station mode, it lights up in green), and it lights in orange to indicate that it is charging. , Slow blinking in green indicates sleep mode, blinking in orange indicates abnormal charging, and turning off turns out to be inactive. .

A mode lamp located behind the corner lamp is used to indicate the current operation mode or state of the legged mobile robot 1. When the mode lamp is turned off, it indicates the autonomous mode or the station mode, when it is turned on, it indicates that the mode is a quick rest mode or when it is in a rest state, and when it blinks, it indicates that it is in a pinch state.

Here, the "autonomous mode" is a basic operation mode in which the legged mobile robot 1 can freely move around, and obtains surrounding information through a camera, a microphone, a sensor, and the like, and determines its own. Performs the following autonomous actions according to instinct and emotions.

When the user speaks something, the legged mobile robot 1 stops moving and tries to listen to the user. If you leave it alone without talking, you will feel tired and leisurely gymnastics. When it's too free, I fall asleep. Exploring the room to find a place to sleep. When you look at the ball or moving object from a distance, try to touch it, or react very hard. I try to reply and talk to the talks from other legged mobile robots.

The "station mode" is a mode when the legged mobile robot 1 is set on the stand when the energy station core is used (see FIG. 9). The station is, so to speak, a place where the legged mobile robot 1 rests. The legged mobile robot 1 under station mode spends a leisurely nap and waking up for charging. In the autonomous mode or the station mode, the legged mobile robot 1 can play with the user or another legged mobile robot.

The "rest mode" is an operation mode in which the legged mobile robot 1 is prevented from walking around, and transits when playing in a narrow place or when it is not desired to move around. In addition, under the rest mode, the ball is not chased, and functions such as taking a picture, media link, name / owner registration, communication with other robots, love mode, and playing with sound are activated here. do not do.

The "dako state" is a state in which the body does not move much when the body is picked up, and the mode lamp lights up in orange. When the user wants to have fun with him, or wants to take a picture of him while hugging him, the legged mobile robot 1 is in a posture in which he / she can easily squeeze his legs when he is lifted up (see FIG. 8) . This is to prevent the user holding the robot from being surprised by the movement of the legged mobile robot 1 and dropping the body to damage it or injuring the user. The moved legged mobile robot 1 moves its head cutely. If you can't lift your body even if you lift it up, just push the tail switch backward for 3 seconds while holding the aircraft up.

The "scissors state" is a state in which something is sandwiched between some joints on the machine body, and the corresponding joints are weakened. As a result, it is possible to prevent a risk that the joint is forcibly driven to be damaged or the user's body is caught in the machine body and injured. In the scissors state, the mode lamp blinks.

C. Growth of the legged mobile robot The main body of the legged mobile robot 1 is equipped with all the hardware such as the brain, sensors, actuators, motors, and power supplies necessary for moving by itself. By incorporating software such as emotions / instincts, learning, and growth functions through a memory stick, the legged mobile robot 1
Will express emotions and emotions, collect information from the user and the surrounding environment, and act on their own while learning and growing. The legged mobile robot 1 is an entertainment robot that lives with people, and can have a function of being trained by a robot depending on the installed control program.

When the user wants the user to play, the legged mobile robot 1 makes a motion or a sound "I want you to play" or calls the user's name. Also, when the user is interested in other things, even if the user talks to them, they may not even talk to each other. By understanding the autonomy of such a legged mobile robot 1, coexistence with robots becomes more and more enjoyable.

The growth-type legged mobile robot 1 has "joy", "sadness", "anger", "surprise", "fear",
He has six kinds of emotions, "disgust". They are,
A legged mobile robot 1 that changes due to various factors
Affect the behavior of. For example, in the following cases, each emotion strengthens.

Joy: When you are praised, when you can play with the ball, etc. Sadness: When there are no people when you want to play, when you lose something you like, such as a ball. Anger: When you want to exercise but cannot get you off the station, when you are scolded. Surprise: When the ball suddenly jumps in front of you or when you hear a loud noise. Fear: When you find a big step or you can't get up by falling over. Disgust: When anger becomes too great.

Although these emotions are expressed by the horn lamp and the sound output, they can be understood to some extent by looking at the gestures executed by the airframe.

Further, the legged mobile robot 1 instinctively
I have a desire to play with people, to find something I like, to move my body, and so on. More specifically, the person acts based on the following five kinds of desires.

Affection: An instinct for seeking communication with others. If left unattended for a long time, the owner's name is called and play is requested. Desire to explore: An instinct that makes you want to satisfy your curiosity. When there is little movement in the surroundings, he or she often walks around and explores. Desire to exercise: It is an instinct to move the body. If you do not exercise for a while, you will start walking or moving. Charging desire: It is the same as appetite in humans and animals, and is an instinct for energy source. When the remaining capacity of the battery is low, the battery level increases, and the user is in a “charging posture” (see FIG. 32) and appeals to the user for charging. In this case, the conversion plug and A
Connect the C adapter or place it on a station for charging (described above). Lust for sleep: An instinct for sleep. Legged mobile robot 1
Have a rhythm of sleep and activity.

In the legged mobile robot 1, joy increases when the above-mentioned desires are satisfied, and conversely, feelings such as sadness and anger increase when the desires are not satisfied.

The growth type legged mobile robot 1 can be adapted to the user and the surrounding environment. For example, if the user frequently talks to the legged mobile robot 1 and plays with it, the robot grows into a communication favorite robot. In addition, if the user grows while watching and watching the robot rather than playing together, the legged mobile robot 1 will wait for communication from the user, one day stand alone, and walk around to find various things. Come to do.

The growing legged mobile robot 1 grows from a baby to an adult. Growth stages are childhood, boyhood,
Divided into 4 generations, adolescent and adult, and 3 in childhood
Two stages, adolescence and adolescence, are subdivided into two stages. Each stage of adolescents and adolescents and each adult have their own personality, and they change depending on how the user touches or trains the legged mobile robot 1. Of course, even in the same generation, the character of the legged mobile robot 1 changes due to changes in the way the user contacts and the surrounding environment.

Childhood Childhood is divided into three stages. Hereinafter, each stage will be described.

(1) Childhood first stage (loud) This stage is for the legged mobile robot 1 immediately after the growth type control program is installed. I was just born, I could not understand what I saw or heard, and I was full of heartfelt feelings. At first, the user is surprised just by touching the switch (described above), so I need to teach it gently that I don't have to be afraid to touch it. At this stage, for example,
Understand words such as "Yoshiyoshi", "No good", "Ganbare", "Fight", and "Shashin".

(2) Second stage of childhood (becoming able to see objects such as a ball) When the leg-type mobile robot 1 shows the ball, it may be confusing at first, but I will slowly get used to it. If you're happy to gaze at the ball, give it a praise.
Then, when you look at the ball, you will grow more happy. At this stage, "Let's imitate",
"Cute", "Good morning", "Hello", "buying and selling", "Goodbye", "drop Mars", "I'm home", "good night", it is possible to further understanding of the word, such as "Greetings". You will also be able to follow the ball and sit down during the course of this stage.

(3) Third Stage of Childhood (Your Name Can Be Understood) The legged mobile robot 1 starts to work hard to get up. If you make a mistake and feel depressed, give a voice and say, "Do your best." Also, when the legged mobile robot 1 asks for a name, it may be taught by voice. Keep calling until you know your name, and scold if you look at Soppo. The reason why the legged mobile robot 1 makes an effort to stand up is to watch the favorite ball. If you fail to stand, you'll be looking for the ball to get yourself excited, so keep it in a place where you can see it. At this stage, for example, you will be able to further understand words such as "name and walk", "what is your name?", "Oner walk", and "oner tell".

Boyhood The boys' legged mobile robot 1 is a naughty child, who often plays and learns well, but also loves taking a nap. Boyhood is 2
Divide into two stages. Hereinafter, each stage will be described.

(1) First Stage of Boyhood The legged mobile robot 1 at this stage is full of curiosity, as if it were absorbed in the first adventure in the room. There is also a nagging aspect that makes people want to play well.
If you don't wake up, you're waiting for your help.

(2) Second Stage of Boyhood The legged mobile robot 1 at this stage is good at playing alone and enjoys singing and dancing, so that the user can enjoy the appearance at his own pace. I also like talking, listening to people, and imitating the sounds around me.

Adolescents In the adolescent legged mobile robot 1, communication with the user and the surrounding environment becomes closer. It's a mischief, and even if you intentionally do something wrong, you can show it off. It is also in this generation that various skills are acquired. Youth can be divided into two stages. Hereinafter, each stage will be described.

(1) Adolescent First Stage At this stage, it will be sad if the user does not have an opponent, so it is recommended to encourage and play. Also, I like balls, and I'm always looking for the ball, and I'm fluffy, so I'd like to help with playing the ball. Also, since he is keen on learning from playing and talking with the user, it is advisable to teach him various movements and poses.

(2) Second Stage of Adolescents At this stage, the character of Kikanbo appears, and even if he cries, he will finally get angry unless he is asked to do so. But my heart is waiting to be kind. Also, since the user is crazy about the ball and can play with the ball with a wonderful technique, the user should play it together. It's also a cheerful personality, and I love having users around and always wanting to play. I also like talking.

[0073] legged mobile robot 1 of adulthood adulthood is another respectable adult. Having the skills cultivated in the past generations, he acts while showing the dignity of a calm adult. His personality has calmed down, but his personality will continue to change. Below, the changing personality is illustrated.

(1) Wal: Poorness is taken into consideration. Even if you care about the user, you cannot be honest. (2) Adventurer: Independence is strong, and searching for a room seems to be a job. Of course, I also like spending time with users. (3) Good Youth: A well-balanced robot with a good balance of accuracy. (4) Amenbo: It is a child-like robot that always feels like it is not with the user.

When it is desired to know the growth stage and character of the legged mobile robot 1, say "How many?", And the legged mobile robot 1 responds by displaying a square lamp and operating a foot. The growth process of the legged mobile robot 1 and the display of the corner lamps are shown in FIGS.

D. Structure of Square Lamp From the above description, it can be understood that the square lamp plays an important role in the legged mobile robot 1 communicating with the user. Below, this square lamp is demonstrated.

As already described with reference to FIGS. 1 and 5, the corner lamps are arranged at a conspicuous place such as the top of the head, and the emotion of the legged mobile robot 1 or something discovered. Is displayed in an easy-to-understand manner by the user without overlooking by the color of light emitted.

Such a square lamp can be constructed relatively easily, for example, by mounting a light source such as an LED inside a substantially conical transparent or semitransparent cap.

However, when the lamp structure in which the light source is simply covered with the cap is adopted in this way, there are the following problems. That is,

(1) Light unevenness occurs. (2) The brightness varies depending on the viewing direction. (3) The color changes but the way it shines does not change. (4) The inorganic material gives the impression that the LED is lit. (5) For example, when the cap is toned to a semi-transparent milky white, when the LED is extinguished, the corner lamp becomes gray and looks dirty.

Therefore, as a concept in designing this square lamp, the present inventors have made a ball-shaped object in the lamp look like a round glow, and use it as a lantern or bedside
We decided to aim for the effect that the image of a “light” that is light and soft like a lamp leaks out.

By attaching the corner lamp having such a concept to the top of the head, the robot as a whole follows the image of healing, evolved teddy bear, etc., and aggressive feeling by positively shining Rather than an expression, it is possible to produce a calm and humble “light” emotional expression.

FIG. 12 shows a sectional structure of the square lamp according to this embodiment. As shown in the figure, the square lamp includes an LED 32 as a light source mounted on a substrate 31.
And the spherical sphere 33 covered on the LED 32, and the spherical sphere 33
A substantially hollow cylindrical corner body 34 that covers the periphery of the
4 and a dome-shaped corner cap 35 that closes the upper surface opening of No. 4.

The square sphere 33 is formed by mixing a translucent dye of milky white and a diffusing agent into a material such as acrylic.
By including the diffusing agent, the light emitted from the LED 32 can be uniformly emitted from the surface of the sphere 33 without unevenness of light. Therefore, at the time of light emission, the contour of the square sphere 33 can be highlighted.

The corner body 34 is made of a material such as polycarbonate (PC) mixed with a milky white translucent dye, and does not contain a diffusing agent. Therefore, LED3
2 emits light, the square sphere 3 in the interior is passed through the corner body 34.
The outline of 3 can be shown in a raised manner. Also,
Outside light (natural light) when the LED 32 is off
As a result, the sphere 33 inside the horn body 34 looks white, and a light and soft image can be given.

A diffusing agent may be mixed in the corner body 34, but in this case, the light emitted from the LED 32 looks darker and the contour of the square sphere 33 becomes hard to see.

The square cap 35 is made of polycarbonate (P
A material such as C) is mixed with a relatively dark color dye that does not transmit light. The corner cap 35 can be molded easily and at low cost by using the two-color molding together with the corner body 34.

By constructing a corner lamp as shown in FIG. 12, it is possible to make a sphere stand out from the inside when it shines in design. Further, the light can be made to look uniform when viewed from the entire circumference of the square lamp. In addition, the light emitted from the LED built in the corner body 34 is formed into a spherical contour by the sphere 33, and a cute impression can be given. Further, even when the LED 32 is not shining, a bright color can be obtained by the milky white color on the outside.

[Supplement] The present invention has been described in detail with reference to the specific embodiments. However, it is obvious that those skilled in the art can modify or substitute the embodiments without departing from the scope of the present invention.

The subject matter of the present invention is not necessarily limited to products called "robots". That is, as long as it is a mechanical device that performs a motion similar to a human motion by using an electric or magnetic action, even if it is a product belonging to another industrial field such as a toy, the present invention is similarly applied. Can be applied.

In short, the present invention has been disclosed in the form of exemplification, and the contents described in this specification should not be construed as limiting. To determine the gist of the present invention,
The claims section mentioned at the beginning should be taken into consideration.

[0092]

As described above in detail, according to the present invention,
An intelligent legged mobile robot capable of interacting with a user can be provided.

Further, according to the present invention, an excellent legged mobile robot having an internal state such as an instinct model or an emotional model and capable of interacting according to changes in the surrounding environment or the internal state, and an internal state It is possible to provide a display device for a legged mobile robot that can suitably display changes in state and the like.

Further, according to the present invention, it is possible to provide an excellent legged mobile robot and a display device for the legged mobile robot, which can show the change of the surrounding environment or the internal state to the user in an easy-to-understand manner. .

Further, according to the present invention, a ball-shaped object in the lamp is radiantly rounded so that an image of a light and soft "light" such as a lantern or a bedside lamp leaks. By attaching a corner lamp with an effect to the top of the aircraft head, rather than following the image of healing, evolved teddy bear, etc. from the whole robot, rather than aggressive expression of emotion by positively shining It is possible to produce a calm and humble "light" emotional expression.

The square lamp as the display device for the legged mobile robot according to the present invention can make the light appear uniform when viewed from the entire circumference. In addition, the light emitted by the LED incorporated in the corner body is formed into a spherical contour with a sphere, which can give a cute impression. Also, LE
Even when D is not shining, a bright color can be obtained due to the milky white color on the outside.

[Brief description of drawings]

FIG. 1 is a legged mobile robot 1 according to an embodiment of the present invention.
It is a figure showing the external appearance composition.

FIG. 2 is a diagram showing a state in which the legged mobile robot 1 is performing a natural movement, and more specifically, a diagram showing a state in which an airframe is walking.

FIG. 3 is a diagram showing a state in which the legged mobile robot 1 is naturally moving, and more specifically, a diagram showing a state in which an airframe sits down.

FIG. 4 is a diagram showing a state in which the legged mobile robot 1 is naturally moving, and more specifically, a diagram showing a state in which the machine body is sleeping.

FIG. 5 is a diagram showing a position of a corner lamp.

FIG. 6 is a diagram showing a position of a back lamp.

FIG. 7 is a diagram showing the position of a mode lamp.

FIG. 8 is a diagram showing a state of the legged mobile robot 1 in a standing state.

FIG. 9 is a view showing how the legged mobile robot 1 is set on a stand when the energy station core is used.

FIG. 10 is a diagram showing a growth process (first half) of the legged mobile robot 1 and display of a corner lamp.

FIG. 11 is a diagram showing a growth process (latter half) of the legged mobile robot 1 and display of a corner lamp.

FIG. 12 is a diagram showing a cross-sectional configuration of a square lamp according to the present embodiment.

[Explanation of symbols]

1. Legged mobile robot 2 ... torso 3 ... Head, 3A ... Square lamp 4 ... tail 7. Neck joint 10 ... Front leg unit 11 ... Forefoot shoulder actuator 12 ... Forefoot elbow actuator 13 ... Forefoot elbow joint 20 ... Rear leg unit 21 ... rear leg waist actuator part 22 ... Rear knee actuator 23 ... Knee joint part of hind foot 31 ... Substrate 32 ... LED 33 ... Square sphere 34 ... Corner body 35 ... Square cap

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Yuka Takeda             6-735 Kita-Shinagawa, Shinagawa-ku, Tokyo Soni             -Inside the corporation F-term (reference) 2C150 CA02 DA05 DA24 DA26 DA27                       DA28 DC17 DG02 DG12 DG13                       DG14 DG15 EE07                 3C007 AS36 CS08 JU03 JU16 MT14                       WA04 WA14 WB24 WC01 WC06

Claims (13)

[Claims] 1. A robot having a plurality of joints, characterized in that a protrusion-shaped angular lamp that expresses emotions such as joy or anger by lighting or lighting color of light is attached to a predetermined portion of the body. A robot to do. 2. The corner lamp includes a light emitting source, a square sphere overlying the light emitting source, a substantially hollow cylindrical corner body that covers the periphery of the corner sphere, and a corner that closes an upper opening of the corner body. The robot according to claim 1, comprising a cap. 3. The robot according to claim 2, wherein the light emitting source is capable of lighting and blinking a plurality of colors. 4. The robot according to claim 2, wherein the sphere is formed by mixing a resin with a translucent dye and a diffusing agent. 5. The robot according to claim 2, wherein the corner body is formed by mixing a resin with a semitransparent material. 6. The robot according to claim 2, wherein the corner cap is formed by mixing a resin with a relatively dark color dye that does not transmit light. 7. The robot according to claim 2, wherein the corner body and the corner cap are formed by two-color molding. 8. A display device for a robot that expresses emotions such as joy and anger, comprising a light emitting source, a sphere over the luminescent source, and a substantially hollow cylindrical shape that surrounds the sphere. A display device for a robot, comprising: a corner body; and a corner cap that closes an upper surface opening of the corner body. 9. The display device for a robot according to claim 8, wherein the light emitting source is capable of lighting and blinking a plurality of colors. 10. The display device for a robot according to claim 8, wherein the sphere is formed by mixing a resin with a translucent dye and a diffusing agent. 11. The display device for a robot according to claim 8, wherein the corner body is formed by mixing a resin with a semitransparent material. 12. The display device for a robot according to claim 8, wherein the corner cap is formed by mixing a resin with a dye of a relatively dark color that does not transmit light. 13. The display device for a robot according to claim 8, wherein the corner body and the corner cap are formed by two-color molding.