JP2003071763A - Leg type mobile robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a leg type mobile robot capable of moving naturally by a movable leg and a head and expressing the feelings such as joy and anger in addition to the movements such as walking, sitting, and sleeping. SOLUTION: This leg type mobile robot 1 is constituted using a friendly four foot walking animal as a model to create and propose new pleasure and life style in pursuit of coexistence of a person with the robot. By installing rearing type control software in the robot using a memory stick as a medium, it is possible to raise the robot, and by installing character type control software in the robot, it is possible to enjoy various characters to select a way of enjoying.

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 that uses a plurality of movable legs to perform legged walking, and in particular, makes natural movements with the movable legs and head, walks, sits, sleeps, etc. The present invention relates to a legged mobile robot that expresses emotions such as joy and anger in addition to the motion of.

More specifically, the present invention provides software
The present invention relates to an entertainment type legged mobile robot that expresses natural movements of the whole body and various emotions by control using a program.

[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.

Recently, the body mechanism of a four-legged animal such as a dog, a cat, and a bear, a pet robot imitating its movement, or a body mechanism of an animal such as a human or a monkey that walks upright on two legs is used. "Humanoid" that imitates movement
Alternatively, research and development on the structure of legged mobile robots such as "humanoid robots" and their stable walking 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. There is.

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.

[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 humans, dogs (pets), bears and other relatively intelligent legged walking animals 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.). It is also required to realize 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.

[0011]

SUMMARY OF THE INVENTION An object of the present invention is to express emotions such as joy and anger in addition to movements such as walking, sitting and sleeping with natural movements of a movable leg and head. It is to provide an excellent legged mobile robot.

A further object of the present invention is to provide an excellent entertainment type legged mobile robot capable of expressing natural movements of the whole body and various emotions by control using a software program. It is in.

[0013]

The present invention has been made in consideration of the above problems, and a first aspect thereof is a legged mobile robot for performing legged walking, which comprises a body portion and a body portion. , A head attached to the torso portion, a plurality of movable legs attached to the torso portion, and attached to the head portion to express emotions such as joy and anger by lighting or lighting color of light A legged mobile robot, comprising: a protrusion-shaped corner lamp.

A second aspect of the present invention is a legged mobile robot for performing legged walking, comprising a body, a head attached to the body, and a plurality of heads attached to the body. And a back lamp that is attached to the upper surface of the body and that displays the activity state of the body by lighting or lighting colors of the body, and is a legged mobile robot.

A third aspect of the present invention is a legged mobile robot for performing legged walking, comprising a body, a head attached to the body, and a plurality of units attached to the body. And a mode lamp that is attached to the head and displays the operation mode and state of the machine body by lighting light, lighting color, and the like.

Further, a fourth aspect of the present invention is a legged mobile robot for performing legged walking, comprising a body portion, a head attached to the body portion, and a plurality of head portions attached to the body portion. Movable legs and attached to the rear of the body,
A tail switch for the user to input instructions to the aircraft,
It is a legged mobile robot characterized by comprising:

Further, a fifth aspect of the present invention is a legged mobile robot for performing legged walking, comprising a body portion, a head attached to the body portion, and a plurality of head portions attached to the body portion. And a paddle switch attached to substantially the tip of each movable leg for allowing the user to input an instruction to the machine body.

A sixth aspect of the present invention is a legged mobile robot for performing legged walking, comprising a body, a head attached to the body, and a plurality of units attached to the body. A legged mobile robot, comprising: a movable leg and a switch inside the head, which is built in the head for detecting that the face is pushed upward or downward. .

Further, a seventh aspect of the present invention is a legged mobile robot for performing legged walking, comprising a body, a head attached to the body, and a plurality of heads attached to the body. And a pause button attached to the body part for temporarily stopping the operation of the machine body.

An eighth aspect of the present invention is a legged mobile robot that walks in a legged manner, and a clinic mode for checking the balance of the body and the state of each sensor by executing a predetermined body movement. It is a legged mobile robot characterized by comprising.

A ninth aspect of the present invention is a legged mobile robot that walks in a legged manner, and responds to being lifted up by stopping the movement of each movable leg to make a comfortable state. It is a legged mobile robot characterized by the fact that it moves.

The tenth aspect of the present invention is a legged mobile robot having a plurality of joint degrees of freedom and performing legged walking, and in a state where an object is sandwiched between some joints on the machine body, It is a legged mobile robot characterized by weakening corresponding joints.

An eleventh aspect of the present invention is a legged mobile robot that walks on a leg basis, and has a name registration means for registering a name given by a user, a name registered by the name registration means, and A legged mobile robot, comprising: a name reaction means that responds to both default names.

A twelfth aspect of the present invention is a legged mobile robot that walks on a leg basis, and has program introduction means for installing a character type control program consisting of a plurality of characters, and the installed character. A legged mobile robot comprising: a character expression unit that expresses a character according to the characteristics of the machine body such as color.

A thirteenth aspect of the present invention is a legged mobile robot that walks on a leg basis and communicates in response to a sound signal corresponding to a media link flowing from a medium such as a television or a video. It is a legged mobile robot characterized by having a media link mode.

Further, a fourteenth aspect of the present invention is a legged mobile robot which walks on a leg basis, and if there is a photographing means for photographing the surroundings and a wake up periodically to look around and move, there is the above-mentioned. A legged mobile robot comprising: an answering machine for taking a picture by using a photographing means.

Further 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.

[0028]

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

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 a model of a familiar four-legged animal so as to create and propose a new fun and lifestyle especially aiming at "human and robot coexistence". Is configured.

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, and limbs, that is, leg units 6A to 6D.

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

The head unit 3 is arranged substantially at the front upper 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 animal.
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 the substantially upper end of the body unit 2. It is installed.

The leg units 6A and 6B form left and right front legs, respectively, and the leg units 6C and 6D form left and right rear legs, respectively. Each leg unit 6A-6
D is composed of a combination of the thigh units 9A to 9D and the shin units 10A to 10D, and is attached to the front, rear, left and right corners of the bottom surface of the body unit 2.

The thigh units 9A to 9D are hip joints 11A to 11D having degrees of freedom around roll and pitch axes.
Are connected to the respective predetermined portions of the body unit 2. Further, the thigh units 9A to 9D and the shin units 10A to 10D are connected by knee joints 12A to 12D having a degree of freedom around the pitch axis. Therefore, one movable leg has three degrees of freedom.

As described above, the legged mobile robot 1 according to the present embodiment is equipped with 15 joint actuators on the whole body, and by driving each joint actuator in accordance with a command from the control unit, for example, the head is moved. The foot unit 3 can be swung up and down, left and right, or the foot units 6A to 6
D can be driven synchronously and cooperatively to realize various airframe operations such as walking and running. For example, as shown in FIGS. 2 to 4, the legged mobile robot 1 uses four legs and a head to perform natural movements such as “walking”, “sitting”, and “sleeping”. 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 legged mobile robot are shown below.

Main CPU (Central Processing Unit): 64-bit RI
SC (Reduced Instruction Set Computer) 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

Stand External dimensions: Approx. 109 x 979 x 228 mm (width x height x depth) Weight: 80 g

AC adapter input: AC100 to 240V (power cord is for AC100V) 50-60Hz, 0.85 to 0.46A Output: DC16V, 2.5A Operating temperature: 5 ° C to 35 ° C (temperature gradient 10 ° C / hour) Operating humidity: 20% to 80% (no condensation) However, humidity at 35 ° C is 65% or less (room temperature 29 ° C or less) Storage temperature: -20 ° C to 60 ° C (temperature gradient 10 ° C / hour) Storage humidity: 10% to 90% (no condensation) However, humidity at 60 ° C is 20% or less (room bulb temperature is 35 ° C or less) Maximum external dimensions: Approx. 60 x 30 x 120 mm (width x height x) Depth) Mass: 325g Connection cord length: DC cord 1.8m Power cord 1.8m

Lithium-ion battery pack Battery: Lithium-ion battery Nominal voltage: 7.4 VDC Capacity: 1700 mAh Operating temperature: 5 ° C-40 ° C (temperature gradient 10 ° C / hour or less) Operating humidity: 1-%-80% (No condensation) Operating chamber temperature: Chamber temperature 29 ° C or less Storage temperature: -20 ° C to 60 ° C (temperature gradient 10 ° C / hour or less) Storage humidity: 10% to 90% (no condensation) Storage Room sphere temperature: Room sphere temperature 35 ° C or less External dimensions: Approx. 72 x 53.6 x 21 mm (width x height x depth) Mass: Approx. 112 g

When carrying the legged mobile robot 1, it is preferable to lift it from the bottom of the body rather than grasping and lifting a part of the body such as the head, ears, collars, legs and tail.

The legged mobile robot 1 according to this embodiment is
"OPEN-R" is adopted to enable expansion of the world of entertainment robots by its flexible hardware configuration and software exchange. (OPEN
-R (registered trademark) is a standard interface of a robot system proposed by Sony Corporation. )

For example, as shown in FIG. 5, a new function is installed by inserting a memory stick storing new software into a memory slot provided at a predetermined portion on the body of the legged mobile robot 1. can do. For example, by installing software that has a training function, users can grow robots and enjoy various characters.
You can choose how to enjoy.

FIG. 6 shows each additional function provided in each part of the body of the legged mobile robot 1.

Reference numeral 21 is a mode lamp for displaying the operation mode.

Reference numeral 22 is a corner lamp that lights up in various colors and displays the emotion and other internal states of the robot.

Reference numeral 23 is a switch inside the head,
The movement can be detected by lightly pushing the face so that it faces up or down.

Reference numeral 24 is a stereo microphone for hearing ambient sounds such as voice commands from the user.

Reference numeral 25 is a distance sensor for measuring the distance between the object and the machine itself.

Reference numeral 26 is a color camera for capturing the color, shape and movement of the object.

Reference numeral 27 is a speaker for outputting a sound such as a melody.

Reference numeral 28 is a paddle switch installed on the back of the leg and can detect landing on the road surface.

Reference numeral 29 is a back lamp, which is adapted to display the activity state of the machine body by the color of light emission as described below. (1) Activity: Lights in green (2) Preparing to stop activity: Flashes in green (3) Charging: Lights in orange (4) Abnormal charging: Flashes in orange (5) Stops activity / completion of charging: Off

Reference numeral 30 is a pause (temporary stop) button, which is depressed when the legged mobile robot 1 is activated or rested.

Reference numeral 31 is a tail switch, and as shown in FIG. 7, the user can give various instructions to the legged mobile robot 1 by tilting it forward, backward, leftward, and rightward with a finger. The content of the instruction (function assignment to the tail switch 31) differs depending on the control software installed in the aircraft via the memory stick (described above).

The legged mobile robot 1 according to the present embodiment is
Internal access is possible by removing the lid on the bottom (or belly) of the fuselage. FIG. 8 shows a state in which the lid of the abdomen is opened.

Reference numeral 41 is a charging terminal, which is used to connect an AC adapter (not shown) during charging. A conversion plug (not shown) may be used to connect the AC adapter. Further, it may be designed to be electrically connected to the charging terminal when the body is seated on a stand (see FIG. 13) which also serves as a charging station.

Reference numeral 42 is a volume control switch, and the volume from the speaker 27 can be selected from four levels including silence.

Reference numeral 43 is an access lamp for displaying an access state to a storage medium inserted from the outside such as a memory stick. For example, when the legged mobile robot 1 is reading or writing to the inserted memory stick, the access lamp 43 is turned on. While the access lamp 43 is lit, in order to maintain the access state and avoid a hardware failure, even if the memory stick eject button (described later) or the battery pack eject lever (described later) is operated, the battery and memory Disable stick removal.

Reference numeral 44 is a reserved switch prepared for future function expansion.

Reference numeral 45 is a battery pack take-out lever, which can be ejected from the machine body by pushing down on the rear side of the machine body.

Reference numeral 46 is an insertion slot (memory slot) for inserting the memory stick into the machine body.

Reference numeral 47 is a battery insertion port for inserting the battery pack which is the main drive power source of the legged mobile robot 1. As the battery pack, for example, a rechargeable lithium-ion battery is adopted.

Reference numeral 48 is a memory stick eject button for ejecting the memory stick inserted in the memory slot 46 out of the machine.

Reference numeral 49 is an emergency ejection hole. When a memory stick or a battery pack being inserted cannot be taken out due to a failure or the like, these can be taken out by inserting a thin pin or the like into the emergency eject hole 49.

Battery Pack The legged mobile robot 1 according to the present embodiment is configured to be battery-powered, so that it is possible to realize free walking without being restricted by the power cable. For this reason,
It becomes necessary to replace the battery pack with the aircraft and charge the battery.

The procedure for inserting the battery pack into the legged mobile robot 1 will be described below.

As shown in FIG. 9, the body 2 of the legged mobile robot is firmly grasped from above and turned inside out, and the lid is opened by pressing the button on the lid of the abdomen and sliding it backward. You can

At this time, when lifting the machine body, it is preferable to hold only the body. Also,
In order to prevent your neck from leaning and your hands being pinched, you should avoid holding it near the collar.

Do not touch the charging terminals on the abdomen with your hands when the lid is opened. Then, the battery insertion opening 47
Insert the battery pack along the inner circumference of the connector until it clicks and the latch works, then close the lid again as shown in FIG.

When it is desired to charge the battery pack mounted on the machine body, first, as shown in FIG. 11, after attaching the conversion plug to the AC adapter, as shown in FIG.
Open the charging port shutter near the lid of the abdomen and connect the conversion plug to the charging terminal on the aircraft side. The conversion plug and the charging terminal are configured to be attracted by a magnet.

The battery is charged, for example, at 10 to 30 ° C.
It is preferable to carry out at about room temperature. Also, it takes about 2 hours at room temperature to reach full charge.

Further, as another mode for charging the battery pack mounted on the machine body, a stand for the legged mobile robot 1 as shown in FIG. 13 may be used. In this case, with the conversion plug still connected, the legged mobile robot 1 is allowed to sit on the stand as shown in FIG. At this time, the cord of the AC adapter is pulled back by the groove of the stand. Then, as shown in FIG. 15, the AC adapter is connected to, for example, a commercial AC power outlet.

While the AC adapter is connected, even if the pause button 30 (described above) is operated, the legged mobile robot 1 does not start its operation in order to maintain the charged state. Further, when the AC adapter is connected while the aircraft is in operation, the activity is stopped and charging is started.

During charging, the back lamp 29 (described above) lights up in orange to indicate that charging is in progress. After that, when charging is completed, the back lamp 29
Turns off. When a charging abnormality occurs, the back lamp 29 blinks in orange to warn the user.

As shown in FIG. 16, by attaching the energy station core to the stand, the AC is attached to the airframe.
It can be charged simply by placing it on the station without connecting an adapter.

If it is desired to charge a spare battery pack (spare battery) not attached to the machine body, a portable charger as shown in FIG. 17 can be used. Thus, if the spare battery is provided, the user can play with the legged mobile robot 1 for a long time by exchanging the battery.

When the autonomous drive type control program is installed in the legged mobile robot 1 via the memory stick, when the remaining capacity of the battery becomes low, the legged mobile robot 1 will make a sound or gesture asking it to charge itself. After expressing, it becomes "charging posture". At this time, the conversion plug and the AC adapter may be connected to the charging terminal of the machine, or the machine may be placed on the station (described above). If it is left as it is, the back lamp goes out and the activity is stopped (described later). If you do not charge it or replace it with a charged battery, pressing the pause button will not activate.

Replacement of Memory Stick It has already been described that a new control program can be installed in the legged mobile robot 1 via the memory stick. This means that memory
By changing the stick, the legged mobile robot 1
It also means that you can play a new way.

Here, the procedure for exchanging the memory stick will be described. When exchanging the memory stick, be sure to operate the legged mobile robot 1 after stopping the activity. The state where the back lamp 29 is turned off after the pause button 30 is operated is the inactive state.

First, as shown in FIG. 9, the fuselage 2 of the machine body is firmly held from above and turned inside out, and then the lid is opened by pressing the button on the lid of the abdomen and sliding it backward.

Then, as shown in FIG. 18, the memory stick is inserted along the inner circumference of the insertion port 46 of the memory stick, and the lid is closed again. Be careful to insert it in the correct direction while inserting the memory stick.

On the other hand, when taking out the memory stick inserted in the machine, first, the pause button 30 on the back is used.
To operate the legged mobile robot 1 in the inactive state, open the abdominal lid, and then, as shown in FIG.
The stick eject button 48 is operated to take out the memory stick.

When it is desired to take out the memory stick, it should be performed after confirming that the access lamp 43 is extinguished so that the memory stick is not in the access state. While the access lamp is lit, in order to prevent a hardware failure due to an access error or the like, the operation of the memory stick eject button 48 is disabled and the ejection is prohibited.

Activation After the charging is completed and the control program is installed by mounting the memory stick, the legged mobile robot 1 can be activated and played. Below, the procedure for starting the legged mobile robot 1 will be described.

First, the legged mobile robot 1 in a state before starting the activity is installed on a flat floor surface (such as a carpet with short hair tips) which is hard to slip as shown in FIG.

On a slippery floor or a carpet with long hair, the legged mobile robot 1 may be lit, or the carpet or the like may be easily caught in the joint, so that the robot may not proceed forward.
In addition, it is preferable to place the machine body on the floor in the posture shown in FIG. 20 in order to avoid unexpected movement and failure during operation.

Then, as shown in FIG. 21, the pause button 30 on the back is operated to cancel the pause (pause), and the back lamp 29 lights up in green.
Display that it is active. After performing a predetermined initialization process or the like, the aircraft starts to operate according to the control program installed via the memory stick.

When Not Playing When not playing with the legged mobile robot 1, it is preferable to charge it. The charging operation is as already described.

To put the legged mobile robot 1 to rest, the pause button 30 on the back is operated to wait for the back lamp to turn off after the back lamp blinks in green. After inactivity, the aircraft can be placed on a stand (see Figure 13), as shown in Figure 22.

When putting the legged mobile robot 1 on the stand, be sure to press the pause button to stop the activity. This is because the legged mobile robot 1 will start moving and fall if it is placed on a stand without stopping the activity, and as a result, the body will be damaged.

When the legged mobile robot 1 is inactive, the volume can be adjusted and the battery pack can be replaced. In either case, after suspending the activity, first, as shown in FIG. 9, hold the fuselage 2 of the aircraft firmly upside down and slide it backward while pressing the button on the lid of the abdomen. To open the lid.

When it is desired to adjust the volume, the volume may be adjusted using the volume adjustment switch 42 (described above), and then the lid may be closed again. As shown in FIG. 23, the volume adjusting switch 42 may be pulled with a finger to the + side to increase the volume and to the-side to decrease the volume. When the finger is released from the volume adjusting switch 42, the switch 42 returns to the center position. The volume can be adjusted in four steps including silence. Switch 42
Each time you pull, it switches one step at a time.

If the user wants to replace the battery pack, he / she operates the pause button 30 on the back so that the back lamp 29 disappears spontaneously and the legged mobile robot 1 is deactivated.

After being in the inactive state, as shown in FIG. 9, by holding the fuselage 2 of the body firmly from above and turning it upside down, the button on the lid of the abdomen is pushed and slid backward. , Open the lid. Then, as shown in FIG. 24, the battery pack ejection lever 4
Tilt 5 back and take out the battery pack.

Since the battery pack is heavy, when removing the battery pack from the battery insertion port 47, it is preferable to put a hand on the battery pack so that the battery pack does not pop out and fall, resulting in damage or injury. .

When the access lamp 43 is lit and the memory stick is being read from or written to, the operation of the battery pack ejecting lever 45 and the memory stick ejecting button 48 is prohibited in order to prevent hardware failure. Has been done.

The procedure for inserting a new battery pack is as described above with reference to FIG. 10, by inserting the battery pack along the inner circumference of the battery insertion opening 47 and clicking. Insert it until the latch works and then close the lid again. Then, when the legged mobile robot 1 is activated after the new battery pack is attached, as already described with reference to FIG. 20,
Install it on a flat floor that is not slippery (such as a carpet with short hair tips), and pose button 30 on the back as shown in FIG.
To operate. It is preferable to place the aircraft on the floor in the posture shown in FIG. 20 in order to avoid unexpected movement and failure during operation.

When the pause (pause) is released, the back lamp 29 lights up in green to indicate that it is in an active state. The legged mobile robot 1 starts an activity according to a control program installed via a memory stick after performing a predetermined initialization process and the like.

Clinic Mode The legged mobile robot 1 according to this embodiment has a “clinic mode” for checking the balance of the machine body and the state of each sensor. For example, when the memory stick for supplying the control program is started without being inserted, the clinic mode is entered.

To remove the memory stick, operate the pause button 30 to pause (pause) the aircraft, and as described above with reference to FIG.
The memory stick eject button 48 can be operated to remove the memory stick.

Then, as shown in FIG. 25, by operating the pause button 30 on the back, the legged mobile robot 1 starts the operation in the clinic mode. In clinic mode, "stand up → sitting → lie" is repeated in sequence. When entering the clinic mode, to avoid unexpected movement and failure, please refer to Figure 2.
It is preferable to place the aircraft on the floor in the posture shown in FIG.

As described above, the legged mobile robot 1 according to the present embodiment is provided with the input means such as the switch inside the head and the tail switch, and the display means such as the corner lamp and the back lamp (see FIG. 26). See). In the clinic mode, the operation of each part on the body can be checked through these input means and display means. The check items under the clinic mode are listed below.

(1) Balance Check between Tail Switch and Aircraft The following procedure checks whether the legged mobile robot 1 can move in a well-balanced manner and whether the tail switch 31 works properly. Push the tail switch 31 to the right for 3 seconds to display "Forward → Back →
Perform "right leg kick → left leg kick" to return to "standing → sitting → prone". The corner lamp 22 lights in three colors. When the tail switch 31 is pushed to the left for 3 seconds, "sitting → right buy-by → left buy-by → banzai" is performed. The square lamp lights in three colors.

(2) Checking the Pad Pad Switch When the tail switch 31 is turned once (see FIG. 27), it takes a prone posture with its legs widened. When the paws switch 28 at the tip of the foot is pressed, the touched leg is retracted. Turning the tail switch 31 once again (Fig. 27)
), Return to "Stand → Sit → Fuse".

(3) Checking the switch inside the head When the head of the legged mobile robot 1 is lightly pressed so that the face faces downward, the corner lamp 22 lights up in green. When the head of the legged mobile robot 1 is lightly pressed so that the face faces upward, the corner lamp 22 lights up in orange.

(4) Check of color camera In the color camera at the mouth of the legged mobile robot 1,
For example, when a pink ball is brought close to it, the corner lamp 22 is lit in blue as a result of the image recognition of the ball. (Because it is not recognized if it is too close or too far, it is better to move it back and forth from the color camera.)

(5) Checking the distance sensor When the tail switch 31 is turned once (see FIG. 27), it returns to the prone position with its legs widened. When you hold your hand over the distance sensor at the tip of your nose, a sound is emitted.
(There is no sound when the volume setting is silent.) The sound changes depending on the distance. It will not be recognized if it is too close or too far, so try moving the distance from the distance sensor back and forth. Turn the tail switch 31 once again (Fig. 2
(Refer to 7), and return to "Stand → Sit → Fuse".

(6) Checking the crawl state When the legged mobile robot 1 is lifted up, the limbs are stopped so that the limb can be crawled easily (hereinafter, referred to as a "cradle state"). At this time, the mode lamp lights up. Although it may not be in a limp state when you lift it slowly, at this time, the tail switch 3 with the aircraft held up
If you push 1 back for 3 seconds, it will transition to a dart state. When the aircraft is lowered to the floor or the tail switch 31 is pushed forward for 3 seconds, the process returns to "standing → sitting → fuss".

Control Program for Legged Mobile Robot The legged mobile robot 1 according to this embodiment operates according to a control program installed via a memory stick. With this control program, the function and character of the legged mobile robot can be determined. For example, depending on the installed control program, the legged mobile robot 1 can perform autonomous behavior and can be bred by the user, or can blow a adorable and entertaining character.
Below, the installed control program and the function implement | achieved by it are illustrated.

A. Growing type control program The legged mobile robot 1 main body is equipped with all the hardware such as the brain, sensors, actuators, motors, and power supplies necessary for its own movement. 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 training depending on the installed control program.

When the user wants the user to play, the legged mobile robot 1 makes a motion or sound appealing "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.

A-1. Emotions / books from growing programs
The Noh legged mobile robot 1 has six kinds of emotions: "joy", "sadness", "anger", "surprise", "fear", and "disgust". These change according to various factors and influence the behavior of the legged mobile robot 1. For example, in the following cases, each emotion strengthens.

Pleasure: 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 square lamps and acoustic output, they can be understood to some extent by looking at the gestures performed by the aircraft.

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.

Further, the legged mobile robot 1 can perform an autonomous action based on the external information from the sensor and the internal information such as emotion and instinct. However, no matter how autonomous they are,
If the user pushes only his / her assertion, the robot will be crushed.

On the other hand, the legged mobile robot 1 learns
By equipping it with a growth function, a legged mobile robot 1
Can try to adapt 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 carefully grows the robot while watching it, rather than playing together, the legged mobile robot 1 waits for communication from the user and someday stands alone and walks around to find various things. Will do.

A-2. Operation Modes This growth type control program gives the legged mobile robot 1 several operation modes as shown in FIGS. 28 and 29.

The "autonomous mode" is a basic operation mode in which the legged mobile robot 1 can freely move around, and the mode lamp 21 is turned off. When the legged mobile robot 1 is activated, it first enters the autonomous mode.

In the autonomous mode, the legged mobile robot 1
Acquires surrounding information through a camera, a microphone, a sensor, etc., and performs the following autonomous actions according to its instinct and feelings.

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 "rest mode" is an operation mode in which the legged mobile robot 1 is prevented from walking around, and transitions when playing in a narrow place or when it is not desired to move around. Under the rest mode, the mode lamp 21
Lights up. 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.

In the "activity stop state (pause state)", the power of the aircraft is turned off by operating the pause button 30 on the back, and the back lamp 29 is turned off. Battery packs and memory sticks are replaced in this inactive state (described above).

The "dako state" is a state in which the body does not move much when the body is picked up, and the mode lamp 21
Lights orange. The legged mobile robot 1 is in a posture in which the leg is easily retracted when it is lifted, that is, when the user wants to take a fun picture while carrying it around, or wants to take a commemorative photo while holding it (see FIG. 31). . This is to prevent the user holding the robot from being surprised by the movement of the legged mobile robot 1 and dropping the machine body to cause damage or injury. The moved legged mobile robot 1 moves its head cutely. If you cannot lift the robot even if you lift it up, you can push the tail switch 31 backward for 3 seconds while holding the machine up.

By pushing down the tail switch in a predetermined direction, it is possible to switch between the self-supporting mode, the rest mode and the resting state.

The "sleep mode" is a mode in which the aircraft is sleeping. The back lamp 29 blinks green slowly and the mode lamp 21 is turned off. Under the sleep mode, the user does not recognize when touching or talking to the aircraft. Shake the aircraft once to return to autonomous mode before talking. The battery drains slowly even in sleep mode.

When the legged mobile robot 1 is desired to lie down immediately, the tail switch 31 is rotated three times to immediately shift to the sleep mode. Also, as shown in FIG.
If you hold your body gently and shake it several times, the legged mobile robot 1
Wakes up by returning to autonomous mode. Tail switch 3
The legged mobile robot 1 does not wake up from itself when it is switched to the sleep mode using 1.

When talking to the legged mobile robot 1 that "good night", the user sleeps for a while and then falls into the sleep mode. However, when the legged mobile robot 1 is still not sleepy, it may not sleep. When the sleep desire is satisfied, the legged mobile robot 1 may wake up from itself and return to the autonomous mode to start an activity.

Further, the legged mobile robot 1 may make a transition to the sleep mode and take a nap when the user is not bitten by the user or is tired of playing. After taking a sufficient rest, the legged mobile robot 1 wakes up from itself. I wake up when I'm shaken while resting,
Sometimes I'm in a bad mood because I'm disturbed by a nap.

The "scissed state" is a state in which an object is sandwiched between some joints on the machine body, and the corresponding joint is 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 21 blinks.

The "station mode" is a mode when the legged mobile robot 1 is set on the stand when the energy station core (described above) is used (see FIG. 16). 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 legged mobile robot 1 moves its head and front legs on the station, but does not descend from the station. You can also switch from station mode to media link mode (discussed below).

The legged mobile robot 1 shifts to the station mode by setting the machine body in the station equipped with the energy station core in each of the autonomous mode, the idle state, and the sleep mode. Further, the legged mobile robot returns to the original autonomous mode or the rest state by lowering the machine body from the station.

In the autonomous mode, when the tail switch 31 is pushed backward for 3 seconds or more with the body being lifted or lifted, the transition to the dead state is made. In addition, when the airframe is lowered to the floor in a standing state or the tail switch 31 is pushed forward for 3 seconds, the legged mobile robot 1 returns to the autonomous mode.

For example, when two or more paddle switches are pressed, it is determined that the pad is placed on the floor, and the autonomous mode is restored. At this time, the mode lamp goes off. When returning to the autonomous mode, the legged mobile robot 1 may try to walk, so do not touch the paws during the walk.

In the autonomous mode, the tail switch 31
Push to the right for 3 seconds to enter rest mode. vice versa,
In the sleep mode, put the tail switch 31 in front (head side)
Defeat for 3 seconds to return to autonomous mode.

Under the rest mode, the tail switch 31
Is turned for 3 laps, or when the user releases "Good night", the sleep mode is entered. On the contrary, by swinging the aircraft in sleep mode, it returns to sleep mode.

In the rest mode, when something is sandwiched by any joint on the machine body, the state transits to the scissors state and the corresponding joint is put in a weakened state. In addition, when the tail switch 31 is pushed forward for 3 seconds in the scissors state, the mode is restored to the rest mode.

Note that the legged mobile robot 1 according to this embodiment does not have a power switch, unlike conventional home appliances. This is because the legged mobile robot 1 is manufactured as an autonomous robot that operates by its own will and learns while communicating with the world. That is, the legged mobile robot 1 is basically in a state where the power is always turned on, and if the remaining capacity of the battery decreases, the legged mobile robot 1 is charged and continues to operate again. Of course, since the legged mobile robot 1 also has a function of turning off or turning on the power source from itself, it is possible to rest or wake up without borrowing human power. In other words, no power switch is needed. However, in an emergency or the like, when it is desired to immediately stop the movement of the legged mobile robot 1, the pause button is operated to pause. It should be fully understood that the pause button is different from the power switch.

A-3. Communiqué with a legged mobile robot
Shon will now be described communication method between the legged mobile robot 1.

To convey something to the legged mobile robot 1, the user touches, shows a specific object such as a ball, speaks, calls a name, or takes some method. You can

[0147] touch, as already mentioned, the legged mobile robot 1, on the fuselage,
It is equipped with three types of six switches, an internal head switch, a tail switch, and a pad switch on the toes of each movable leg (see FIG. 33), and recognizing that the user has touched these switches. You can Also, various things can be transmitted to the legged mobile robot 1 depending on how the switch is touched.

Discipline Using the internal switch and the tail switch, "praise",
You can discipline yourself by "scolding". By disciplining, the legged mobile robot 1 learns and improves what is praised, while gradually being scolded. Even if you do not learn, there is no problem in daily life,
By learning, the legged mobile robot 1 forms a different personality from other legged mobile robots of the same model.

Praise The head of the legged mobile robot 1 is lightly pushed so that the face faces downward, or the tail switch is rotated once. In response to this, the legged mobile robot 1 determines that it is “praised”, is slightly happy, and performs the action that was being performed at that time more frequently than before. The same can be praised by speaking "Yoshiyoshi" (see Figure 34).

Scolding The head of the legged mobile robot 1 is lightly pressed so that the face faces upward, or the tail switch is turned down and the user speaks immediately. In response to this, the legged mobile robot 1 determines that it has been scolded, gets a little angry, and does not take the action it was doing at that time. The same can be scolded by speaking "No, no" (see Figure 35).

When scolding, do not depress the tail switch for more than 3 seconds. This is because there is a possibility that the operation mode of the aircraft will switch (described above).

When the legged mobile robot 1 to support fails, “Go for it”
You can support by talking to. In response to this,
The legged mobile robot 1 determines that it has been “supported” and finds a way to be a little happy and better.

The legged mobile robot 1 showing the eyes recognizes the color, movement, distance, etc. of the object with the color camera and the distance measuring sensor as eyes (see FIG. 36), and comprehensively judges them. .
Mainly it can react to pink balls, moving objects, user's hands, walls, large steps, etc.

[0154] talk legged mobile robot is a stereo microphone on the part of the ear (see Figure 37), it is possible to discern a variety of sounds and words. It is possible to talk to the legged mobile robot 1 and make greetings, instructions, questions, and the like. On the other hand, the legged mobile robot 1 usually responds,
When I am sleepy or in a bad mood, I refuse to reply. Also, when the user suddenly speaks, it makes me wonder, "Huh?", So in such a case, try speaking again. When the user's words are heard by the legged mobile robot 1, the corner lamp glows white.

[0155] help legged mobile robot 1, fall and, or trying to stand up on their own, or ask for help to the user. When asked for help, it is sufficient to wake up as shown in FIG. When the legged mobile robot 1 cannot help and cannot stand up by itself, the legged mobile robot 1 may exhaust its power and enter the sleep mode.

Further, not only the user tells the legged mobile robot 1 something, but conversely, the legged mobile robot 1
Can tell something to the user. In this case, the legged mobile robot 1 conveys its own feelings, desires, states, etc. using means such as light, sound, and gesture.

Transmission by Light The legged mobile robot 1 can inform the user of his / her feelings, desires, states, etc. by emitting light from three types of lamps, a mode lamp, a corner lamp, and a back lamp.

The mode lamp located behind the corner lamp is used to indicate the current operation mode or state of the legged mobile robot 1. The mode lamp indicates that it is in autonomous mode or station mode when turned off.
Illumination indicates that the user is in a rest mode or a break state, and blinking indicates that it is in a pinch state (see FIG. 39).

The corner lamps indicate the emotions of the legged mobile robot 1 and the fact that something has been discovered by color (see FIG. 40). When the square lamp is green, it means "happy" emotion, when it is orange, it means "angry" emotion, when it is blue, it means "sad" or "drowning" emotion, and when white blinks slowly. It represents "several", and it is "surprised" by alternately lighting blue and green, and "dislikes" by alternately lighting orange and green. 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 used to represent the activity state of the legged mobile robot 1 (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 indicates inactive state.

Transmission by Gesture The legged mobile robot 1 is composed of 15 joints and can perform complicated movements, so that the whole body can express feelings. 42 to 48 show how the legged mobile robot 1 conveys its emotions, desires, states, etc. by gestures and the like.

FIG. 42 shows a gesture of "give me a ball". Further, FIG. 43 shows a gesture of “I want to shake hands”. Further, FIG. 44 shows a gesture of “return to the station”. FIG. 45 shows a gesture of "nade". In FIG. 46, the gesture of "being caught" is shown. In FIG. 47, the gesture of "relieving" is shown. Further, FIG. 48 shows a state in which the user's feelings, desires, states, etc. are conveyed while making a sound.

A-4. Cultivation of legged mobile robot The legged mobile robot 1 in which the growth control program is installed grows from a baby to an adult.

The growth stage is divided into four generations of childhood, boyhood, adolescence, and adulthood, and further divided into three stages for childhood and two stages for boyhood and adolescence. 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.

Note that the legged mobile robot 1 shifts to the next character when it wakes up from the sleep mode. When the personality changes, special sounds and airframe movements are used to give glamorous notification.

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

(1) First Stage of Childhood (Crying Well) This is the stage of 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 (objects such as a ball can be seen) Although it may be confusing at first to show the ball to the legged mobile robot 1, 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 Own Name Can Be Understood) The legged mobile robot 1 begins 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 so as to be 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) First Stage of Adolescence 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 you cry, you will finally get angry if you do not get it from the other party. 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.

[0176] 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) Wale: Poorness of defects. 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.

A-5. Learning by Legged Mobile Robot The legged mobile robot 1 according to the present embodiment learns by learning from experience and the environment, or by being praised and scolded by the user. Sometimes the legged mobile robot 1 asks the user to teach. Depending on the growth stage (described above) and personality, there are things that can be learned and those that cannot.

If the legged mobile robot 1 is repeatedly praised, it will perform its actions more frequently than it does. On the other hand, when repeatedly scolded, he does not do that much. Press and speak to praise and scold (see Figures 34 and 35). In this way, the legged mobile robot 1 forms a different personality from other legged mobile robots of the same model. Hereinafter, how to learn the legged mobile robot 1 will be illustrated.

Learn Name The legged mobile robot 1 can be named and the user's name can be taught. If you teach your name, the legged mobile robot 1 will call your name when you want it,
Be responsive to users and their names. However, if you give it a new name, you forget the name you gave it before. Even if the user gives a name to the legged mobile robot 1,
It responds to the name given at the time of shipment (default value) such as "Aibo".

The name can be taught only in the autonomous mode (described above). In addition, name registration cannot be performed unless the legged mobile robot 1 has grown to the third stage of childhood (described above).

To confirm the registered name, speak to the legged mobile robot 1 "What is your name?" And the name will be output by voice output.

The name registered by using the memory stick in which the growth type control program is installed becomes invalid when another memory stick is used.

The procedure for the user to memorize the name in the legged mobile robot 1 is shown below (FIGS. 49 and 5).
0).

Speak to the legged mobile robot 1 in the autonomous mode as follows. When giving a name to the legged mobile robot 1 → "Name and walk" When teaching the user's name → "On and walk"

On the other hand, the legged mobile robot 1 makes the "tell me" gesture to blink the corner lamp in blue.

Turn down the tail switch. The legged mobile robot 1 waits for the user to say something. Also, the corner lamp blinks alternately in orange and blue. However, if the user does not say anything for more than 10 seconds, the square lamp goes off and the work of learning the name is stopped.

Tell a legged mobile robot your name. After about 10 seconds, the legged mobile robot 1 returns the user's name or his / her name in the robot's own language, and turns off the corner lamp.

When confirming the registered user name,
Speak to me "Please tell me." Also, when confirming the name given to the legged mobile robot 1, say "What is your name?" In response to such a call, the legged mobile robot 1 teaches the name using the language of the robot itself.

When the name overlaps with other words that the legged mobile robot 1 knows, or when the name cannot be heard due to noise or the like, the legged mobile robot 1 behaves as "cannot register". (Refer to FIG. 51) and refuses this, and the corner lamp goes out.

Learning the Behavior The legged mobile robot 1 can be taught the user's favorite behavior. The user teaches the gesture by actually moving the machine. If you say the number that the user gave with gesture,
The legged mobile robot 1 executes the gesture. You can teach up to four types of gestures, and you can name them (see below).

Teaching gestures to the legged mobile robot 1 is called “motion registration”. Motion registration may not be possible depending on the growth stage and personality.

The gesture registered using the memory stick in which the growth-type control program is installed becomes invalid when another memory stick is used.

A procedure for allowing the user to learn the gesture of the legged mobile robot 1 will be shown below.

Talk to the legged mobile robot 1 in the autonomous mode, "I will tell you." On the other hand, the legged mobile robot 1 makes the gesture of "tell me the gesture", and the corner lamp lights in orange (see FIG. 52).

Next, the legged mobile robot 1 is spoken of as "○ number motion" (the desired number of 1 to 4 is put in the circle). If there is a gesture already registered in the number, the legged mobile robot 1 executes the gesture (Fig. 5).
See 3). If you want to change the behavior of the number, go to. If you want to register another number, say "○ motion" again. If left unattended for 30 seconds or more or talking to "end", the legged mobile robot 1 turns off the square lamp and stops the motion registration.

Speak to the legged mobile robot 1 "sitting" or "fusete". Select the posture when you start the gesture you want to teach from "sitting" and "putting" (Fig. 54).
checking). You can change the posture at the beginning of the gesture as many times as you like by talking to "sitting" or "fusete". If you choose "sitting", you cannot tell how to move your hind legs. If the robot is left for 30 seconds or more or if it says "end", the legged mobile robot 1 turns off the corner lamp and stops the motion registration.

By defeating the tail sensor, preparation for motion registration is completed (see FIG. 55). At this time, the corner lamp blinks orange. If the robot is left for 30 seconds or more, or if it says "end", the legged mobile robot 1 turns off the corner lamp and stops the motion registration.

The legged mobile robot 1 is moved while pressing the paws switch of the front leg (see FIG. 56). The legged mobile robot 1 memorizes the movement while pressing the paws switch (either left or right) of the front leg. You can learn for up to 10 seconds, and the corner lamp blinks alternately in orange and blue while you learn. After standing for 10 seconds, the square lamp goes off.

The legged mobile robot 1 also converts voices and sounds heard during motion registration into the robot language and remembers them.

Try not to teach too early. This is because it will cause the aircraft to malfunction. If the legged mobile robot 1 falls down while teaching the gesture, the corner lamp is turned off and the motion registration is stopped. When the registered gesture is being updated, the legged mobile robot 1 forgets the gesture.

If the user teaches too many gestures, the legged mobile robot 1 can only trace the gesture.
I feel sad. If the gesture is repeated many times, the character of the legged mobile robot 1 may be affected.

The legged mobile robot 1 during motion registration
Is weak, but each joint is weak. In addition, forcibly moving a joint that has not been weakened may cause a failure.

When the paws sensor is released, the legged mobile robot 1 executes the memorized gesture. This completes the motion registration. Then, the legged mobile robot 1 under the autonomous mode
When you talk to the "○ motion", the gesture will be shown.

Naming the Behavior First, it is possible to select a favorite one from the legged mobile robots 1 and give the gesture a favorite name.
You can also give a name to the gesture taught by the user by registering the motion. You can name 10 different gestures. Teaching the name of the gesture to the legged mobile robot 1 is called “training”.

When names are given to 11 or more types of gestures,
The legged mobile robot 1 forgets from the old name. The name of the gesture registered using the memory stick with the growth control program installed is
It becomes invalid when using the stick.

The procedure for the user to give the legged mobile robot 1 a name of the gesture will be described below.

Talk to the legged mobile robot 1 in the autonomous mode, "Let's try to train." On the other hand, the legged mobile robot 1 turns on the square lamp in blue and makes a gesture of “training” (FIG. 5).
7). However, if left unattended for 30 seconds or longer, the legged mobile robot 1 turns off the corner lamp and stops the training.

When the user speaks to the legged mobile robot 1 by a name such as "Aibo", the legged mobile robot 1 starts various gestures one after another.

Talk to the legged mobile robot 1 so that the user's favorite gesture is obtained. Talk to the legged mobile robot 1 that keeps on doing various gestures as follows, and gradually bring it closer to the user's favorite gesture (FIG. 58).
checking). Everything is different → Switching A is different → Switching B is desired → In C, make a gesture that closely resembles the behavior you just made → Make another gesture that you just made → Make the gesture you made again again → Make a gesture To decide.

When left for 30 seconds or more or talking to "end", the legged mobile robot 1 turns off the corner lamp and stops the training.

When the legged mobile robot 1 makes a favorite gesture, it defeats the tail sensor (see FIG. 59) to complete the preparation for training.

Tell the legged mobile robot 1 the name of the gesture. You can learn up to 2 seconds. After about 10 seconds, the legged mobile robot 1 converts the name of the gesture into the language of the robot itself and returns it to execute the gesture (see FIG. 60). After that, the corner lamp goes out.

The training is completed as described above. If you talk to the legged mobile robot 1 in autonomous mode about the name of the gesture, it will show you the gesture.

The name of the gesture to be attached is similar to or overlaps with other words known by the legged mobile robot 1.
Alternatively, when it is difficult to hear due to noise or the like, in order to give a name to the gesture in which the motion is registered, talk to the legged mobile robot 1 as “○ motion”. When the legged mobile robot 1 makes the gesture, the process proceeds to the above procedure. The legged mobile robot 1 shakes its head lightly to inform that it cannot register. If the registration fails three times, the legged mobile robot 1 makes a gesture "no" and ends the training.

A-6. Playing with a legged mobile robot The legged mobile robot 1 with the growth control program installed has various functions for the user to have a good time. Below, these are illustrated.

Taking a picture The legged mobile robot 1 is equipped with a color camera near the mouth of its head and can take a picture of the front of the machine body (see FIG. 61). Then, when talking to the legged mobile robot 1 in the autonomous mode or the station mode, "take a picture!", The legged mobile robot 1 will take a picture after counting down the photography. The legged mobile robot 1 can store a total of seven pictures, and when the number of pictures is exceeded, the old one is erased each time a new picture is taken.

[0218] JPEG (Joint Picture)
It can be saved to a memory stick attached to the aircraft in a predetermined file format such as Experts Group).

The procedure for the user to have the legged mobile robot 1 take a picture will be described below.

Talk to the legged mobile robot 1 in autonomous mode or station mode, "take a picture". On the other hand, the legged mobile robot 1 nods (see FIG. 62).

When the tail switch of the legged mobile robot 1 is tilted (see FIG. 63), the corner lamp blinks orange and the countdown starts. And
Along with the shutter sound, the legged mobile robot 1 takes a picture.

Unless the tail switch is turned on within 10 seconds after the nod of the legged mobile robot 1 is spoken, the legged mobile robot 1 stops shooting and makes a sad gesture.

If the erroneous erasure prevention switch of the memory stick is locked, the photographed picture cannot be recorded.

In order to see the photographed photograph, the memory stick is used as a medium and the photograph image is personalized.
It may be moved to a device having an image viewer function such as a computer (PC). How to remove the memory stick from the machine is as already described with reference to FIG.

Playing with Sound The legged mobile robot 1 can play various sounds with the user by using sound, such as humming, imitation, melody, and walking.

For example, the legged mobile robot 1 makes a melody and returns it based on the user's humming song. First, "play" or "mimic" the legged mobile robot 1.
To speak to. Then, when the user sings "La la la ...", the user hums to the legged mobile robot 1 based on the three sounds sung by the user and returns the song. Be sure to sing "La". If you sing other than "La", the legged mobile robot 1 will not return the song.

When talking to the legged mobile robot 1, "let's imitate", in the words of the legged mobile robot 1,
Start imitating the user. When you want to stop imitating, say "Shizuka" or "End". The legged mobile robot 1 may sometimes start or stop imitating. When you want to change the voice of the legged mobile robot 1, say "Change your voice".

Also, talk to the legged mobile robot 1 "play with adults". Then, a sound can be produced by moving the user's hand close to or away from the distance sensor (described above) at the tip of the nose of the legged mobile robot 1.
If you change the distance, you can play a song. If you want to stop playing with the melody, say "Shizuka" or "End." Also, when you want to change the sound, talk to him.

When talking to the legged mobile robot 1 that there is a squeak, the legged mobile robot 1 walks a little while making a pleasant footstep. Multiple footsteps are available,
The footsteps switch each time you talk to "Pico Pikoruiteite".

When the legged mobile robot 1 is told to "sing a song", the legged mobile robot 1 sings cheerfully when it is happy and sadly when it is sad, depending on the mood at that time.

A-7. Words understood by the legged mobile robot The words understood by the legged mobile robot 1 in which the growth type control program is installed are shown below.

“Aibo” to call or teach a name : Even if the user gives a name to the legged mobile robot 1, it responds to a call to “Aibo” (or a default name at the time of shipment). “Name and Uroku”: You can give the legged mobile robot 1 any name you like. "Registered name": Reacts when a name given by the user is called. "What's your name?": Answers the user's name in the robot language.

● Scolding, praising, and encouraging “Yoshiyoshi / Iko / Kawaii”: These are words when praising. It is the same as praising with the sensor inside the head. "No, no, no, no, no". This is a word when scolding. It is the same as pushing the head upwards and scolding. "Ganbare / Fight": Words that encourage you when you fail.

[0234] ● greeting to legged mobile robot, "Good morning", "Hello", "buying and selling / goodbye / drop Mars,""I'mhome,""GoodNight": When talk at the time of the Pick-up state and station mode, is getting sleepy, Go to sleep mode. "Oh""I'msorry""Thankyou"

● Legged mobile robot greetings “Greeting” “Ote” “Akushu”

[0236] ● ask "your number?": Tells us the generation at the corner lamp and legs. "Genki? / Did you get along? / Sleepy? / How many? / Have you been hungry?": Answer "yes" or "no" on the corner lamp for sleep desire, exercise desire, and charging desire, respectively.

● Asking for “take a picture”: Take a picture of the scenery you are seeing from the legged mobile robot 1.

[ Move / Come here]: Walk to the direction of the voice. "Sit""Standup""Fusete""Migi""Hidari""Zenshin""Ushiro / Kotai / Bakkurai / Tomare""Aruite / tansaku": Walk around. "Okite": When you talk while you are sleepy,
Raise your head and beat. "Do it": Move a little. "Look for ball": Search for the ball. "Click / shoot"

● Imitation “Like Imitation”: A word for a robot is used to start imitating a user. "Shizuka": Stop imitating the robot language.

[0240] ● Others "Dancette / Odote""Haipozu""Karatte-chop""Play with the adult / Cute": When you move your hand in front of the camera, the pitch changes. "Pikopiko Alite": Walk while making cute footsteps. "Friend"

[0241] The legged mobile robot 1 has few words to understand in childhood or in boyhood, and even if it speaks, it just leans its head. As you grow up, you will understand most of the words. Also, some words may not be understood depending on the operation mode or state. Also, depending on your mood, you may not hear what you say. In addition, it is preferable to speak in a quiet environment, because when the surroundings are noisy, words cannot be heard well. The user preferably pronounces clearly because he / she cannot understand words that are unclear. Moreover, when the legged mobile robot 1 is making a sound or moving, it becomes difficult to hear the words.

A-8. Growth Stage The growth process of the legged mobile robot 1 having the growth type control program installed is shown in FIGS. 64 to 65.

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 answers with a corner lamp and a foot (see FIG. 66).

B. Character-type control program In addition to functions such as emotions / instincts and learning, the legged mobile robot 1 incorporates a character via a memory stick, so that the legged mobile robot 1 acts as a friend of the user and is happy. It expresses anger, gathers information from the user and the surrounding environment, and learns to act based on his / her own judgment.

When the user wants the user to play, the legged mobile robot 1 operating by the character type control program sometimes appeals by "moving" by motion or sound or calls the user's name. On the other hand, when the user is interested in other things, the user may not speak to the other person even if they speak. Such a legged mobile robot 1
By understanding the character, the life with the legged mobile robot 1 becomes more enjoyable.

The theme of the character type control program is “love”. A cute and affectionate robot character is born to be your new friend. When the legged mobile robot 1 having such a property is devoted to love, the legged mobile robot 1 also expresses a lot of affection.

B-1. Character of Legged Mobile Robot The character of the character type control program can be changed according to the color of the body of the legged mobile robot 1. For example, a memory stick for installing a character type control program has a laid-back character "Latte" and a lively and active character "Macaron".
You can put both.

However, each character has a predetermined body in which it can reside. In other words, "Latte" is in the Ivory aircraft and "Macaron" is in the gray aircraft. That is, the same memory
Even if it is a stick, the character "Latte" is expressed when it is inserted into the Ivory body, and the character "Macaron" is expressed when it is inserted into the gray body (see FIG. 67).

Both latte and macaroons are adorable characters, but they can be "good children" or "bad children" depending on the communication with the user or other legged mobile robots (see FIG. 68). ).

For example, Latte has a mood state and a snesne state. When he is in a good mood, he has a calm, obedient personality, and in his spare time, he is in a good mood and is in a daze. In the mood, the square lamp lights up in various colors and then lights up in green. And if you get scolded often, get angry, cry, or call your name, you'll be in a snesne state. In the snesne state,
They tend to mess around and sneeze, and when they are free, they tend to sleep and tend to fall asleep. In the snesne state, the corner lamp lights up in various colors and then lights in orange.
By being well-praised, having a good time playing and talking with users and other legged mobile robots, and being often called by their names, they return to their mood.

[0251] Macaroons have a charming state and a frustrated state. When he is full of charm, he has a vigorous service spirit, he loves to exercise, and when he is free, he is full of charm. I also like exploring. When it is full of charm, the square lamp lights up in various colors and then lights up in green. And if you are often scolded, angry, crying, and almost never called your name, you get frustrated. In a frustrated state, they are frustrated and irritable, and in their spare time they make frustrated gestures. It also tends to be noisy. In a frustrating state, the corner lamp lights up in various colors and then lights in orange. By being well-praised, having a good time playing and talking with the user or another legged mobile robot, and being often called by his name, he can return to his charming state.

The user can easily discriminate whether the latte is in the mood state or the snesne state, or whether the macaron is in the cheerful state or the frustrated state. That is, the legged mobile robot 1
When asked, "Is it okay?", The legged mobile robot 1 answers with the lighting color of the corner lamp.

Here, the "love mode" when the joy of the legged mobile robot 1 is completely eliminated will be described.

In the love mode, the legged mobile robot 1 appeals love with high tension (see FIG. 69). That is, the corner lamp blinks slowly and repeats the happy motion of "I love you! I love you". The love mode is set only when the legged mobile robot 1 is in the autonomous mode.

The legged mobile robot 1 enters the love mode when the user talks to the legged mobile robot 1 many times or the conversation between the legged mobile robots is increased. Even if you are tired or frustrated, if you can communicate with the user and other legged mobile robots a lot, you can go into love mode. In the love mode, if the legged mobile robot 1 is scolded too much, it will be humiliated, but after a while, it will recover from the mood and return to the normal legged mobile robot 1.

When the affection is expressed to the utmost, the legged mobile robot 1 is satisfied and returns to the original state. Others, I may be a little tired and do not deal with the user for a while, but if I rest for a while, I will return to the vibrant legged mobile robot 1.

B-2. Operation mode of legged mobile robot
The legged mobile robot 1 in which the state character type control program is installed has an autonomous mode, a rest mode, and a sleep mode as shown in FIGS. 28 to 29, as in the case where the growth type control program (described above) is installed. It has operating modes and states such as, station mode, ramming state, scissors state, inactivity state.

The legged mobile robot 1 having the character type control program installed can play with the user or another legged mobile robot in the autonomous mode or the station mode. Also, communicate with media such as TV and video (media link,
Mode) (see FIGS. 70 and 71).

For example, in the autonomous mode or under the station, when talking to the legged mobile robot 1 "Media Link", listening to the start sound from the media, or pushing the tail switch to the left for 3 seconds, the media link -Transition to mode.

Under the media link mode, the corner lamps slowly flash yellow and communicate in response to robot sounds from media such as television and video (described later). When the user speaks "End", hears an end sound from the media, or pushes the tail switch forward for 3 seconds, it returns to autonomous mode. Also, when a predetermined time has elapsed, the station mode is automatically returned to.

In the autonomous mode or the station mode, when the conversation with the user or another legged mobile robot is increased or communication is increased, the mode is changed to the love mode.

In the love mode, the corner lamp lights in pink, and when the joy is exhausted due to communication with the user or another legged mobile robot, love is appealed with high tension (described above). If you can appeal to love until you are satisfied, or if you are scolded for love, you will return to autonomous mode. It can also automatically return to station mode.

The station mode also includes an "answering machine" mode (to be described later) in which the user makes an answering machine in the room while he is out.

Also, the legged mobile robot 1 having the character type control program installed has the same "joy", "sadness", "anger", "surprise", as in the case where the growth type control program (described above) is installed. "Fear",
It has six kinds of emotions of "disgust" and five kinds of instinct of "love desire", "search desire", "exercise desire", "charge desire", and "sleep desire".

B-3. Communiqué with a legged mobile robot
The legged mobile robot 1 installed with the motion character type control program communicates from the media to the legged mobile robot 1 in addition to the communication from the user to the legged mobile robot 1 and from the legged mobile robot 1 to the user (described above). (Media link mode) and means for communication with other legged mobile robots.

Media link mode The media link mode is a mode in which the legged mobile robot 1 enjoys communication with the media in response to a sound signal corresponding to the media link which flows from media such as television and video. (See FIG. 72).

Upon hearing a specific melody from the media, the legged mobile robot 1 reacts to the melody and is pleased, sad or surprised. Or be happy with the fun story from the media, or sad with a sad story.

The legged mobile robot 1 can be in the media link mode when in the autonomous mode or the station mode. For example, in the autonomous mode or under the station, when talking to the legged mobile robot 1 "Media Link" or listening to the start sound from the media or pushing the tail switch to the left for 3 seconds, the Media Link Mode Transition to. Also, the user can say "end of life" or end
Hear the sound or push the tail switch forward for 3 seconds to return to autonomous mode. Also, when a predetermined time has elapsed, the station mode is automatically restored.

In the media link mode, since the legged mobile robot 1 has listened to the sound signal, it hardly answers the call from the user.

Communication between Legged Mobile Robots The legged mobile robots installed with the character type control program can exchange greetings with each other and introduce themselves to each other to confirm the compatibility. However, the robots used for communication should be placed within the range of sound.

A conversation between the legged mobile robots having a good compatibility is also exciting, and the legged mobile robots who are more happy are in the love mode (described above) to appeal their love.

A procedure for allowing legged mobile robots to communicate with each other will be described below.

Each legged mobile robot is set to the autonomous mode.

Talk to each legged mobile robot, "let's talk" or "friend". In the end, each legged mobile robot is ready to talk with a friend's legged mobile robot.

First, the tail switch of the legged mobile robot that speaks to the person is turned down. The legged mobile robot signaled by the tail switch talks to a friend's legged mobile robot. The legged mobile robot of your friend also replies (see FIG. 73). When the conversation ends, each legged mobile robot returns to autonomous mode.

When the user talks to each other during the conversation between the legged mobile robots, the legged mobile robot interrupts the conversation and tries to listen to the user. In such a case, speak again. If you want to prioritize conversations between legged mobile robots, say "Please continue." In response to this, the legged mobile robot safely resumes the conversation with the friend.

B-4. Playing with a Legged Mobile Robot The legged mobile robot 1 having the character type control program installed has various functions for the user to have a good time, as in the case of installing the growth type control program. In this case, give the name,
In addition to taking pictures and playing with sounds, it also has the function of answering.

For example, when the user goes out, the legged mobile robot 1 in the station mode can ask for the answering machine. The legged mobile robot 1 on the answering machine sleeps on the station, but occasionally wakes up and patrols the state of the room. And if there is something suspicious in the user's room, it takes a picture.

The procedure for causing the legged mobile robot 1 to leave the answering machine will be described below.

First, the legged mobile robot 1 is set to the station mode.

Next, the legged mobile robot 1 is spoken of as "Orusuban." The legged mobile robot 1 nods,
Go to sleep and sleep. After that, the legged mobile robot 1 periodically wakes up to look around and takes a picture of any moving object. You can take up to 3 photos during one answering machine.

The photos that the legged mobile robot 1 can store are:
Up to 7 cards including the "Shooting" function.
Beyond that, each time you take a new photo, the old one is erased.

When the user comes back, the user talks to the legged mobile robot 1 "I'm home" or "End."
On the other hand, the legged mobile robot 1 is welcome back! And quit the answering machine and return to station mode.

[0284] The user speaks "What happened?" In order to check whether or not the legged mobile robot 1 took a picture during the answering machine. The legged mobile robot 1 nods noun when a picture is taken, but shakes his head when he does not take a picture.

The legged mobile robot 1 remembers that it took a picture during answering machine until the next answering machine is asked. When asked, "What happened?", I nodded Eun Eun if there were any pictures I took.

B-5. Words understood by a legged mobile robot The following are the words understood by a legged mobile robot with a character type control program installed.

● Greetings / Procedures / Leg-type mobile robots
State "Greetings": bow deep and deep. "Good morning / Good night / Hello / now / buy and sell": the reply in response to the greeting. "Yoshiyoshi": It is one of the words to praise a legged mobile robot. "No no use": One of the words to scold a legged mobile robot. "Ganbare": Words that support legged mobile robots. "Is it good?": Determine whether the legged mobile robot is in a good state or a bad state.

● Media link mode “Media link”: Enters the media link mode. "End": Return from the media link mode to the autonomous mode or the station mode.

[0289] ● Communication between legged mobile robots
® emissions "Let's talk,""Friends": be ready for a conversation with friends of a legged mobile robot. "Please continue": Resume a conversation with your friend's legged mobile robot.

[0290] Name registration "name and walk": A state in which the name of the legged mobile robot is registered. "Ona toroku": The owner's name is registered. "Aibo / Latte / Makaron / Registered Name":
The legged mobile robot reacts by determining that the name has been called. "What is your name?": Express your registered name in the robot language. "Oh, tell me": Express the name of the registered owner in the robot language.

● Photographing “Shashintotte”: The legged mobile robot is in a state of taking a photograph. "End": Return from the state of taking a picture.

“Play” with sounds : The legged mobile robot hums and returns a song based on the user's humming. "Like impersonation": When the user subsequently sings with "Ra sound," the song is hummed based on the user's humming and the song is returned. "Play with adults": Play sounds and songs. "Shizuka / End": Stop playing with imitations and melodies. "Neirokame": Change the sound played by a legged mobile robot and the imitation voice. "Pikopiko Alite": A legged mobile robot walks while making a pleasant footstep. "Uta Utatte": A legged mobile robot sings a song.

Answering machine “Orussuban”: A legged mobile robot gives an answering machine. “Now / End”: The legged mobile robot stops answering and returns to station mode. “What happened?”: Determine if you took a photo while you were out.

[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 of this specification should not be construed in a limited manner. To determine the gist of the present invention,
The claims section mentioned at the beginning should be taken into consideration.

[0297]

As described above in detail, according to the present invention,
It is possible to provide an excellent legged mobile robot that can express emotions such as joy and anger in addition to motions such as walking, sitting and sleeping with natural movements of a movable leg and head.

Further, according to the present invention, it is possible to provide an excellent entertainment type legged mobile robot capable of expressing natural movements of the whole body and various emotions by control using a software program. You can

[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 state in which a memory stick is inserted into a memory slot provided at a predetermined portion on the body of the legged mobile robot 1.

FIG. 6 is a diagram showing each additional function provided in each part of the body of the legged mobile robot 1.

FIG. 7 is a diagram showing how the tail switch 31 of the legged mobile robot 1 is operated in the front, rear, left, and right directions.

FIG. 8 is a diagram showing the inside of the body of the legged mobile robot 1 accessed by removing the lid on the bottom surface (abdomen) of the body 2.

FIG. 9 is a diagram showing a state in which a lid on the bottom surface (abdomen) of the body 2 of the legged mobile robot 1 is removed.

FIG. 10 is a diagram showing a state in which the battery pack is inserted along the inner circumference of the battery insertion opening 47 in the abdomen and the lid is closed.

FIG. 11 is a diagram showing a state in which a conversion plug is attached to the AC adapter.

FIG. 12 is a diagram showing a state in which the charging port shutter near the lid of the abdomen is opened and the conversion plug is connected to the charging terminal on the fuselage side.

FIG. 13 is a diagram showing an appearance of a stand for the legged mobile robot 1.

FIG. 14 is a diagram showing a state in which the legged mobile robot 1 is seated on a stand and the cord of the AC adapter is pulled out rearward by the groove of the stand.

FIG. 15 is a diagram showing a state in which the legged mobile robot 1 is seated on a stand, the cord of the AC adapter is pulled rearward through the groove of the stand, and the AC adapter is connected to an outlet of a commercial AC power source. .

FIG. 16 is a diagram showing a state in which the legged mobile robot 1 is seated on a stand to which an energy station core is attached for charging.

FIG. 17 is a diagram showing an external appearance of a portable charger for charging a spare battery.

FIG. 18 is a diagram showing a state where the memory stick is inserted along the inner circumference of the insertion port 46 of the memory stick.

FIG. 19 is a diagram showing a state in which a memory stick eject button 48 is operated to eject a memory stick.

FIG. 20 is a diagram showing a state in which the legged mobile robot 1 before starting the activity is installed on a flat floor surface that is hard to slip.

FIG. 21 is a view showing how the pose button 30 on the back is operated to start the activity of the legged mobile robot 1.

FIG. 22 is a diagram showing a state in which the legged mobile robot 1 is placed on a stand.

FIG. 23 is a diagram showing how the volume is adjusted using the volume adjustment switch 42.

FIG. 24 is a view showing a state where the battery pack take-out lever 45 is tilted backward to take out the battery pack.

FIG. 25 is a diagram showing how the pose button 30 on the back of the legged mobile robot 1 is operated.

FIG. 26 is a diagram showing switches arranged at various parts of the body of the legged mobile robot 1.

FIG. 27 is a view showing how the tail switch 31 is turned once.

FIG. 28 is a diagram showing operation modes and states of the legged mobile robot 1 provided by the growth type control program.

FIG. 29 is a diagram showing operation modes and states of the legged mobile robot 1 provided by the growth type control program.

FIG. 30 is a diagram showing a state where the body of the legged mobile robot 1 is gently shaken several times to return from the sleep mode to the autonomous mode.

FIG. 31 is a diagram showing the legged mobile robot 1 in which the leg is contracted in response to being lifted up by the user, and the legged mobile robot 1 is in a state of being easily crawled.

FIG. 32 is a diagram showing a charging posture of the legged mobile robot 1.

FIG. 33 is a view showing switches arranged at various parts on the body of the legged mobile robot 1.

FIG. 34 is a view showing how the legged mobile robot 1 is praised.

FIG. 35 is a view showing how the legged mobile robot 1 is scolded.

FIG. 36 is a diagram showing a color camera acting as an eye of the legged mobile robot 1 and a distance measuring sensor.

FIG. 37 is a diagram showing a stereo microphone that acts as an ear of the legged mobile robot 1.

[Fig. 38] Fig. 38 is a diagram showing a manner in which the user wakes up in response to the fallen legged mobile robot 1 requesting help.

FIG. 39 is a view for explaining the function of the mode lamp arranged behind the corner lamp.

FIG. 40 is a diagram for explaining the function of the corner lamp.

FIG. 41 is a diagram for explaining the function of the back lamp.

[Fig. 42] Fig. 42 is a diagram showing a state in which the legged mobile robot 1 conveys its emotions, desires, states, etc. by a gesture, more specifically, a diagram showing a "ball sibling" gesture. is there.

[Fig. 43] Fig. 43 is a diagram showing a state in which the legged mobile robot 1 conveys one's emotions, desires, states, etc. by a gesture, more specifically, a diagram showing a gesture of "I want to shake hands". is there.

[Fig. 44] Fig. 44 is a diagram showing a state in which the legged mobile robot 1 conveys one's emotions, desires, states, etc. by a gesture, more specifically, a gesture of "return to the station". It is a figure.

[Fig. 45] Fig. 45 is a diagram showing a state in which the legged mobile robot 1 conveys its own feelings, desires, states, etc. by gestures, more specifically, a diagram showing the gesture "Nade". Is.

[Fig. 46] Fig. 46 is a diagram showing a state in which the legged mobile robot 1 conveys one's emotions, desires, states, etc. by a gesture, more specifically, a diagram showing a gesture of "being caught". is there.

[Fig. 47] Fig. 47 is a diagram showing a state in which the legged mobile robot 1 conveys its emotions, desires, states, and the like by gestures, more specifically, a diagram showing a "relief" gesture. is there.

[Fig. 48] Fig. 48 is a diagram showing a state in which the legged mobile robot 1 conveys its own feelings, desires, states, and the like while making sounds.

FIG. 49 is a diagram illustrating a procedure for allowing the user to memorize a name in legged mobile robot 1.

FIG. 50 is a diagram showing a state in which the user causes the legged mobile robot 1 to remember a name.

[FIG. 51] The legged mobile robot 1 refuses to register a new name when the name overlaps with another word known to the legged mobile robot 1 or when the name cannot be heard due to noise or the like. FIG.

FIG. 52 is a diagram showing a state in which a user learns a gesture in legged mobile robot 1, and more specifically, a diagram showing a preparation state for teaching a gesture.

[Fig. 53] Fig. 53 is a diagram showing a state in which a user learns a gesture in the legged mobile robot 1, and is a diagram showing a state in which a gesture already registered is executed.

FIG. 54 is a diagram showing a state in which a user learns a gesture in legged mobile robot 1, and more specifically, a diagram showing a posture when a gesture to be taught is started.

FIG. 55 is a diagram showing a state in which preparation for motion registration is completed by tilting the tail switch.

[Fig. 56] Fig. 56 is a diagram showing a state in which a gesture is memorized by moving the legged mobile robot 1 while pressing the paws switch of the front leg.

FIG. 57 is a diagram showing how the legged mobile robot 1 is named by gestures, and more specifically, a diagram showing how training is started.

FIG. 58 is a diagram showing how the legged mobile robot 1 is named as a gesture, and more specifically, a state in which it talks to the legged mobile robot 1 and gradually approaches the favorite gesture. It is a figure.

FIG. 59 is a diagram showing how the legged mobile robot 1 is named by the gesture, and more specifically, a diagram showing how the tail sensor is tilted to complete the preparation for training.

FIG. 60 is a diagram showing how the legged mobile robot 1 is given a gesture name, and more specifically, a diagram showing how the legged mobile robot 1 is asked to give a gesture name to execute the gesture. Is.

FIG. 61 is a view showing a color camera mounted on the legged mobile robot 1.

[Fig. 62] Fig. 62 is a diagram for explaining a procedure for having the legged mobile robot 1 take a picture, and more specifically, a state in which the user speaks "take a picture" and instructs to take a picture. It is the figure shown.

[Fig. 63] Fig. 63 is a diagram for explaining the procedure for having the legged mobile robot 1 take a photograph, more specifically, a diagram showing a state in which the count switch of the color camera is started by tilting the tail switch. is there.

FIG. 64 is a diagram (first half) for explaining the growth process of the legged mobile robot 1 in which the growth type control program is installed.

FIG. 65 is a diagram (second half) for explaining the growth process of the legged mobile robot 1 in which the growth type control program is installed.

[Fig. 66] Fig. 66 is a diagram showing a state of talking to "How old are you?" In order to know the growth stage and character of legged mobile robot 1.

FIG. 67 is a diagram showing a state in which a character corresponding to the color of the machine body is developed by installing the character type control program in the legged mobile robot 1.

[Fig. 68] Fig. 68 is a diagram for describing the state of a character that is expressed according to the color of the aircraft.

69 is a diagram showing the legged mobile robot 1 in a love mode. FIG.

FIG. 70 is a diagram (first half) showing operation modes and states of the legged mobile robot 1 in which the character type control program is installed.

71 is a diagram (second half) showing operation modes and states of the legged mobile robot 1 in which the character type control program is installed. FIG.

FIG. 72 is a diagram showing how the legged mobile robot 1 enjoys communication with a medium.

FIG. 73 is a diagram showing how legged mobile robots communicate with each other.

[Explanation of symbols]

1. Legged mobile robot 2 ... Fuselage unit 3 head unit 4 ... tail 6 Leg unit 9 ... Thigh 10 ... shin 11 ... Hip joint 12 ... Knee joint

Continued front page    F term (reference) 2C150 CA02 DA05 DA24 DA25 DA26                       DA27 DA28 DF03 DF04 DF06                       DF08 DF33 DG02 DG12 DG13                       DG14 DG15 ED42 ED47 ED52                       EF07 EF16 EF17 EF23 EF29                       EF33 EF36                 3C007 AS36 CS08 CY02 JS06 JU02                       JU03 JU16 KS11 KS36 KT01                       MT14 WA04 WA14 WB18 WB19                       WB24 WB25 WB27 WC01

Claims (14)

[Claims] 1. A legged mobile robot performing legged walking, comprising: a body portion, a head attached to the body portion, a plurality of movable legs attached to the body portion, and A legged mobile robot, comprising: a protrusion-shaped corner lamp that is attached and expresses emotions such as joy and anger by lighting and lighting colors of light. 2. A legged mobile robot performing legged walking, comprising: a body, a head attached to the body, a plurality of movable legs attached to the body, and an upper surface of the body. A legged mobile robot, comprising: a back lamp that is attached to the vehicle and that displays the activity status of the aircraft by lighting and lighting colors. 3. A legged mobile robot for legged walking, comprising: a body, a head attached to the body, a plurality of movable legs attached to the body, and a head attached to the body. A legged mobile robot, comprising a mode lamp that is attached and that displays the operation mode and state of the aircraft by lighting and lighting colors. 4. A legged mobile robot performing legged walking, comprising: a body, a head attached to the body, a plurality of movable legs attached to the body, and a body of the body. A legged mobile robot, comprising: a tail switch attached to a rear side for a user to input an instruction to the machine body. 5. A legged mobile robot performing legged walking, comprising: a body portion, a head attached to the body portion, a plurality of movable legs attached to the body portion, and each movable body. A legged mobile robot, comprising: a paddle switch attached to a substantially tip of a leg for a user to input an instruction to the body. 6. A legged mobile robot performing legged walking, comprising: a body, a head attached to the body, a plurality of movable legs attached to the body, and A legged mobile robot, comprising: a built-in switch for detecting whether the face is pushed upward or downward. 7. A legged mobile robot performing legged walking, comprising: a body, a head attached to the body, a plurality of movable legs attached to the body, and a body attached to the body. A legged mobile robot, comprising: a pause button attached to temporarily stop the operation of the machine body. 8. A legged mobile robot performing legged walking, comprising a clinic mode for checking the balance of the body and the state of each sensor by executing a predetermined body movement. Mobile robot. 9. A legged mobile robot that walks on a leg basis, characterized in that, in response to being lifted up, the movement of each movable leg is stopped, and a transition is made to a swaying state in which it is easy to squeeze. Mobile robot. 10. A legged mobile robot having a plurality of joint degrees of freedom and performing legged walking, wherein when a certain object on the body is sandwiched with an object, the corresponding joint is weakened. A characteristic legged mobile robot. 11. A legged mobile robot that walks on a leg basis, the name registering means for registering a name given by a user, and the name responding to both the name registered by the name registering means and the default name. A legged mobile robot comprising: a reaction means. 12. A legged mobile robot for legged walking, comprising: a program introducing means for installing a character type control program consisting of a plurality of characters; and a feature of the installed character, such as color, of the machine body. A legged mobile robot, comprising: a character expression means for expressing the character. 13. A legged mobile robot for legged walking, comprising a media link mode for communicating in response to a sound signal corresponding to a media link flowing from a medium such as television or video. A characteristic legged mobile robot. 14. A legged mobile robot that walks on a leg basis, which comprises a photographing means for photographing the surroundings, and awakening periodically to look around the surroundings, and if there is something that moves, photographs are taken using the photographing means. A legged mobile robot comprising an answering machine.