JP2007222951A5 - - Google Patents

Claims (11)

At least with the torso,
The degree of joint freedom around the shoulder roll, pitch, and yaw axes, the degree of joint freedom around the elbow pitch axis, the degree of joint freedom around the wrist roll and yaw axes, The torso having a leading-edge pitch axis joint having a degree of freedom around the provided pitch axis, the leading-edge pitch axis joint being disposed either on the inner side of the palm of the hand or on the wrist The left and right arms connected to
Object recognition means for recognizing the position and orientation of the object to be grasped;
A control unit for controlling joint driving of each unit including the two arms;
With
The control unit is configured so that the pitch arms of the most advanced pitch axis joints of the two arms are substantially in a straight line, and the center of gravity of the object to be grasped is on the straight line, so that the two arms are positioned on the object to be grasped. Gradually narrow the width and hold it between your left and right hands.
A robot apparatus characterized by that. The control unit drives only the most advanced pitch axis while fixing other joints of the arm according to the position and orientation change request of the object while holding the object with two arms, Change the posture of the gripping object,
The robot apparatus according to claim 1. When the required position / orientation change of the gripping object is performed, the control unit is requested while keeping the most advanced pitch axis at the current position when the movable range of the most advanced pitch axis is out of range or self-interference occurs. Find inverse kinematics solutions for other joints of the arm to obtain the position and orientation of the gripping object
The robot apparatus according to claim 2 . In response to an object movement request during a period in which the object is held with two arms, the control unit uses the most advanced pitch axis as a redundant axis and uses the other joint degrees of freedom of the arm to hold the posture of the grasped object. Keep moving,
The robot apparatus according to claim 1 . The control unit, when moving an object having a plurality of side surfaces as installation surfaces, allows the installation surface to have an installation surface corresponding to the height or depth direction of the installation site of the object. Changing the posture of the grasped object by rotational driving of the most advanced pitch axis;
The robot apparatus according to claim 1 . It further comprises a fall detection means for detecting the fall of the object gripped using the two arms.
The robot apparatus according to claim 1 . A six-axis force sensor is provided on the wrist of the double arm;
Before Symbol drop detecting means may store the output value of the sensor immediately after the object is gripped, the output value of the sensor detects a drop of the gripping object by falls below immediately gripped,
The robot apparatus according to claim 6 . The drop detection means detects the fall of the gripped object when the object position recognized by the object recognition means is greatly deviated from the palms of the two arms, or when it can no longer be observed.
The robot apparatus according to claim 6 . The drop detection means checks whether a large force is applied in the X direction or the Z direction immediately before the Y axis value decreases when the value in the Y axis direction of the 6-axis sensor at the wrist is below the threshold value. However, when a large force is not applied, it is estimated that the gripped object has fallen downward, and when a large force is applied in a direction different from the direction in which the palm grips the object, the gripped object may be forcibly dropped Judge that there is,
The robot apparatus according to claim 7 . The control unit confirms the release of the double-arm gripping state using the drop detection means when installing the gripping object at a desired installation location.
The robot apparatus according to claim 6 . It further comprises the flexibility of the trunk and movable legs,
When carrying the controller while changing the position and orientation of the object to be gripped,
First, search for a solution that can obtain the position and orientation of a desired object by performing inverse kinematics calculation using only the two arms.
When a solution using only the two arms is not found, a solution that can obtain the position and posture of a desired object by performing inverse kinematics calculation by adding the degree of freedom of the trunk to the two arms. Search and
When a solution is not found, search for a solution that can obtain the position and posture of a desired object by performing inverse kinematics calculation with a degree of freedom added to the legs.
The robot apparatus according to claim 1 .