JP2018058177A - Robot, attitude control device, attitude control method and control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot capable of being lifted by a user, as well as more easily mounted onto an amount surface than conventional ones.SOLUTION: A robot (1) capable of being lifted by a user, comprises movable parts (30) connecting multiple parts. The robot (1) can have: a totally non-proximate condition in which none of left and right soles of feet is close to the mount surface; and a mount preparation condition in which the left and the right soles of feet are close to or touching the mount surface. An attitude control part (42) drives the movable parts (30) to make the robot (1) take a basic stable attitude.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot that can be lifted by a user.

  Conventionally, various techniques for controlling the operation of the robot have been proposed. For example, Patent Document 1 discloses a robot control device for the purpose of preventing the robot from toppling over during walking.

  Specifically, in the technique of Patent Document 1, a sensor (force sensor) is provided on the sole of the robot. When an obstacle is detected by the sensor while the robot is walking (when the sensor contacts the obstacle), the position of the leg of the robot is changed. Thus, when the sole of the robot comes into contact with an obstacle, the position of the center of gravity of the robot is changed to prevent the robot from falling.

JP 2009-184022 (released August 20, 2009)

  Incidentally, in recent years, robot-type electronic devices have been developed along with diversification of variations of various electronic devices. As an example, the electronic device is designed as a robot that can be lifted by a user (eg, a portable robot). In such a robot, a usage example is assumed in which the robot is placed on a placement surface (eg, a horizontal floor) after the user lifts the robot (eg, all parts of the robot are suspended in the air). Is done.

  In such a use example, in order to prevent the robot from falling down, prior to placing the robot on the placement surface, the robot takes a predetermined posture (a posture capable of maintaining a stable state on the placement surface). Preferably.

  However, as described above, the posture control technique disclosed in Patent Document 1 is based on the assumption that the robot has already been placed on the placement surface (walking surface). That is, Patent Document 1 does not take into consideration any technical idea of causing the robot to take a stable posture before the robot is placed on the placement surface.

  For this reason, in the prior art, prior to placing the robot on the placement surface, it is necessary for the user to perform an operation of changing the posture of the robot to a posture suitable for placement. Therefore, there arises a problem that the user cannot easily place the robot on the placement surface.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to realize a robot and the like that can place a robot that can be lifted by a user on a placement surface more easily than in the past. There is.

  In order to solve the above problems, a robot according to one embodiment of the present invention is a robot that can be lifted by a user, and the robot includes a movable portion that connects a plurality of parts constituting the robot. When the robot is placed on the placement surface in a pre-defined basic stable posture, a contact contact portion that is a portion that comes into contact with the placement surface is specified in advance. The movable part is driven with the state in which all are not close to the placement surface as described above, the non-close proximity state, and the state where all of the planned contact parts are close to or in contact with the placement surface as described above. A robot that changes a posture of the robot, a sensor that detects a contact state or a proximity state of a predetermined part of the robot with respect to the placement surface, and a detection result of the sensor. A state determination unit that determines whether the robot is in the all non-proximity state or the above-described placement preparation state. When moving to the ready state, the movable part is driven so that the basic stable posture is taken.

  In order to solve the above problems, an attitude control device according to an aspect of the present invention is an attitude control device that controls the attitude of a robot that can be lifted by a user, and the robot includes the robot. A movable part that connects between a plurality of parts to be contacted, and when the robot is placed on a placement surface in a predetermined basic stable posture, a contact planned part that is a part that comes into contact with the placement surface The robot is further provided with a sensor for detecting a contact state or proximity state of the predetermined part of the robot with respect to the placement surface, and all of the planned contact parts are placed on the placement surface. The robot is driven with the robot in a state where it is not in close proximity to the surface, all non-proximity state, and the state where all of the planned contact parts are close to or in contact with the placement surface described above, A posture control unit that changes the posture of the robot, and a state determination unit that determines whether the robot is in the all non-proximity state or the above-described placement preparation state based on the detection result of the sensor. The posture control unit drives the movable unit to cause the robot to assume the basic stable posture when the robot moves from the all non-proximity state to the placement preparation state.

  In order to solve the above problem, a posture control method according to an aspect of the present invention is a posture control method for controlling a posture of a robot that can be lifted by a user, and the robot includes the robot. A movable part that connects between a plurality of parts to be contacted, and when the robot is placed on a placement surface in a predetermined basic stable posture, a contact planned part that is a part that comes into contact with the placement surface The robot is further provided with a sensor for detecting a contact state or proximity state of the predetermined part of the robot with respect to the placement surface, and all of the planned contact parts are placed on the placement surface. The robot is driven with the robot in a state where it is not in close proximity to the surface, all non-proximity state, and the state where all of the planned contact parts are close to or in contact with the placement surface described above, A posture control step for changing the posture of the robot, and a state determination step for determining whether the robot is in the all non-proximity state or the above-described placement preparation state based on the detection result of the sensor. And the posture control step further includes a step of driving the movable part so that the basic stable posture is taken when the robot moves from the all non-proximity state to the placement preparation state. Contains.

  According to the robot according to one aspect of the present invention, it is possible to place the robot that can be lifted by the user on the placement surface more easily than in the past.

  The same effect can be obtained by the posture control apparatus and the posture control method according to one aspect of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a main part of the robot according to the first embodiment. It is a figure which shows schematic structure of the robot of Embodiment 1, (a) is a front view, (b) is a top view of a right foot part and a left foot part, (c) is a bottom view of a right foot part and a left foot part. . 3 is a flowchart illustrating a processing flow in the robot according to the first embodiment. It is a figure which shows the example of the actual operation | movement of the robot of Embodiment 1, (a) is the state of all non-proximity, (b) is the state where the angle of one leg was adjusted in the state of partial non-proximity, (c) is mounted. (D) is a view showing the posture angle in the basic stable posture in a state where the robot is shifted from the stationary state to the basic stable posture. It is a front view which shows the schematic structure of the robot of Embodiment 2. It is a block diagram which shows the structure of the principal part of the robot of Embodiment 2. It is a figure which shows the direction axis | shaft of the acceleration which the acceleration sensor in the robot of Embodiment 2 detects. 6 is a flowchart illustrating a processing flow in the robot according to the second embodiment. It is a figure which shows schematic structure of the robot of Embodiment 3, (a) is a front view, (b) is a bottom view of a right foot part and a left foot part. It is a block diagram which shows the structure of the principal part of the robot of Embodiment 3. 10 is a flowchart illustrating a processing flow in the robot according to the third embodiment. It is a figure which shows schematic structure of the robot of Embodiment 4, (a) is a front view, (b) is a bottom view of a right foot part and a left foot part, (c) is a perspective view of a right foot part and a left foot part. . It is a block diagram which shows the structure of the principal part of the robot of Embodiment 4. It is a figure which shows the example of the 2nd basic stable attitude | position in the robot of Embodiment 4. 10 is a flowchart illustrating a processing flow in the robot according to the fourth embodiment. It is a block diagram which shows the structure of the principal part of the robot of Embodiment 5. FIG. 10 is a diagram illustrating a basic stable posture pattern in the robot of Embodiment 5, wherein (a) is a posture angle of 90 °, (b) is a posture angle of 60 °, (c) is a posture angle of 30 °, and (d) is a posture. It is a figure which shows a pattern in case a corner | angular is especially small. It is a figure which shows the schematic structure of the robot of Embodiment 6, (a) is a perspective view, (b) is a side view. It is a figure which shows the schematic structure of the robot of Embodiment 7, (a) is a front view, (b) is a bottom view of a right foot part and a left foot part. It is a block diagram which shows the structure of the principal part of the robot of Embodiment 7. 10 is a flowchart illustrating a processing flow in a robot according to a seventh embodiment.

Embodiment 1
Embodiment 1 of the present invention will be described below with reference to FIGS. First, the outline of the robot 1 of the present embodiment will be described with reference to FIG. In this embodiment, the robot 1 will be described by exemplifying a biped walking humanoid robot.

(Overview of robot 1)
FIG. 2A is a front view showing a schematic configuration of the robot 1. As an example, the robot 1 may be a robot that can be carried by a user. Note that the robot according to one embodiment of the present invention may be a robot that can be lifted (more preferably, carried) by a user. That is, the robot may be configured to have a size and weight within a range that can be lifted (or carried) by the user.

  The robot 1 is composed of a plurality of parts (link members). In the present specification, the “link member” means a member (housing) connected to each other by a joint, and includes a terminal member. For example, in the case of the robot 1, the head 101 and the trunk 102 described below are link members.

  As shown in FIG. 2, the robot 1 includes a head 101, a trunk 102, a right arm 104 a, a left arm 104 b, a right leg 105 a, a left leg 105 b, a right foot 10, a left foot 20, and movable parts 31-1. 39.

  In the robot 1, the front direction of the head 101 is defined in advance. Here, in order for the user to easily recognize the front of the head 101, a part imitating an eyeball or the like may be provided on the front of the head 101.

  Note that the terms “left” and “right” described above indicate a positional relationship based on the front direction of the head 101. For convenience of explanation, the front direction is also referred to as the front. The direction when the head 101 is viewed from the right foot 10 and the left foot 20 is the upper side.

  The trunk 102 is a member connected to the head 101 and corresponds to the body of the robot 1. The trunk section 102 is connected to the right arm section 104a, the left arm section 104b, the right leg section 105a, and the left leg section 105b described above. The right foot part 10 and the left foot part 20 are connected to the opposite side of the right leg part 105a and the left leg part 105b to the side connected to the trunk part 102.

The movable parts 31 to 39 are joints that connect a plurality of parts constituting the robot 1. The specific roles of the movable parts 31 to 39 in the robot 1 are as follows.
-Movable part 31: Connects the right foot part 10 and the right leg part 105a-Movable part 32: Connects the left leg part 20 and the left leg part 105b-Movable part 33: Connects the right leg part 105a and the trunk part 102-Movable Unit 34: Connects the left leg 105b and the torso 102 / Movable part 35: Connects between two parts constituting the right arm part 104a / Movable part 36: Connects / moves between two parts constituting the left arm part 104b Part 37: Connects the right arm part 104a and the trunk part 102 / Movable part 38: Connects the left arm part 104b and the trunk part 102 / Moveable part 39: Connects the trunk part 102 and the head part 101 The parts 31 to 39 are collectively referred to as the movable part 30.

  Each of the movable parts 31 to 39 has one or more control motors (for example, servo motors). Each control motor uses a directional axis of a three-dimensional orthogonal coordinate system (eg, XYZ orthogonal coordinate system, see FIG. 7 described later) as a rotation axis, and a predetermined angular range (for example, ± 90) around the rotation axis. It can be rotated within °).

  FIG. 2B is a top view of the right foot portion 10 and the left foot portion 20. As shown in FIG. 2B, control motors 31a and 32a are provided above the right foot 10 and the left foot 20, respectively. The control motors 31a and 32a are control motors different from the control motors that the movable parts 31 and 32 have. In addition, as shown to (a) of FIG. 2, the movable parts 31 and 32 are provided in the right leg part 105a and the left leg part 105b, respectively.

  Each of the movable portions 31 to 34 rotates so as to change the angle of the right leg portion 105a or the left leg portion 105b. Further, the rotation axes of the control motors 31a and 32a rotate around the Y axis in FIG. As described above, the movable portions 31 and 33 and the control motor 31a can control the angle of the right leg portion 105a and the inclination angle of the right foot portion 10 with respect to the XY plane (eg, a mounting surface described later) in FIG. Further, the movable parts 32 and 34 and the control motor 32a can control the angle of the left leg part 105b and the inclination angle of the left foot part 20 with respect to the XY plane, respectively.

  FIG. 2C is a bottom view of the right foot portion 10 and the left foot portion 20. As shown in FIG. 2C, a right foot distance sensor 11 (sensor) and a left foot distance sensor 21 (sensor) are provided on the right foot sole 10a of the right foot portion 10 and the left foot sole 20a of the left foot portion 20, respectively. .

  Here, the surface on which the user places the robot 1 is referred to as a placement surface. In the present embodiment, the placement surface is a horizontal surface (that is, a surface perpendicular to the vertical direction). As an example, the placement surface is a horizontal and flat ground, a floor, a desk, or the like.

  The right foot distance sensor 11 detects the distance between the right foot sole 10a and the opposite object. Further, the left foot distance sensor 21 detects the distance between the left foot sole 20a and its opposite object. Thus, the right foot distance sensor 11 and the left foot distance sensor 21 output the distances detected by themselves as detection results. As an example, when the right sole 10a and the left sole 20a face the placement surface, the right foot distance sensor 11 and the left foot distance sensor 21 can detect the distance from the placement surface, respectively.

  In the present embodiment, as an example of a sensor that detects a proximity state (a broad proximity state described below) of a predetermined part (eg, a planned contact part described below) of the robot 1 with respect to the placement surface, The left foot distance sensor 21 will be described as an example. However, as described in Embodiment 7 to be described later, the sensor according to one aspect of the present invention is not limited to a distance sensor (proximity sensor).

  A predetermined posture in which the robot 1 can maintain a stable state on the placement surface is referred to as a basic stable posture. In the robot 1, one or more patterns are defined in advance for the basic stable posture. In the present embodiment, for simplicity, a case where only one basic stable posture is defined will be described.

  An example of the basic stable posture is a posture in which the robot 1 stands upright on the placement surface (hereinafter referred to as an upright posture) (see (d) in FIG. 4 and the like described later). Hereinafter, the case where the upright posture is the basic stable posture will be described as an example. Further, when the robot 1 is placed on the placement surface in a specific basic stable posture (upright posture), a portion that comes into contact with the placement surface is referred to as a planned contact portion. In the robot 1, the right foot sole 10a and the left foot sole 20a are the planned contact portions.

  In the following description, a state where both the right foot sole 10a and the left foot sole 20a (all of the planned contact portions) are not close to the placement surface is referred to as an all non-proximity state. The state where both the right foot sole 10a and the left foot sole 20a are close to the placement surface is referred to as a placement preparation state. In addition, a state in which one of the right foot sole 10a and the left foot sole 20a (part of a contact planned portion) is not close to the placement surface is referred to as a partially non-close state.

  In the present specification, the term “proximity” means a state in which the distance between the planned contact portion and the placement surface is equal to or less than a predetermined value (eg, a first threshold value or a second threshold value described later). Represent. Here, as described later, the second threshold value may be set to “0 mm”. In other words, the term “proximity” in this specification includes only (i) a state where the distance between the planned contact site and the placement surface is very small (non-zero) (narrowly “proximity”, ie, a non-contact state). (Ii) The state in which the planned contact site and the placement surface are in “contact” is also included.

  In view of this point, the “placement preparation state” can be understood to mean that “all the planned contact portions are in a state of close proximity or contact in a narrow sense”. The same applies to a “second placement preparation state” described in a fourth embodiment described later.

  Next, the configuration of the main part of the robot 1 will be described with reference to FIG. FIG. 1 is a block diagram illustrating a configuration of a main part of the robot 1. As shown in FIG. 1, the robot 1 includes a right foot part 10, a left foot part 20, a movable part 30, a control part 40, and a storage part 90. For simplicity, the head 101, the trunk 102, the right arm 104a, the left arm 104b, and the right leg 105a shown in FIG. 2 are not shown in FIG.

  The control unit 40 comprehensively controls the operation of the robot 1. The function of the control unit 40 is realized by a CPU (Central Processing Unit) executing a program stored in the storage unit 90. The storage unit 90 is a storage device that stores various programs executed by the control unit 40 and data used by the programs.

  In the present embodiment, the configuration in which the control unit 40 is provided inside the robot 1 is illustrated, but the control unit 40 may be provided outside the robot 1. When the control unit 40 is provided outside the robot 1, the operation of the robot 1 can be controlled by wireless communication.

  As shown in FIG. 1, the control unit 40 includes a state determination unit 41 and an attitude control unit 42. Based on the distances detected by the right foot distance sensor 11 and the left foot distance sensor 21, the state determination unit 41 determines whether the robot 1 is in an all non-proximity state, a partial non-proximity state, or a placement preparation state. judge.

  The posture control unit 42 drives the movable unit 30 to change the posture of the robot 1. Further, the attitude control unit 42 can acquire the angle of the movable unit 30 (more specifically, information indicating the angle) from each of the movable units 30. For this reason, the posture control unit 42 can also detect the posture of the robot 1 based on the angle. A reference angle (reference position) is set in advance for each of the movable parts 30. In this specification, “the angle of the movable part 30” means the amount of change in angle from the reference angle (0 °) in each of the movable parts 30.

  The posture control unit 42 drives the movable unit 30 so that the basic stable posture is taken when the robot 1 shifts from the all non-proximity state to the placement preparation state. In addition, when the robot 1 is partly in the non-proximity state, the posture control unit 42 approaches the orientation of the part of the right foot 10 or the left foot 20 that is not close to the placement surface to the placement surface. The movable part 30 is driven so as to coincide with the direction of the part on the side where the movement is performed.

(Flow of posture control processing in the robot 1)
FIG. 3 is a flowchart showing the flow of processing in the robot 1. In the robot 1, the state determination unit 41 first determines whether the distance detected by one of the right foot distance sensor 11 and the left foot distance sensor 21 is equal to or less than a first threshold value (eg, 100 mm) (S11). If the distance detected by either the right foot distance sensor 11 or the left foot distance sensor 21 is greater than the first threshold (NO in S11), the state determination unit 41 repeats the process of S11.

  When the distance detected by one of the right foot distance sensor 11 and the left foot distance sensor 21 is equal to or smaller than the first threshold value (YES in S11), the state determination unit 41 determines that the robot 1 is partially non-proximity ( S12, state determination step). Next, the posture control unit 42 matches the angle of the foot corresponding to the distance sensor of the right foot distance sensor 11 and the left foot distance sensor 21 whose detected distance is not less than or equal to the first threshold to the angle of the other foot. Thus, the movable part 30 is controlled (S13, posture control process).

  As a specific example, consider a case where the distance detected by the right foot distance sensor 11 is equal to or less than the first threshold. In this case, the posture control unit 42 acquires the current angles of the movable units 31 and 33 of the right leg 105a. Then, the posture control unit 42 (i) matches the angle of the movable part 32 of the left leg 105b with the movable part 31 of the right leg 105a, and (ii) sets the angle of the movable part 34 of the left leg 105b to the right. The angle is adjusted to the angle of the movable portion 33 of the leg portion 105a. In addition, the posture control unit 42 changes the angles of the control motor 31a of the right foot 10 and the control motor 32a of the left foot 20 to an angle in a basic stable posture set in advance (an angle parameter described later).

  After S13, the state determination unit 41 determines whether the distances detected by the right foot distance sensor 11 and the left foot distance sensor 21 are both equal to or less than the second threshold (eg, 50 mm) (S14). The second threshold value is set smaller than the first threshold value described above.

  If at least one of the distances detected by the right foot distance sensor 11 and the left foot distance sensor 21 is not less than or equal to the second threshold (NO in S14), the state determination unit 41 repeats the process of S14.

  When the distances detected by the right foot distance sensor 11 and the left foot distance sensor 21 are both equal to or smaller than the second threshold (YES in S14), the state determination unit 41 determines that the robot 1 is in the placement preparation state (S15, state). Judgment process). Thereafter, the posture control unit 42 drives the movable unit 30 to cause the robot 1 to take a basic stable posture (upright posture) (S16, posture control step). That is, each angle of the movable parts 31 to 39 is changed to an angle set in advance as an angle in the basic stable posture (an angle parameter (posture parameter) associated with the upright posture).

  In the above-described example, the first threshold is 100 mm, and the second threshold is 50 mm. However, the first threshold value may be arbitrarily set, for example, 30 mm or 50 mm. Further, the second threshold value may be arbitrarily set within a range of 0 or more and less than the first threshold value. That is, if the first threshold value is TH1 and the second threshold value is TH2, it is sufficient that the relationship 0 ≦ TH2 <TH1 is satisfied.

(Operation of robot 1)
FIG. 4 is a diagram illustrating an example of an actual operation of the robot 1. In FIG. 4, for the sake of convenience of explanation, the size of the right foot 10 and the left foot 20 is larger than that in FIG. 2 described above in order to emphasize the positional relationship between the right foot 10 and the left foot 20 and the placement surface. It is shown. This also applies to each drawing described later.

  FIG. 4A is a diagram showing the robot 1 in a non-adjacent state. FIG. 4B is a diagram illustrating the robot 1 in a state in which the angle of one leg (for example, the left foot part 20) is adjusted in a partially non-adjacent state. FIG. 4C is a diagram illustrating the robot 1 in a state where the mounting preparation state is shifted to the basic stable posture.

  As described above, in the all non-proximity state of FIG. 4A, the distances detected by the right foot distance sensor 11 and the left foot distance sensor 21 are both greater than the first threshold value. Further, in the posture of the robot 1 in the all non-proximity state of FIG. 4A, the right foot portion 10 faces the placement surface, but the left foot portion 20 does not face the placement surface. That is, the angle of the right foot 10 and the angle of the left foot 20 are different.

  In the posture of FIG. 4A, the right foot 10 faces the placement surface, and therefore the right foot distance sensor 11 can detect the distance from the placement surface. On the other hand, since the left foot portion 20 faces the placement surface, the left foot distance sensor 21 cannot detect the distance from the placement surface. However, as described above, when the angle of the right foot portion 10 and the angle of the left foot portion 20 are different from each other in the non-adjacent state, the process of adjusting the angles is not performed.

  Subsequently, while the posture of the robot 1 in the non-close state in FIG. 4A is maintained, the user brings the robot 1 close to the placement surface, and the distance detected by the right foot distance sensor 11 is equal to or less than the first threshold value. Consider the case where

  In this case, as shown in FIG. 4B, the robot 1 matches the angle of the left foot 20 with the angle of the right foot 10. That is, the robot 1 changes the posture of the left foot 20 from the posture in the all non-proximity state of FIG. Thereby, since the left foot part 20 can be made to oppose a mounting surface, it becomes possible to detect the distance with a mounting surface by the left foot distance sensor 21. FIG. That is, the distance to the placement surface can be detected by both the right foot distance sensor 11 and the left foot distance sensor 21.

  The control motors 31a and 32a may be changed to an angle corresponding to the basic stable posture when the angle adjustment of the left foot 20 is completed.

  Subsequently, while the posture of the robot 1 after the posture change in FIG. 4B is maintained, the user brings the robot 1 close to the placement surface, and the distances detected by the right foot distance sensor 11 and the left foot distance sensor 21 are the same. Consider a case where both are below the second threshold. In this case, as shown in FIG. 4C, the robot 1 shifts to the basic stable posture (upright posture).

  FIG. 4D is a diagram illustrating the posture angle of the robot 1 in the basic stable posture. The posture angle is an angle between the trunk 102 of the robot 1 and a horizontal plane (that is, a placement surface). As shown in FIG. 4D, in the upright posture, the posture angle is 90 °.

  However, it is possible to set a basic stable posture in which the posture angle is an angle other than 90 °. This point will be described in a fifth embodiment to be described later. The basic stable posture (upright posture) shown in FIG. 4D is an example, and any other posture can be used as the basic stable posture as long as the stable state can be maintained on the placement surface.

  Moreover, the robot 1 does not necessarily need to include all the movable parts 31 to 39 described above, and conversely, may include a movable part other than the movable parts 31 to 39 described above. In any case, each movable part is driven by the attitude control unit 42.

(Effect of robot 1)
In the robot 1, the state determination unit 41 determines whether the robot 1 is in an all non-proximity state, a partial non-proximity state, or a placement preparation state based on the detection result of the distance sensor (sensor). When the robot 1 shifts from the all non-proximity state to the placement preparation state, the posture control unit 42 changes the posture of the robot 1 to the basic stable posture. This eliminates the need for the user to change the posture of the robot 1 to a posture suitable for placement before the user places the robot 1 on the placement surface. Therefore, the user can easily place the robot 1 on the placement surface without overturning the robot 1.

  Further, when the robot 1 is partially in the non-proximity state, parts of the right foot part 10 and the left foot part 20 that are not close to the placement surface are mounted by a distance sensor provided on the sole part of the part. There is a possibility that it is facing the direction in which the distance from the placement surface cannot be detected (that is, the direction in which the proximity state to the placement surface cannot be detected by the sensor).

  In this case, the posture control unit 42 adjusts the distance from the placement surface by the distance sensor by aligning the portion on the side not close to the placement surface with the orientation of the portion on the side close to the placement surface. The direction can be detected. Therefore, when the robot 1 is partly in the non-proximity state, the distance from the placement surface can be detected more appropriately by the distance sensor provided at a portion that is not close to the placement surface. That is, it is possible to more appropriately detect the proximity state of each part to be contacted with the placement surface by the sensor.

  In the robot 1, cameras may be provided on the right sole 10a and the left sole 20a to detect the state of the placement surface. In this case, when unevenness is detected on the placement surface, an alarm may be issued to the user so that the robot is placed on a flat surface.

[Embodiment 2]
The second embodiment of the present invention will be described below with reference to FIGS. For convenience of explanation, members having the same functions as those described in the above embodiment are denoted by the same reference numerals and description thereof is omitted.

(Configuration of robot 2)
FIG. 5 is a front view showing a schematic configuration of the robot 2 of the present embodiment. FIG. 6 is a block diagram illustrating a configuration of a main part of the robot 2. The robot 2 is different from the robot 1 of the first embodiment in that it includes (i) an acceleration sensor 50 and (ii) a control unit 40A (attitude control device) instead of the control unit 40. The control unit 40A is different from the control unit 40 in that a state determination unit 41A is provided instead of the state determination unit 41.

  The acceleration sensor 50 detects the acceleration of the robot 2. As an example, the acceleration sensor 50 detects accelerations in three axial directions orthogonal to each other. FIG. 7 is a diagram illustrating a direction axis of acceleration detected by the acceleration sensor 50. In the present embodiment, the acceleration sensor 50 detects accelerations in the X direction (left-right direction), the Y direction (front-rear direction), and the Z direction (up-down direction) shown in FIG.

  As shown in FIG. 7, the direction from the right foot 10 and the left foot 20 to the head 101 is the + Z direction (the positive direction of the Z direction), and the direction from the right arm 104a to the left arm 104b of the robot is the + X direction ( A positive direction in the X direction) and a direction from the rear to the front of the robot 1 are defined as a + Y direction (a positive direction in the Y direction). Further, the control unit 40A can detect a horizontal plane (a plane perpendicular to the vertical direction) based on the detection result of the acceleration sensor 50.

  Only when the acceleration detected by the acceleration sensor 50 satisfies a predetermined condition, the state determination unit 41A starts the same processing as the state determination unit 41 described above (a series of processes for shifting to the basic stable posture). To do. Here, the predetermined condition is an acceleration generated in the robot 2 when the robot 2 is placed (or directed) on the placement surface in a state where the robot 2 is in a posture that is relatively close to the basic stable posture. This is a condition set by assuming As will be described below, this predetermined condition may be set mainly as a condition for the Z component of acceleration (the component of acceleration toward the placement surface).

(Flow of attitude control processing in the robot 2)
FIG. 8 is a flowchart showing the flow of processing in the robot 2. With reference to FIG. 8, the flow of processing in the robot 2 will be described. Note that a description of processing common to the flowchart shown in FIG. 3 is omitted.

  In the robot 2, the state determination unit 41A first determines whether or not the acceleration sensor 50 detects a change in acceleration in the Z direction (S21). If a change in acceleration in the Z direction is not detected (NO in S21), state determination unit 41A repeats the process of S21.

  If a change in acceleration in the Z direction is detected (YES in S21), then the state determination unit 41A determines that the angle of the trunk 102 (torso) with respect to the horizontal plane (that is, the posture angle of the robot 2) is greater than or equal to a predetermined threshold value. It is determined whether it exists (S22). If the posture angle is less than the threshold (NO in S22), the state determination unit 41A ends the process. On the other hand, when the posture angle is equal to or larger than the threshold (YES in S22), the processes of S11 to S16 shown in FIG. 3 are subsequently performed.

  In addition, the right foot distance sensor 11 and the left foot distance sensor 21 in the robot 2 operate after YES is determined in S22. Thereby, compared with the case where these sensors are always operated, power consumption can be reduced.

  The predetermined condition for the state determination unit 41A to start the state determination operation is determined in S21 and S22.

In the above-described process S22, “the posture angle of the robot 2 is greater than or equal to a predetermined threshold” means, for example, the following determination formula (determination condition), that is,
(−Z direction acceleration> | X direction acceleration |) AND (−Z direction acceleration> | Y direction acceleration |)
Is determined by Here, | A | represents the absolute value of the number A.

  When the robot 2 is placed on the placement surface in a state where the robot 2 is relatively close to the basic stable posture, a downward (negative) acceleration is present in the Z direction of the robot 2. It is thought to occur. Therefore, in the above-described determination formula, a negative sign “−” is attached to the acceleration in the Z direction.

  On the other hand, when the robot 2 is placed on the placement surface in the above state, it is also conceivable that acceleration fluctuations occur in both the positive direction and the negative direction in the X direction and the Y direction of the robot 2. Therefore, in the above determination formula, the absolute values of the X direction and the Y direction are used without considering the positive / negative direction of acceleration.

(Effect of robot 2)
When the robot 2 is taking a posture that is significantly different from the basic stable posture (upright posture) (eg, a posture in which the robot 2 is laid on its back), to change the posture from the posture to the basic stable posture It is necessary to change the angle of the movable part 30 significantly. For this reason, we are anxious about the burden of the said movable part 30 becoming large.

  Therefore, when the robot 2 takes a posture that is significantly different from the basic stable posture, it is preferable not to change the posture to the basic stable posture from the viewpoint of avoiding a heavy burden on the movable unit 30. I can say that.

  In consideration of this point, in the robot 2, the state determination unit 41A starts a series of processes for shifting to the basic stable posture only when the acceleration Z component satisfies the predetermined condition described above. In other words, the state determination unit 41A permits the operation of the posture control unit 42 only when the above-described conditions are satisfied. According to the robot 2, it is possible to prevent a large burden on the movable unit 30.

[Embodiment 3]
The third embodiment of the present invention will be described below with reference to FIGS.

(Configuration of robot 3)
FIG. 9A is a front view showing a schematic configuration of the robot 3. FIG. 9B is a bottom view of the right foot 10 and the left foot 20 of the robot 3. FIG. 10 is a block diagram illustrating a configuration of a main part of the robot 3.

  As shown in FIGS. 9A, 9B, and 10, the robot 3 further includes (i) a right foot force sensor 12 (force sensor) and a left foot force sensor 22 (force sensor), and (ii) ) It differs from the robot 2 in that a control unit 40B (attitude control device) is provided instead of the control unit 40A. The control unit 40B is different from the control unit 40A in that it includes a posture control unit 42B instead of the posture control unit 42.

  The right foot force sensor 12 and the left foot force sensor 22 detect a force applied to itself. The right foot force sensor 12 and the left foot force sensor 22 may be strain gauges or load cells, for example. The right foot force sensor 12 and the left foot force sensor 22 are provided on the right foot sole 10a and the left foot sole 20a of the robot 3, respectively.

  Specifically, the right foot force sensor 12 and the left foot force sensor 22 are provided in the vicinity of the center of gravity of the right foot portion 10 and the left foot portion 20 vertically below. In the robot 3, the right foot distance sensor 11 and the left foot distance sensor 21 are provided on the toe side (front side) of the right foot sole 10a and the left foot sole 20a, respectively.

  When the right sole 10a and the left sole 20a are in contact with the placement surface, the right sole 10a and the left sole 20a apply pressure to the placement surface. In this case, the placement surface provides a resistance against the pressure against the right sole 10a and the left sole 20a. For this reason, the magnitude of the force (pressure) applied to the placement surface by the right foot sole 10a and the left foot sole 20a can be known from the detection results of the right foot force sensor 12 and the left foot force sensor 22.

  The position where the right foot force sensor 12 and the left foot force sensor 22 are provided is the force (resistance force) received from the placement surface when the robot 3 is stationary on the placement surface in the basic stable posture (upright posture). ) Is the part that will be particularly large. Therefore, by providing the right foot force sensor 12 and the left foot force sensor 22 at the position, it is possible to suitably detect the force received from the placement surface when the robot 3 takes the basic stable posture.

  The posture control unit 42B causes the robot 3 to take a basic stable posture by the same processing as the posture control unit 42 described above. Then, the posture control unit 42B drives the movable unit 30 so as to reduce variation in the magnitude of the force detected by the right foot force sensor 12 and the left foot force sensor 22. Specifically, the posture control unit 42B subtracts the smaller force from the larger force detected by the right foot force sensor 12 and the left foot force sensor 22 (specifically, the larger force). When the value) exceeds a predetermined threshold, the posture of the robot 3 is controlled so that the difference in force is reduced.

(Flow of posture control processing in the robot 3)
FIG. 11 is a flowchart showing the flow of processing in the robot 3. Processing in the robot 3 will be described with reference to FIG.

  The robot 3 takes a basic stable posture by processing similar to the processing in the robot 2 described above (S21, S22, S11 to S16 in FIG. 7). Thereafter, when the robot 3 is placed on the placement surface, the posture control unit 42B determines whether the difference between the force detected by the right foot force sensor 12 and the force detected by the left foot force sensor 22 is equal to or less than a predetermined threshold. (S31).

  If the difference in force is not less than or equal to the predetermined threshold (NO in S31), the posture control unit 42B finely adjusts the movable part of the robot 3 so that the difference in force is reduced (S32), and then again in S31. Make a decision. When the force difference is equal to or smaller than the predetermined threshold (YES in S31), the posture control unit 42B ends the process.

(Effect of robot 3)
If the variation in the magnitude of the force detected by each of the right foot force sensor 12 and the left foot force sensor 22 is large after causing the robot 3 to take the basic stable posture, each of the right foot sole 10a and the left foot sole 20a is placed. It seems that the pressure applied to the surface is very different. For this reason, it is considered that the stability of the robot 3 on the placement surface is not so high.

  Therefore, in the robot 3, the posture of the robot 3 is basically stabilized so as to reduce the variation (that is, the pressure applied to the placement surface by the right sole 10a and the left sole 20a as uniform as possible). Further changes (fine adjustment) from the posture. As an example, the robot 3 can change the position of the center of gravity of the right foot 10 and the left foot 20 by adjusting the angle of the right foot 10 and the left foot 20 with respect to the placement surface. Therefore, the stability on the placement surface is further improved compared to the above-described robot 2 and the like.

  As described above, the robot 3 is configured by adding the right foot force sensor 12 and the like to the robot 2. However, for example, the right foot force sensor 12 may be added to the robot 1.

[Embodiment 4]
The following description will discuss Embodiment 4 of the present invention with reference to FIGS.

(Configuration of robot 4)
FIG. 12A is a front view showing a schematic configuration of the robot 4. FIG. 12B is a bottom view of the right foot portion 10 and the left foot portion 20 of the robot 4. FIG. 12C is a perspective view of the right foot portion 10 and the left foot portion 20 of the robot 4. FIG. 13 is a block diagram illustrating a configuration of a main part of the robot 4.

  As illustrated in FIGS. 12A to 12C and FIG. 13, the robot 4 includes (i) a right footpad distance sensor 13 (sensor) and a left footpad distance sensor 23 (sensor), and (ii) control. It differs from the robot 3 in that a control unit 40C (attitude control unit) is provided instead of the unit 40B. The control unit 40C is different from the control unit 40B in that it includes a state determination unit 41C and a posture control unit 42C instead of the state determination unit 41A and the posture control unit 42B.

  The right footpad distance sensor 13 and the left footpad distance sensor 23 are provided on the right foot 10b of the right foot 10 and the left foot 20b of the left foot 20, respectively. The right footpad distance sensor 13 and the left footpad distance sensor 23 detect the distances between the right foot 10b and the left foot 20b and the opposing objects, respectively. As an example, when the starboard part 10b and the port part 20b are opposed to the placement surface, the right foot distance sensor 11 and the left foot distance sensor 21 detect the distance from the placement surface, respectively.

  Here, in the robot 4, a basic stable posture different from the above-mentioned basic stable posture (upright posture) is defined in advance. As an example, the other basic stable posture (hereinafter, the second basic stable posture) is a posture (sitting basic stable posture) in which the robot 4 is seated on the placement surface. In order to distinguish from the second basic stable posture (sitting basic stable posture), the above-mentioned basic stable posture is also referred to as a first basic stable posture (upright basic stable posture).

  FIG. 14 is a diagram illustrating an example of the second basic stable posture in the robot 4. As shown in FIG. 14, the second basic stable posture is in a state where the posture angle is 90 °, the starboard portion 10b (and the right footpad distance sensor 13), the left foot portion 20b (and the left footpad distance sensor 23), The posture may be such that a part of the trunk 102 is brought into contact with the placement surface.

  In FIG. 14, it should be noted that the right footpad distance sensor 13 and the left footpad distance sensor 23 are highlighted for the convenience of explanation. Actually, when the right footpad distance sensor 13 and the left footpad distance sensor 23 are in contact with the placement surface, the right foot portion 10b and the left foot portion 20b are also in contact with the placement surface.

  The starboard portion 10b and the port portion 20b are portions that do not come into contact with the placement surface when the robot 4 is placed on the placement surface in the first basic stable posture (upright posture). That is, the starboard part 10b and the port part 20b are not planned contact parts in the first basic stable posture. When the robot 4 is placed on the placement surface in the second basic stable posture (sitting posture), the starboard portion 10b and the portside portion 20b are portions that come into contact with the placement surface (second contact planned portions). is there.

  Hereinafter, the state where both the starboard part 10b and the port part 20b (all of the second contact planned parts) are not close to the placement surface is the second all non-close state, and all of the second contact planned parts are placed. The state close to the surface is referred to as a second placement preparation state.

  In addition, a state in which one of the starboard portion 10b and the port portion 20b (a part of the second contact scheduled portion) is not close to the placement surface is referred to as a second partially non-adjacent state.

  The state determination unit 41C determines a state based on the distances detected by the right foot distance sensor 11 and the left foot distance sensor 21 as in the state determination unit 41A described above. The state determination unit 41C further performs a state determination based on the distances detected by the right footpad distance sensor 13 and the left footpad distance sensor 23.

  That is, the state determination unit 41C determines that the robot 4 is in the second full non-proximity state, the second partial non-proximity state, or the second load based on the distances detected by the right footpad distance sensor 13 and the left footpad distance sensor 23. It is determined which state is in the preparation state.

  The posture control unit 42C drives the movable unit 30 so as to assume the first basic stable posture when the robot 4 shifts from the all non-proximity state to the placement preparation state, like the above-described posture control unit 42B. To do.

  Further, the posture control unit 42C drives the movable unit 30 so as to assume the second basic stable posture when the robot 4 shifts from the second all-close state to the second placement preparation state. Furthermore, when the robot 4 is in the second part non-proximity state, the posture control unit 42C changes the orientation of the part of the right foot 10 and the left foot 20 that is not close to the placement surface to the placement surface. The movable unit 30 is driven so as to coincide with the direction of the part on the close side.

(Flow of posture control processing in the robot 4)
FIG. 15 is a flowchart showing the flow of processing in the robot 4. Processing in the robot 4 will be described with reference to FIG.

  In the robot 4, first, similarly to the robot 3 described above, the processes of S 21, S 22 and S 11 are executed. In the case of YES in S11, similarly to the robot 3, the process proceeds to the first basic stable posture (upright basic stable posture) (S40). The process in S40 is the same as the processes in S12 to S16, S31, and S32 in FIG.

  On the other hand, in the case of NO in S11, in the robot 4, the state determination unit 41C next determines whether the distance detected by one of the right footpad distance sensor 13 and the left footpad distance sensor 23 is equal to or less than the first threshold ( S41). If both the distances detected by the right footpad distance sensor 13 and the left footpad distance sensor 23 are not less than or equal to the first threshold (NO in S41), the state determination unit 41C performs the process of S11 again.

  When one of the distances detected by the right footpad distance sensor 13 and the left footpad distance sensor 23 is equal to or smaller than the first threshold value (YES in S41), the state determination unit 41C indicates that the robot 4 is in the second part non-proximity state. (S42). In this case, the posture control unit 42C matches the angle of the foot corresponding to the sensor whose detected distance is not equal to or smaller than the first threshold to the angle of the foot corresponding to the sensor whose detected distance is equal to or smaller than the first threshold ( S43).

  Thereafter, the state determination unit 41C determines whether both the distances detected by the right footpad distance sensor 13 and the left footpad distance sensor 23 are equal to or less than the second threshold value (S44). If at least one of the distances detected by the right footpad distance sensor 13 and the left footpad distance sensor 23 is not less than or equal to the second threshold (NO in S44), the state determination unit 41C repeats S44.

  When the distances detected by the right footpad distance sensor 13 and the left footpad distance sensor 23 are both equal to or smaller than the second threshold (YES in S44), the state determination unit 41C determines that the robot 4 is in the second placement preparation state. (S45). Thereafter, the posture control unit 42C shifts the robot 4 to the second basic stable posture (sitting basic stable posture) (S46).

(Effect of robot 4)
In the robot 4, the state determination unit 41 </ b> C determines a state such as a second partial non-proximity state or a second placement preparation state based on the distances detected by the right footpad distance sensor 13 and the left footpad distance sensor 23.

  Then, when the robot 4 shifts to the second placement preparation state, the posture control unit 42C has a second basic stable posture (sitting) different from the first basic stable posture (upright basic stable posture) in the robot 3 or the like. Basic stable posture) can be taken.

  As described above, the robot 4 is considered to have high stability on the placement surface in the first basic stable posture or the second basic stable posture according to the proximity state between the planned contact portion and the placement surface. Can take posture. For this reason, it becomes possible to make the robot 4 correspond to various mounting methods.

  As described above, the robot 4 has a configuration in which the right footpad distance sensor 13 and the like are added to the robot 3. However, for example, the right footpad distance sensor 13 may be added to the robot 1 or 2.

[Embodiment 5]
The fifth embodiment of the present invention will be described below with reference to FIGS. 16 and 17.

(Configuration of robot 5)
FIG. 16 is a block diagram showing the configuration of the robot 5. As shown in FIG. 16, the robot 5 is different from the robot 4 in that it includes a control unit 40D (attitude control device) instead of the control unit 40C. The control unit 40D is different from the control unit 40C in that it includes an attitude control unit 42D instead of the attitude control unit 42C, and further includes an angle calculation unit 43 (angle acquisition unit).

  The angle calculation unit 43 acquires (calculates) the posture angle of the robot 5 based on the acceleration detected by the acceleration sensor 50. However, the angle acquisition unit according to one aspect of the present invention may be any unit that can acquire the posture angle of the robot 5. For example, a gyro sensor may be provided in the robot 5 and the attitude angle of the robot 5 may be acquired (calculated) based on the detection result of the gyro sensor.

  In the robot 5, a plurality of basic stable posture patterns corresponding to the posture angle are defined. The posture control unit 42D has a movable portion so that a basic stable posture pattern corresponding to the posture angle calculated by the angle calculation unit 43 is taken when the robot 5 shifts from the all non-proximity state to the placement preparation state. 30 is driven.

  That is, the posture control unit 42D selects a basic stable posture pattern (the above-described first basic stable posture and third to fifth basic stable postures described below) according to the posture angle. In the present embodiment, all of the third to fifth basic stable postures are basic stable postures in which the right foot sole 10a and the left foot sole 20a are the planned contact portions, as in the first basic stable posture described above.

  FIG. 17 is a diagram showing a basic stable posture pattern in the robot 5, where (a) shows a posture angle of 90 °, (b) shows a posture angle of 60 °, and (c) shows a posture. When the angle is 30 °, (d) is a diagram showing a basic stable posture pattern when the posture angle is particularly small (eg, less than 30 °).

  As shown in FIG. 17A, when the posture angle is 90 °, the basic stable posture pattern is the above-described first basic stable posture (upright basic stable posture).

  As shown in FIG. 17B, when the posture angle is 60 °, the basic stable posture pattern is a forward-bending posture with the arm 104 extended slightly forward. Hereinafter, the pattern of the basic stable posture is referred to as a third basic stable posture.

  Further, as shown in FIG. 17C, when the posture angle is 30 °, the basic stable posture pattern extends the arm portion 104 further forward compared to the third basic stable posture described above. It is a forward bending posture. Hereinafter, the pattern of the basic stable posture is referred to as a fourth basic stable posture.

  By the way, when the posture angle is particularly small, it may be difficult to maintain a stable posture with the robot 5 standing on the placement surface. In such a case, as shown in FIG. 17D, a posture (four-sided posture) in which the arm portion 104 is extended and brought into contact with the placement surface may be set as a basic stable posture. Hereinafter, the pattern of the basic stable posture is referred to as a fifth basic stable posture.

  In the fifth basic stable posture, when the posture angle is particularly small (when it is considered difficult to stably take the first basic stable posture, the third basic stable posture, or the fourth basic stable posture). In addition, the robot 5 can be stabilized on the placement surface. As described above, when it is assumed that it is difficult to maintain a stable state on the placement surface with the robot 5 standing up, the posture of assisting with the arm portion 104 or the like is basically used to prevent the robot 5 from falling. It may be a stable posture.

(Effect of robot 5)
In the robot 5, the posture angle is calculated by the angle calculation unit 43, and the posture control unit 42D selects a basic stable posture pattern according to the posture angle. Then, the posture control unit 42D drives the movable unit 30 according to the selected basic stable posture pattern. Therefore, according to the posture angle of the robot 5, the robot 5 can be placed on the placement surface in a stable posture. That is, it becomes possible to make the robot 5 compatible with various mounting methods.

  As described above, the robot 5 has a configuration in which the angle calculator 43 and the like are added to the robot 4. However, for example, the angle calculation unit 43 or the like may be added to any of the robots 1 to 3.

[Embodiment 6]
The following describes Embodiment 6 of the present invention with reference to FIG.

(Configuration of robot 6)
18A and 18B are diagrams illustrating a schematic configuration of the robot 6, in which FIG. 18A is a perspective view and FIG. 18B is a side view. The robot 6 is a robot simulating a quadruped walking type animal (eg, dog). As shown in FIG. 18, the robot 6 includes a right front foot 61, a left front foot 62, a right rear foot 63, a left rear foot 64, and a trunk portion 69. The right forefoot 61, the left forefoot 62, the right hind leg 63, and the left hind leg 64 are connected to the trunk 69 by movable parts 65, 66, 67, and 68, respectively. In the robot 6, a basic stable posture is defined in which the soles of the right forefoot 61, the left forefoot 62, the right forefoot 63, and the left forefoot 64 are the contact planned sites.

  The robot 6 further includes a distance sensor 60 (sensor) and a control unit (not shown). In the robot 6, the distance sensor 60 is provided at a position facing the placement surface of the trunk 69. The distance sensor 60 detects the distance between the trunk part 69 and the placement surface.

  Thus, in the robot 6, the position where the distance sensor 60 is provided is different from the planned contact portion. That is, in the robot according to one embodiment of the present invention, the distance sensor may be provided in a predetermined part (arbitrary part). However, from the viewpoint of improving the detection accuracy of the distance sensor, it is more preferable to include each of the planned contact portions in the portion where the distance sensor is provided.

  The control unit includes a state determination unit and a posture control unit. The state determination unit determines that the robot 6 is in a non-close state when the distance detected by the distance sensor 60 is greater than a predetermined threshold, and determines that the robot 6 is in a placement preparation state when the distance is equal to or less than the predetermined threshold. To do. The posture control unit drives the movable units 65 to 68 and the movable unit such as the neck so that the robot 6 takes a predetermined basic stable posture when the robot 6 shifts from the all non-proximity state to the placement preparation state. Let As a result, the positional relationship among the right forefoot 61, the left forefoot 62, the right forefoot 63, and the left forefoot 64 is in a state in which a stable posture cannot be taken on the placement surface before the transition to the placement preparation state. However, the basic stable posture can be taken when placing on the placement surface.

  As described above, the robot according to one embodiment of the present invention is not limited to the biped walking robot, and may be a quadruped walking or still another robot. Note that the robot according to one embodiment of the present invention may include the distance sensor in a part (for example, the head) different from the trunk.

[Embodiment 7]
The seventh embodiment of the present invention will be described below with reference to FIGS.

(Configuration of robot 7)
FIG. 19A is a front view showing a schematic configuration of the robot 7. FIG. 19B is a bottom view of the right foot 10 and the left foot 20 of the robot 7. FIG. 20 is a block diagram illustrating a configuration of a main part of the robot 7.

  As shown in FIGS. 19A, 19B, and 20, the robot 7 uses the right foot physical switch 14 (the right foot distance sensor 11 and the left foot distance sensor 21 in the robot 1 of the first embodiment described above). Sensor) and left foot physical switch 24 (sensor).

  The right foot physical switch 14 and the left foot physical switch 24 are switches (for example, toggle switches) whose polarity (on state, off state) is switched when pressed. As an example, the right foot physical switch 14 and the left foot physical switch 24 may be in an off state when not pressed, and may be in an on state when pressed. The right foot physical switch 14 and the left foot physical switch 24 are provided on the right foot sole 10a and the left foot sole 20a of the robot 7, respectively.

  When the right sole 10a and the left sole 20a come into contact with an object (for example, a placement surface), the right foot physical switch 14 and the left foot physical switch 24 are pressed by the object. Therefore, the right foot physical switch 14 and the left foot physical switch 24 are switched from the off state to the on state. That is, an object can be detected by the right foot physical switch 14 and the left foot physical switch 24.

  Thus, according to the right foot physical switch 14 and the left foot physical switch 24, it is possible to detect whether the right foot sole 10a and the left foot 20a are in contact with the placement surface. That is, the right foot physical switch 14 and the left foot physical switch 24 can be used as a contact sensor that detects a contact state of a part to be contacted with the placement surface (the right foot sole 10a and the left foot sole 20a).

  In the present embodiment, the right foot physical switch 14 and the left foot physical switch 24 may output a signal (information) indicating its current polarity as a detection result. As will be described below, the state determination unit 41 of the present embodiment determines whether the robot 7 is in an all non-proximity state, a partial non-proximity state, or a placement preparation state based on the detection result. You may judge.

(Flow of posture control processing in the robot 7)
FIG. 21 is a flowchart showing the flow of processing in the robot 7. Processing in the robot 7 will be described with reference to FIG.

  In the robot 7, the state determination unit 41 first determines whether any of the right foot physical switch 14 and the left foot physical switch 24 has detected a placement surface (S71). When neither the right foot physical switch 14 nor the left foot physical switch 24 has detected the placement surface (NO in S71), the state determination unit 41 determines that the robot 7 is in the all non-proximity state, and performs the process of S71. repeat.

  When any of the right foot physical switch 14 and the left foot physical switch 24 detects the placement surface (YES in S71), the state determination unit 41 continues the state where both the right foot physical switch 14 and the left foot physical switch 24 are placed. Is detected (S72). When both the right foot physical switch 14 and the left foot physical switch 24 detect the placement surface (YES in S72), the state determination unit 41 determines that the robot 7 is in the placement preparation state. Then, the posture control unit 42 shifts the robot 7 to the above-described basic stable posture (S75).

  On the other hand, when both the right foot physical switch 14 and the left foot physical switch 24 have not detected the placement surface (NO in S72), that is, only one of the right foot physical switch 14 or the left foot physical switch 24 has detected the placement surface. In this case, the state determination unit 41 determines that the robot 7 is partially non-proximity. Next, the posture control unit 42 is a movable unit that adjusts the angle of the foot corresponding to the physical switch of the right foot physical switch 14 and the left foot physical switch 24 that does not detect the placement surface to the angle of the other foot. 30 is controlled (S73).

  Thereafter, the state determination unit 41 determines again whether both the right foot physical switch 14 and the left foot physical switch 24 have detected the placement surface (S74). If both the right foot physical switch 14 and the left foot physical switch 24 do not detect the placement surface (NO in S74), the state determination unit until both the right foot physical switch 14 and the left foot physical switch 24 detect the placement surface. 41 repeats the process of S74. When both the right foot physical switch 14 and the left foot physical switch 24 detect the placement surface (YES in S74), the process proceeds to S75 described above.

  As described above, in the robot 7 of the present embodiment, the right foot distance sensor 11 and the left foot distance sensor 21 (proximity sensor) of the robot 1 described above are replaced with the right foot physical switch 14 and the left foot physical switch 24 (contact sensor). . Thus, the sensor which concerns on 1 aspect of this invention does not need to be limited to a distance sensor. This configuration also provides the same effects as those of the first embodiment.

  Also in the robot 4 of the above-described fourth embodiment, the right footpad distance sensor 13 and the left footpad distance sensor 23 may be replaced with physical switches, respectively. Even with this configuration, the same effects as those of the above-described fourth embodiment can be obtained.

[Example of software implementation]
The control blocks (particularly the state determination units 41, 41A, 41C, the posture control units 42, 42B to 42D, and the angle calculation unit 43) of the robots 1 to 7 are logic circuits (hardware) formed in an integrated circuit (IC chip) or the like. Hardware), or software using a CPU (Central Processing Unit).

  In the latter case, the robots 1 to 6 include a CPU that executes instructions of a program that is software for realizing each function, and a ROM (Read Only Memory) in which the program and various data are recorded so as to be readable by a computer (or CPU). Alternatively, a storage device (these are referred to as “recording media”), a RAM (Random Access Memory) that expands the program, and the like are provided. And the objective of this invention is achieved when a computer (or CPU) reads the said program from the said recording medium and runs it. As the recording medium, a “non-temporary tangible medium” such as a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. Note that one embodiment of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.

[Summary]
A robot (1) according to aspect 1 of the present invention is a robot that can be lifted by a user, and the robot is provided with a movable portion (30) that connects a plurality of parts constituting the robot. When the robot is placed on the placement surface in a predetermined basic stable posture (e.g., upright posture, first basic stable posture), a contact planned portion (right foot sole) that is a portion in contact with the placement surface 10a, the left sole 20a) is defined in advance, the state where all of the planned contact sites are not close to the placement surface, a non-close proximity state, all the planned contact sites are close to the placement surface or The posture control unit (42) that changes the posture of the robot by driving the movable unit, and the contact state or proximity of the predetermined part of the robot with respect to the placement surface, with the contact state as a placement preparation state Check the condition And determining whether the robot is in the all non-close proximity state or the above-described placement preparation state based on the sensors (eg, right foot distance sensor 11, left foot distance sensor 21) and the detection results of the sensors. A state determination unit (41), and the posture control unit causes the basic stable posture to be taken when the robot shifts from the all non-proximity state to the placement preparation state. The movable part is driven.

  According to the above configuration, when the robot shifts from the all non-proximity state to the placement preparation state, the posture control unit changes the posture of the robot to the basic stable posture (a predetermined posture that can maintain a stable state on the placement surface). Be changed. This eliminates the need for the user to change the posture of the robot to a posture suitable for placement before the user places the robot on the placement surface. Therefore, the user can easily place the robot on the placement surface.

  In the robot according to aspect 2 of the present invention, in the aspect 1, the predetermined part includes each of the plurality of contact planned parts, and a part of the planned contact part is close to the placement surface. The state determination unit detects that the robot is in the partial non-proximity state based on the detection result of the sensor, and the posture control unit When the robot is in the partially non-adjacent state, the direction of the planned contact portion that is not close to the placement surface is made to coincide with the orientation of the planned contact portion that is close to the placement surface. It is preferable to drive the movable part.

  As shown in FIGS. 4A and 4B and the like, when the robot is partly in a non-proximity state, the planned contact portion that is not close to the placement surface is placed on the placement surface by the sensor. It is conceivable that it faces in a direction in which a contact state or proximity state with respect to can not be detected (a direction not facing the placement surface).

  Therefore, according to the above configuration, the planned contact portion that is not close to the placement surface can be directed in a direction in which the sensor can detect a contact state or proximity state to the placement surface (a direction facing the placement surface). it can. For this reason, each contact state or proximity state of the part to be contacted with the placement surface can be detected more appropriately by the sensor.

  The robot according to aspect 3 of the present invention further includes an acceleration sensor (50) that detects the acceleration of the robot in the above aspect 1 or 2, and the state determination unit is configured to detect the acceleration at the acceleration detected by the acceleration sensor. It is preferable that the operation of the posture control unit is permitted only when the acceleration component toward the placement surface satisfies a predetermined condition.

  As described above, when the robot is placed on the placement surface in a state in which the robot is taking a posture significantly different from the basic stable posture, from the viewpoint of preventing a large burden on the movable part. It can be said that it is preferable not to change the posture of the robot.

  In the above configuration, as an example, when the robot is placed on the placement surface in a state of being relatively close to the basic stable posture (assuming the acceleration), the acceleration generated in the robot is assumed. The predetermined condition may be set. In this case, the posture control can be permitted to the robot only when the robot is placed on the placement surface in a state in which the robot is relatively close to the basic stable posture. For this reason, it can prevent that a big burden is applied to a movable part.

  The robot according to Aspect 4 of the present invention is the robot according to any one of Aspects 1 to 3, wherein a force sensor (right foot force sensor 12, left foot force sensor 22) is provided for each of the plurality of planned contact portions. The posture controller is configured to reduce the variation in the magnitude of the force detected by each of the force sensors after causing the robot to take the basic stable posture. Is preferably driven.

  According to the above configuration, the posture of the robot can be controlled so that the pressure applied to the placement surface by each of the planned contact portions is as uniform as possible, so that the stability of the robot on the placement surface can be further improved. it can.

  In a robot according to aspect 5 of the present invention, in any one of the above aspects 1 to 4, an angle acquisition unit (angle calculation) that acquires a posture angle that is an angle of the trunk (69) of the robot with respect to the placement surface described above A plurality of basic stable posture patterns according to the posture angle, and the posture control unit may select the basic stable posture pattern according to the posture angle. preferable.

  According to said structure, the robot can take the pattern of the basic stable attitude | position according to an attitude | position angle. For this reason, it becomes possible to make the said robot respond | correspond to more various mounting methods.

  A robot according to Aspect 6 of the present invention is the robot according to any one of Aspects 1 to 5, wherein the robot is moved to a second basic stable posture (eg, sitting basic stability) different from the basic stable posture (eg, upright posture). In the case of being placed on the placement surface in the posture), the second contact scheduled parts (starboard part 10b, port part 20b) that are parts that come into contact with the placement surface are defined in advance, and the second contact A state in which all the planned parts are not close to the placement surface is a second all non-closed state, and a state in which all the second planned contact parts are close to or in contact with the placement surface is a second placement preparation. As a state, the state determination unit further determines whether the robot is in the second total non-proximity state or the second placement preparation state based on the detection result of the sensor, and the posture The control unit determines whether the robot is in the second all non-proximity state. When shifted to said second mounting ready, so assume the second basic stable posture, it is preferable to drive the movable portion.

  According to the above configuration, the robot can be caused to take either the basic stable posture or the second basic stable posture in accordance with the contact state or proximity state of the planned contact portion with respect to the placement surface. For this reason, it becomes possible to make the robot correspond to various mounting methods.

  The posture control device (control unit 40) according to Aspect 7 of the present invention is a posture control device that controls the posture of a robot that can be lifted by a user. The robot includes a plurality of parts that constitute the robot. A movable part to be connected is provided, and when the robot is placed on the placement surface in a predefined basic stable posture, a contact planned portion that is a portion in contact with the placement surface is prescribed in advance. The robot is further provided with a sensor for detecting a contact state or proximity state of a predetermined part of the robot with respect to the placement surface, and all of the planned contact parts are not in proximity to the placement surface. The movable part is driven and the posture of the robot is changed by setting the state as the all non-close state and the state where all of the planned contact parts are close to or in contact with the placement surface as described above. A posture control unit, and a state determination unit that determines whether the robot is in the non-close proximity state or the above-described placement preparation state based on the detection result of the sensor, and the posture The control unit drives the movable unit so that the basic stable posture is taken when the robot moves from the all non-proximity state to the placement preparation state. According to said structure, there exists an effect similar to the robot which concerns on 1 aspect of this invention.

  The posture control method according to aspect 8 of the present invention is a posture control method for controlling the posture of a robot that can be lifted by a user, and the robot has a movable part that connects a plurality of parts constituting the robot. When the robot is placed on a placement surface in a pre-defined basic stable posture, a contact planned portion that is a portion that comes into contact with the placement surface is prescribed in advance. In addition, a sensor for detecting a contact state or a proximity state of a predetermined part of the robot with respect to the placement surface is further provided, and a state where all of the planned contact portions are not close to the placement surface is completely non-closed A posture control step of driving the movable part and changing the posture of the robot, with the state, a state in which all of the planned contact parts are close to or in contact with the placement surface, as a placement preparation state; A state determination step of determining whether the robot is in the all non-proximity state or the above-described preparation state based on the detection result of the sensor, and the posture control step includes The robot further includes a step of driving the movable portion so as to assume the basic stable posture when the robot shifts from the non-adjacent state to the placement preparation state. According to said structure, there exists an effect similar to the robot which concerns on 1 aspect of this invention.

  The posture control device according to each aspect of the present invention may be realized by a computer. In this case, the posture control device is operated on each computer by causing the computer to operate as each unit (software element) included in the posture control device. The control program for the attitude control device to be realized and the computer-readable recording medium on which the control program is recorded also fall within the scope of the present invention.

[Additional Notes]
The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

1, 2, 3, 4, 5, 6, 7 Robot 10a Right foot sole (scheduled contact area)
10b Starboard area (second contact planned area)
11 Right foot distance sensor (sensor)
12 Right foot force sensor (force sensor)
13 Right footpad distance sensor (sensor)
14 Right foot physical switch (sensor)
20a Left foot sole (scheduled contact area)
20b port part (second contact planned part)
21 Left foot distance sensor (sensor)
22 Left foot force sensor (force sensor)
23 Left footpad distance sensor (sensor)
24 Left foot physical switch (sensor)
30-39 Movable part 40, 40A, 40B, 40C, 40D Control part (attitude control device)
41, 41A, 41C State determination unit 42, 42B, 42C, 42D Attitude control unit 43 Angle calculation unit (angle acquisition unit)
50 Acceleration sensor 60 Distance sensor (sensor)
69,102 Trunk

Claims (9)

A robot that can be lifted by a user,
The robot is provided with a movable part that connects a plurality of parts constituting the robot,
When the robot is placed on a placement surface in a predefined basic stable posture, a contact planned portion that is a portion in contact with the placement surface is prescribed in advance,
A state in which all of the planned contact parts are not close to the placement surface described above, a non-close proximity state,
A state where all of the above-mentioned planned contact parts are close to or in contact with the placement surface described above as a placement preparation state,
An attitude control unit that drives the movable part and changes the attitude of the robot;
A sensor for detecting a contact state or proximity state of a predetermined part of the robot with respect to the placement surface;
A state determination unit that determines whether the robot is in the all-close proximity state or the above-described placement preparation state based on the detection result of the sensor,
The posture control unit drives the movable portion so that the basic stable posture is taken when the robot shifts from the all non-proximity state to the placement preparation state. The predetermined part includes each of the plurality of contact planned parts,
A state where a part of the planned contact portion is not close to the placement surface as a part non-proximity state,
The state determination unit detects that the robot is in the partially non-proximity state based on a detection result of the sensor,
When the robot is in the partially non-proximity state, the posture control unit
The movable portion is driven so that the direction of the planned contact portion that is not close to the placement surface matches the orientation of the planned contact portion that is close to the placement surface. Item 2. The robot according to Item 1. An acceleration sensor for detecting the acceleration of the robot;
The state determination unit permits the operation of the posture control unit only when the acceleration component toward the placement surface satisfies a predetermined condition in the acceleration detected by the acceleration sensor. The robot according to claim 1 or 2. Each of the plurality of contact planned sites is further provided with a force sensor for detecting force,
The attitude control unit
4. The movable portion is driven so as to reduce variation in the magnitude of the force detected by each of the force sensors after causing the robot to take the basic stable posture. The robot according to any one of the above. An angle acquisition unit that acquires an attitude angle that is an angle of the trunk of the robot with respect to the placement surface;
A plurality of basic stable posture patterns according to the posture angle are defined,
The robot according to claim 1, wherein the posture control unit selects the basic stable posture pattern according to the posture angle. When the robot is placed on the placement surface in a second basic stable posture different from the basic stable posture, a second contact scheduled portion that is a portion in contact with the placement surface is defined in advance.
A state in which all of the second planned contact portions are not close to the placement surface, the second all non-close state,
A state in which all of the second planned contact sites are close to or in contact with the placement surface described above as a second placement preparation state,
The state determination unit further determines, based on the detection result of the sensor, whether the robot is in the second total non-proximity state or the second placement preparation state,
The attitude control unit drives the movable unit to cause the robot to take the second basic stable attitude when the robot moves from the second all non-proximity state to the second placement preparation state. The robot according to any one of claims 1 to 5, wherein: A posture control device for controlling the posture of a robot that can be lifted by a user,
The robot is provided with a movable part that connects a plurality of parts constituting the robot,
When the robot is placed on a placement surface in a predefined basic stable posture, a contact planned portion that is a portion in contact with the placement surface is prescribed in advance,
The robot is further provided with a sensor for detecting a contact state or proximity state of a predetermined part of the robot with respect to the placement surface.
A state in which all of the planned contact parts are not close to the placement surface described above, a non-close proximity state,
A state where all of the above-mentioned planned contact parts are close to or in contact with the placement surface described above as a placement preparation state,
An attitude control unit that drives the movable part and changes the attitude of the robot;
A state determination unit that determines whether the robot is in the all-close proximity state or the above-described placement preparation state based on the detection result of the sensor,
The posture control unit drives the movable unit so that the basic stable posture is taken when the robot moves from the all non-proximity state to the placement preparation state described above. apparatus. A posture control method for controlling the posture of a robot that can be lifted by a user,
The robot is provided with a movable part that connects a plurality of parts constituting the robot,
When the robot is placed on a placement surface in a predefined basic stable posture, a contact planned portion that is a portion in contact with the placement surface is prescribed in advance,
The robot is further provided with a sensor for detecting a contact state or proximity state of a predetermined part of the robot with respect to the placement surface.
A state in which all of the planned contact parts are not close to the placement surface described above, a non-close proximity state,
A state where all of the above-mentioned planned contact parts are close to or in contact with the placement surface described above as a placement preparation state,
An attitude control step of driving the movable part and changing the attitude of the robot;
A state determination step of determining whether the robot is in the all non-close proximity state or the above-described placement preparation state based on the detection result of the sensor,
The posture control step further includes a step of driving the movable portion so that the basic stable posture is taken when the robot moves from the all non-proximity state to the placement preparation state. An attitude control method characterized by the above.   A control program for causing a computer to function as the attitude control device according to claim 7, wherein the control program causes the computer to function as the attitude control unit and the state determination unit.

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