JP2020089929A5 - - Google Patents

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JP2020089929A5
JP2020089929A5 JP2018226978A JP2018226978A JP2020089929A5 JP 2020089929 A5 JP2020089929 A5 JP 2020089929A5 JP 2018226978 A JP2018226978 A JP 2018226978A JP 2018226978 A JP2018226978 A JP 2018226978A JP 2020089929 A5 JP2020089929 A5 JP 2020089929A5
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predetermined
execution
executed
execution frequency
selection
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JP2020089929A (en
JP7247560B2 (en
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上記目的を達成するため、本発明のロボットは、
複数の所定動作の各々を実行可能に構成されたロボットであって、
前記複数の所定動作の各々の実際の実行頻度を表す実行頻度パラメータを取得する取得手段と、
前記取得手段によって取得された実行頻度パラメータに応じて前記複数の所定動作のうちのいずれかの所定動作を実行用動作として選択する選択手段と、
前記選択手段によって選択された実行用動作を自機に実行させる動作制御手段と、
前記動作制御手段により前記実行用動作が実行された後、前記取得手段が取得する実行頻度パラメータを低く設定し、且つ、前記複数の所定動作のうち実行された所定動作以外の所定動作を前記実行用動作として選択されやすくするよう前記選択手段を制御する選択制御手段と、
を備えることを特徴とする。 In order to achieve the above object, the robot of the present invention
A robot configured to be able to perform each of a plurality of predetermined movements.
An acquisition means for acquiring an execution frequency parameter representing the actual execution frequency of each of the plurality of predetermined operations, and
A selection means for selecting any predetermined operation from the plurality of predetermined operations as an execution operation according to the execution frequency parameter acquired by the acquisition means.
An operation control means for causing the own machine to execute the execution operation selected by the selection means, and
After the execution operation is executed by the operation control means, the execution frequency parameter acquired by the acquisition means is set low, and the predetermined operation other than the executed predetermined operation among the plurality of predetermined operations is executed. A selection control means that controls the selection means so that it can be easily selected as an operation, and a selection control means.
It is characterized by having.

Claims (7)

複数の所定動作の各々を実行可能に構成されたロボットであって、
前記複数の所定動作の各々の実際の実行頻度を表す実行頻度パラメータを取得する取得手段と、
前記取得手段によって取得された実行頻度パラメータに応じて前記複数の所定動作のうちのいずれかの所定動作を実行用動作として選択する選択手段と、
前記選択手段によって選択された実行用動作を自機に実行させる動作制御手段と、
前記動作制御手段により前記実行用動作が実行された後、前記取得手段が取得する実行頻度パラメータを低く設定し、且つ、前記複数の所定動作のうち実行された所定動作以外の所定動作を前記実行用動作として選択されやすくするよう前記選択手段を制御する選択制御手段と、
を備えることを特徴とするロボット。 A robot configured to be able to perform each of a plurality of predetermined movements.
An acquisition means for acquiring an execution frequency parameter representing the actual execution frequency of each of the plurality of predetermined operations, and
A selection means for selecting any predetermined operation from the plurality of predetermined operations as an execution operation according to the execution frequency parameter acquired by the acquisition means.
An operation control means for causing the own machine to execute the execution operation selected by the selection means, and
After the execution operation is executed by the operation control means, the execution frequency parameter acquired by the acquisition means is set low, and the predetermined operation other than the executed predetermined operation among the plurality of predetermined operations is executed. A selection control means that controls the selection means so that it can be easily selected as an operation, and a selection control means.
A robot characterized by being equipped with. 前記取得手段は、前記実行頻度パラメータとして、前記複数の所定動作の各々が実行されていない状態の継続時間を取得することを特徴とする、請求項１に記載のロボット。 The robot according to claim 1, wherein the acquisition means acquires the duration of a state in which each of the plurality of predetermined operations is not executed as the execution frequency parameter. 前記取得手段は、前記実行頻度パラメータとして、前記複数の所定動作の各々が実行された回数である実行回数を取得することを特徴とする、請求項１に記載のロボット。 The robot according to claim 1, wherein the acquisition means acquires the number of executions, which is the number of times each of the plurality of predetermined operations is executed, as the execution frequency parameter. 前記選択手段は、前記複数の所定動作に対応する複数の選択用パラメータの間の比較結果に基づいて、前記複数の所定動作から前記実行用動作を選択し、
前記選択制御手段は、前記複数の所定動作の各々の実行頻度パラメータに基づいて、前記複数の所定動作からの前記実行用動作の選択を、実行頻度がより低い所定動作が前記実行用動作として選択されやすくなるように、前記複数の選択用パラメータの各々を設定することを特徴とする、請求項１から３のいずれか１項に記載のロボット。 The selection means selects the execution operation from the plurality of predetermined operations based on the comparison result among the plurality of selection parameters corresponding to the plurality of predetermined operations.
The selection control means selects the execution operation from the plurality of predetermined operations based on the execution frequency parameter of each of the plurality of predetermined operations, and the predetermined operation having a lower execution frequency is selected as the execution operation. The robot according to any one of claims 1 to 3 , wherein each of the plurality of selection parameters is set so as to be easy to use. 前記動作制御手段は、現在実行中の前記実行用動作としての所定動作に対応する実行頻度パラメータと、前記複数の所定動作のうちの、前記実行用動作としての所定動作以外の他の所定動作に対応する実行頻度パラメータとの比較結果に応じて、前記実行用動作としての前記所定動作の実行頻度がより低い場合に、現在実行中の前記所定動作を、中断せずに完了させるように前記自機に実行させることを特徴とする、請求項１から４のいずれか１項に記載のロボット。 The operation control means has an execution frequency parameter corresponding to a predetermined operation as the execution operation currently being executed, and a predetermined operation other than the predetermined operation as the execution operation among the plurality of predetermined operations. According to the comparison result with the corresponding execution frequency parameter, when the execution frequency of the predetermined operation as the execution operation is lower, the predetermined operation currently being executed is completed without interruption. The robot according to any one of claims 1 to 4, wherein the robot is made to be executed by a machine. 複数の所定動作の各々を実行可能に構成されたロボットの制御方法であって、
前記複数の所定動作の各々の実際の実行頻度を表す実行頻度パラメータを取得する取得ステップと、
前記取得ステップで取得された実行頻度パラメータに応じて前記複数の所定動作のうちのいずれかの所定動作を実行用動作として選択する選択ステップと、
前記選択ステップにて選択された実行用動作を自機に実行させる動作制御ステップと、
前記動作制御ステップにて前記実行用動作が実行された後、前記取得ステップで取得される実行頻度パラメータを低く設定し、且つ、前記複数の所定動作のうち実行された所定動作以外の所定動作を前記実行用動作として選択されやすくするよう制御する制御ステップと、
を含むロボットの制御方法。 It is a control method of a robot configured to be able to execute each of a plurality of predetermined movements.
An acquisition step for acquiring an execution frequency parameter representing the actual execution frequency of each of the plurality of predetermined operations, and
A selection step for selecting any predetermined operation from the plurality of predetermined operations as an execution operation according to the execution frequency parameter acquired in the acquisition step.
An operation control step for causing the own machine to execute the execution operation selected in the selection step, and
After the execution operation is executed in the operation control step, the execution frequency parameter acquired in the acquisition step is set low, and a predetermined operation other than the executed predetermined operation among the plurality of predetermined operations is performed. A control step that controls the operation so that it can be easily selected as an execution operation.
How to control the robot, including. 複数の所定動作の各々を実行可能に構成されたロボットを制御するための制御装置のコンピュータを、
前記複数の所定動作の各々の実際の実行頻度を表す実行頻度パラメータを取得する取得手段、
前記取得手段によって取得された実行頻度パラメータに応じて前記複数の所定動作のうちのいずれかの所定動作を実行用動作として選択する選択手段、
前記選択手段によって選択された実行用動作を自機に実行させる動作制御手段、及び、
前記動作制御手段により前記実行用動作が実行された後、前記取得手段が取得する実行頻度パラメータを低く設定し、且つ、前記複数の所定動作のうち実行された所定動作以外の所定動作を前記実行用動作として選択されやすくするよう前記選択手段を制御する選択制御手段、
として機能させるためのプログラム。 A computer of a control device for controlling a robot configured to be able to perform each of a plurality of predetermined actions.
An acquisition means for acquiring an execution frequency parameter representing the actual execution frequency of each of the plurality of predetermined operations.
A selection means for selecting any predetermined operation from the plurality of predetermined operations as an execution operation according to the execution frequency parameter acquired by the acquisition means.
An operation control means for causing the own machine to execute an execution operation selected by the selection means, and
After the execution operation is executed by the operation control means, the execution frequency parameter acquired by the acquisition means is set low, and the predetermined operation other than the executed predetermined operation among the plurality of predetermined operations is executed. A selection control means that controls the selection means so that it can be easily selected as an operation.
A program to function as.
JP2018226978A 2018-12-04 2018-12-04 Robot, robot control method and program Active JP7247560B2 (en)

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US6337552B1 (en) * 1999-01-20 2002-01-08 Sony Corporation Robot apparatus
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