JP4489755B2 - Motion control method for figurines with legs - Google Patents

Description

  An animatronic controlled support walking system and method are generally disclosed.

(Background technology)
Animatronic controlled support figurines utilize electronics or other mechanical, hydraulic and pneumatic components to make the robot move live. Animatronic controlled characters are popular in entertainment places such as theme parks. For example, animatronic controlled characters are often used for shows or vehicles seen in theme parks. However, animatronic control characters are generally in a fixed position. Although the head or arm of an animatronic controlled character can move, the character generally cannot freely hang from one place to another or walk.

(Summary of the Invention)
Therefore, it is desirable for such characters to walk freely and independently through theme parks, parades, or other venues. Furthermore, it is desirable that such animatronic controlled characters look quite realistic. However, there are some special problems to be solved when developing such animatronic controlled walking figurines.

  First of all, real animals can trip and fall. However, in a public place such as a theme park where the safety of each customer, including small children, must be guaranteed, the animatronic controls should not trip over. Therefore, the goal is to create a walking robot that looks like an animal but does not trip over and injure the customer.

  Complex robotic systems also require electronics and computers to function. Mobile systems also require power supplies (batteries, engines, etc.). It is difficult to place these systems on the skin, inside the actual robot (on board). If they are placed outside of the figurine, we must find a way to hide these parts while maintaining the illusion that the figurine is a real animal. For example, you cannot see the electrical cord coming out of the figurine.

  Ideally, a single operator should command the animatronics control to move forward, backward, and turn left or right. Robots that look like animals have over 40 individual motors. This is too much for a single operator to control simultaneously. Therefore, a method or computer algorithm must be created that translates these simple instructions into individual joint trajectories that allow the system to walk.

  Furthermore, the mechanical substructure of such an animatronic controlled figure is necessarily robotic. That is, they are made from joints, gears, actuators, hoses, electrical wiring, and metal, plastic, or composite structural elements. In order to make these systems appear alive, they manage to be smooth, either with fabric or with artificial skin, or with fur, feathers, or scales. Must be covered.

  In this regard, a supported walking system is disclosed that comprises a robotic walking figurine and a wheeled support that partially supports the robotic walking figurine. The supported walking system is driven and controlled by a human operator.

  In one embodiment, the walking figurine is designed to look like a dinosaur and the wheeled support is characteristically crafted to look like an old-fashioned wooden cart. The result is an illusion that a dinosaur pulls the cart in a rickshaw style when the cart actually supports the walking machine and houses a human driver, computer, electronics, and battery.

  In one embodiment, the skin of the walking figurine is supported by a unique skeletal support system consisting of fiberglass, plastic and aluminum rings, which combine a rigid attachment and a flexible rubber attachment. To each other and to the skeleton of the walking machine. The effect is a realistic looking skin that floats over the mechanical skeleton that gives the appearance of a living animal.

  Only a handful of two-legged, freely walking robots have been built, all of which can be turned over. By attaching a robotic figurine to a movable cart, a number of problems associated with making a large walking figurine are presented.

  In one embodiment, the walking figurine is further attached to the cart via a “yoke”. By attaching the walking figurine to the cart via a “yoke”, the robot is partially supported and prevented from falling, ensuring the safety of people nearby.

  In addition, walking figurines include many individual actuators, electronics, computers, and power sources, which are too large to place in a walking robot. The cart provides a convenient place for these parts. These parts are connected to the walking robot by wires hidden in the yoke.

  In one embodiment, the cart has two driven wheels and a swivel caster. This allows the cart to move its own weight and provides a stable foundation that supports the walking robot. This configuration also allows a human operator to move the cart to move forward, backward, steer, and rotate in place using a simple joystick.

  The computer algorithm automatically controls the robot's walking function so that the robot can step forward, backward, and sideways simultaneously with the movement of the cart while it drives and rotates at varying speeds. To make.

  Illustrative and anticipated embodiments of the invention will now be described with reference to the drawings, which are not exhaustive and are intended to limit the invention to the precise form disclosed. It's not something to do. Many modifications and variations are possible in light of the teachings contained herein.

(Detailed explanation)
In one aspect, a supported walking system is disclosed that includes a robotic walking figurine and a wheeled support that at least partially supports the robotic walking figurine. The supportive walking system can be driven and controlled by a human operator. The walking figurine need not resemble any currently known or recognizable shape. It can be entirely fanciful or practical, depending on the desired effect or the intended use for the system. The illustrated embodiment is a dinosaur that may be in a theme park, but the present invention is in no way intended to be limited to this.

  FIG. 1 is a skeleton of one embodiment of a support type walking system. In one embodiment, the walking figurine (100) is designed to look like a dinosaur and the wheeled support (110) is built to look like an old-fashioned wooden cart. The dinosaur (100) is attached to the cart by a yoke (120). The resulting vehicle is in fact a dinosaur (100) rickshaw style cart (110) when the cart partially supports the walking machine and also houses a human driver, computer, electronics and battery. Designed to create an illusion of pulling.

Supporting walking figurine-kinematics Below is a brief kinematic description of one embodiment of a supporting walking system. In such an embodiment, the supported walking system consists of a two-legged walking machine that is partially supported by a three-wheeled cart.

  FIG. 2 is a kinematic diagram of one embodiment of a supported walking system. The wheeled cart is shown as a square frame (201). The first wheel (202) and the second wheel (203) are installed on the sides of the cart on both sides and rotate about axis A. The first wheel (202) and the second wheel (203) are powered. The third wheel (205) is installed in front of the cart. The third wheel (205) rolls freely around the vertical axis and rotates to allow it to move in any direction. The rigid yokes (204a-c) are attached to the cart so that the yoke and the walking figurine can freely pivot about axis A. The yoke consists of two side beams (204a and 204b) and a curved member (204c) that fits around the walking machine. The U link (204d) is firmly fixed to the bending member. Attached to the U-link is a link (205) that freely pivots about a horizontal axis B with respect to the yoke. The body (206) of the walking machine also has a U link (206a) attached to it, which freely pivots about the link (205) by axis C. In one embodiment, axes B and C are perpendicular to each other. Thus, the body has two degrees of freedom with respect to the yoke. Tightly attached to the body are two additional U links (206b, 206c). Attached to each of these U links are the right and left legs of the walking machine.

  Considering the right leg, the link (207) is attached to the main body through the U link (206b), and freely pivots about the axis D. In the latest embodiment, this joint is powered. The link (208) is then attached to the link (207) so that it freely pivots about axis E. This joint is also powered. Axes D and E are perpendicular to each other. Link (209) is attached to link (208) via a pivot so that it can pivot about axis F. This axis F is perpendicular to axes D and E. This joint is powered. Link (210) is attached to link (209) so that it can pivot about axis G. This joint is powered. Link (211) is attached to link (210) so that it can pivot about axis H. In the current embodiment, the link is constrained via a parallelogram linkage (not shown) so that the orientation with respect to the link (209) is fixed. Links (212) and (213) are attached to link (211) so that they can independently pivot about I and J, respectively. These joints are also powered. The left leg is a mirror image of the right leg.

The following is a more detailed description of the mechanical structure of one embodiment of a supported walking system.
Figures 3a and 3b show one embodiment of a supported walking system.

  In one form, a two-legged robotic machine (100) is attached to a wheeled cart (110) via a yoke (308). As shown in FIGS. 3a and 3b, the supported walking machine consists of two legs (307) connected to the body (306). The body is also fitted with a neck (305) and tail (303). The body of a walking machine consists of a rigid tube. Each leg is a mechanism consisting of six computer-controlled electric motors that actuate a series of links and a joint that arbitrarily positions the leg in any position and orientation with respect to the body within a tight volume. is there. (Note that only one leg is shown). The neck (305) is a mechanism consisting of seven computer-controlled electric motors that actuate a series of links and joints. The neck supports the head (321), which itself contains several additional motors. These motors operate, for example, eyes, eyelids, mouths, and other facial features. Finally, the tail mechanism is attached to the rear end of the body tube (303). Similar to the neck design, the tail consists of a series of links and six electric motors that actuate the joints.

  The cart consists of a steel frame (311) on which two drive wheels (312) and a swivel caster (310) are mounted. (Note that only one driven wheel is shown). The drive wheels are each powered by an electric motor and a belt reduction mechanism (322). The cart also houses electronics, battery pack power source (313), joystick (316), and puppeting interface (315) installed in enclosure (317). The human operator sits on the seat (314) and uses a joystick to drive the cart and uses a petting interface to control the body, neck and head movements of the walking machine. Although circular wheels have been described here, those wheels can actually take other shapes (eg, oval) to achieve the desired effect, and can also be an endless track system. . The term “wheel” should be understood in this way.

  When the operator drives the cart, all of the functions of the walking machine are automatically controlled by a series of computer algorithms to move synchronously with the cart. For example, these algorithms calculate when and where each foot must step, the speed and trajectory of each step, and body, neck, head and tail movements. This movement involves a movement that advances the steps to create realistic walking. The operator may override some of these automatically created movements, particularly head and neck movements, by using a petting interface during walking. Depending on the intended use of the system, one or more functional arms or other attachments can be included, which have functions such as holding, pushing, lifting and the like. The tail and head can be removed or replaced with other structures. In order to simplify the operation of the system, the walking mechanism comprises a camera (319) and a microphone (320) mounted on the head. The operator has a monitor (318) for viewing video images and headphones for listening to sound. These allow the operator to better interact with customers standing near the system and talking to the system. Also, the operator can be located at a remote location away from the walking mechanism using a remote control device. To give the illusion that the cart is just a traditional cart, a wooden decorative frame covers the entire cart.

  The cart and walking machine are coupled via three non-powered joints by a rigid yoke (308). The yoke is connected to the cart via a hinge (309) and to a walking machine via a biaxial “universal” joint (304). The cart hinge allows the walking machine to change its height by extending its legs. The universal joint allows the walking machine to tilt its body forward or backward with respect to the yoke and to roll the body from side to side. The combination of these three joints allows the walking machine to have the wide range of motion required for actual walking and movement, while all motors are completely stopped and powered off. , Making it possible to prevent the system from falling to the left, right, forward or backward. The yoke attachment also incorporates a spring balancing mechanism (322). This mechanism provides the yoke with rotational torque about a hinge (309) that partially supports the weight of the walking machine.

A system and method for controlling a walking algorithm- supported walking system and causing a figure to walk is also disclosed.

  In one embodiment, the supported walking system is driven by a human operator using a conventional two-axis joystick. A supported walking system can be viewed as a single vehicle with two driven wheels and two legs, each with several independent actuators.

  In this case, the problem is how to create multiple independent motion profiles from two joystick inputs. For example, the goal is to create a movement that walks on a straight line while rotating the system and at a varying speed.

  The operator uses joystick input to drive the cart, and the leg movement of the walking figurine is calculated by a computer algorithm in response to the cart movement. A brief description of this algorithm is as follows.

  In one embodiment, a standard joystick is used that can move along two axes, either left / right or forward / backward. The joystick directly controls the speed of the two cart wheels. For example, if the joystick is moved only to the left, the left cart wheel will rotate backward and the right wheel will rotate forward. The cart will then rotate around the vertical axis and counterclockwise when viewed from above, directly between the two wheels around the vertical axis. If the joystick is moved only to the right, the wheels will move in the opposite direction so that the cart rotates clockwise when viewed from above. The speed of the wheel is controlled by the distance that the joystick is moved from its center position.

  If the joystick is moved only forward, both wheels will be moved forward at the same speed and the cart will move forward. If the joystick is moved only backwards, both wheels will rotate backwards at the same speed. The cart will also move backwards.

  If the joystick is moved at an angle, e.g. forward and right, the movement is coupled linearly so that the cart moves forward and simultaneously turns to the right. Also, the speed of movement is controlled by how far the joystick is from its center position.

  The cart and walking figurine are attached by a rigid yoke with three freely rotating joints, and at any time one or both of the legs of the walking figurine rest on the ground. Thus, the ground on which the cart, yoke, walking figurine, and system are placed forms a closed chain of motion. (A closed kinematic chain is an arbitrary series of rigid links and joints that close on itself to form a loop).

  As the cart moves (as driven by the operator), the walking figurine must move its legs with respect to its body to maintain the integrity of the movement chain. If the leg does not move properly, typically some part of the chain of motion will be broken by losing leg slip or contact with the ground. For example, if the cart moves forward, the legs must move backward with respect to the body without rotating with respect to the ground to remain seated on the ground.

  Sensors are incorporated on the body of every moving joint, yoke, leg, and supportive walking system in the cart. Since the dimensions of the system are known, it is therefore possible to calculate the appropriate leg motion necessary to maintain the integrity of the motion chain. This is done using standard robot technology.

  It should be noted that by using these techniques, the body of the walking figurine can be moved even while the cart is stopped. In particular, corresponding to the non-actuated joint of the yoke, the body can tilt forward as if it were bent forward to eat from the ground. The body can also roll about the longitudinal axis, or the body can be raised or lowered to raise the walking figurine higher or lower. In order to command such a movement of the body, an appropriate movement of the leg is calculated that moves the body and maintains the integrity of the closed movement chain formed by the cart, yoke, walking figurine and the ground.

  Since the legs of the walking figurine have a limited range of motion, at some points the walking figurine must go through steps to provide cart movement. A computerized walking algorithm is used to produce these steps. The reference line is selected first. In one embodiment, the reference line is a vertical line that passes through a pivot that attaches the yoke to the feature. The walking figurine uses this reference line and moves with respect to this line. This line runs vertically through the center of the body of the walking figurine.

  As an example, consider the forward step. If the cart is moved forward, the body of the walking figurine will also move forward and the legs will remain stationary on the ground, but will move backwards with respect to the baseline. When any foot moves behind the reference line, the algorithm commands the backmost foot to move to a certain distance before the reference line. This distance is a function of cart speed. Therefore, larger cart speeds will result in larger steps. A foot that remains on the ground cannot advance the step until the other foot is safely placed on the ground. At that point, if it is behind the baseline, it will step forward. The trajectory of the legs while in the air is partly predetermined. While the step height is predetermined, the step length and step time are a function of the cart speed when the step is commanded. The exact trajectory of the step is calculated as a function of these parameters.

  At the end of the step where the foot touches the ground, the vertical motion of the foot stops when the preset foot / ground force limit is exceeded. This allows the figure to walk on the uneven surface by stopping the vertical movement of the foot when it encounters the ground instead of the defined vertical position. The applied force is sensed indirectly by reading the current commanded to the actuator in the leg. Since the current applied to these motors is proportional to the motor torque, the force applied to the ground can be estimated.

  If the cart turns to the left, for example when moving forward, both feet will again be placed both forward and to the left of the baseline as a function of cart speed.

  Thus, steps can be made in any combination of forward / backward and left / right to maneuver the cart and walking figurine. The resulting steps result in a walking movement that gives the illusion that the walking figurine is actually pulling the cart.

  In another example, a scripting language can be used to coordinate the movement of the walking figurine (100). The scripting language can be a computer language that allows a user to provide a set of instructions to the walking figurine (100). In one embodiment, the scripting language provides a combination of a puppetry and a fixed show. A puppetry is referred to as the user's ability to provide instructions to interact with the doll. Furthermore, a fixed show is a series of movements that can be programmed to be performed by robotic features without user interaction. Scripting language allows Lucky to respond simultaneously to pepting information from user input and perform fixed shows. For example, the walking figurine (100) can be pre-programmed to sneeze at certain time intervals. At the same time, the user can provide interacting information about the movement of the walking figurine (100).

  One potential application of scripting language is for the use of robots on assembly lines. Many products are manufactured with robots that perform a predetermined motion to perform work on the assembly line. However, part of the assembly process may require some human interaction that cannot be automated. The user may want the flexibility of quality control on the product at the same time the robot is assembling it. For example, when the left arm of the robot performs a predetermined assembly routine on the product, the right arm can simultaneously accept information from a human user to perform some quality control test.

  Furthermore, the scripting language can smooth the trajectory of the movement of the walking figurine (100). Scripting language provides the ability to make smoother motion than can normally be provided to a robot. Traditional robots have awkward movements, and sometimes even respond with inaccurate movements when they receive unfamiliar commands. Scripting language solves this problem by providing a trajectory even when the instructions are unfamiliar. In one embodiment, the scripting language is applied in settings where the precise movement of the robot is critical to productivity and safety. For example, in hazardous waste settings, inaccurate commands to the robot by the user may result in harmful waste spills. If the robot is instructed to move in a relatively smooth trajectory, there will be little risk of accidental leakage. The use of scripting language to create smooth motion in the robotics field can be applied to a wide range of fields where precision is paramount.

  Scripting language can also provide maximum utilization of real time. Previous scripting languages allocated memory and other computer resources as needed. These allocations may block the computer for any length of time. If the memory is not properly allocated, the robot stops functioning. Here, the scripting language has a memory allocation method that prevents the computer from being blocked. Actual time performance means that work must be done within a certain time period. In one embodiment, actual time maximization techniques are used in robots to ensure that they do not unnecessarily stop functioning over a period of time. For example, a spill may occur even if a robot carrying hazardous waste stops functioning momentarily.

  In addition, the scripting language can include improved conversion techniques. Mathematical conversion between the user's instructions and the actual joint motion necessary to carry out the user's instructions when the user is instructed to move the robot in a certain path Must be done. Scripting language provides an interface that allows the user to intuitively instruct the robot to move in a certain direction. In addition, this interface simplifies the complexity of combining movements such as vertical and horizontal movements. For example, the robot can respond to an instruction “walk straight” as opposed to “lift the left leg y feet vertically and move the left leg x feet horizontally”.

  One of ordinary skill in the art will appreciate that the technique used by scripting language is not limited to scripting language, in contrast to other computer languages. These techniques can also be used for various types of computer languages. Further, the scripting language is not limited to a specific type of graphical user interface (“GUI”). Any number of GUIs can be used in connection with scripting language. Any method, hardware, software, or circuitry necessary to provide the computerized information to the walking figurine (100) is utilized. One of ordinary skill in the art will appreciate that the controller or memory necessary to perform the scripting language is available. Furthermore, one of ordinary skill in the art will appreciate that the scripting language can be stored in the walking figurine (100) itself or in a remote location from which information is sent to the walking figurine (100). . As mentioned above, the scripting language can be used for other purposes than a supported walking system.

It is the skin and skeletal structure that further completes the overall picture of the skeletal support structure and skin- realistic robot or animatronic control character.

  Traditionally, animatronic controlled figurines have used hydraulic actuators. This is because the power-to-size ratio of these actuators is very high. However, the hydraulic system has several drawbacks. Hydraulic oil tends to leak out of these systems and damage delicate skin and other outer coverings. They also need to be pressurized to a pressure between 500 and 6000 psi. These high-pressure systems must be kept away from people. This is because rupture of the pressurized hydraulic line can cause dangerous fluid ejection. The hydraulic system also maintains a force on the hydraulic oil column, which is necessarily elastic. This elasticity limits the response bandwidth of the hydraulic system. Finally, hydraulic systems require basic facilities such as pumps, sump, manifolds, valves and accumulators.

  It is therefore advantageous to use electric motors for robots and animatronic control objects. However, electric motors typically have a power to dimension ratio that is lower than that of hydraulic actuators. Therefore, the weight of an electrically driven robot or animatronic control system becomes a serious problem and must be kept as low as possible.

  There are several other problems that make it difficult to develop substructures that support animatronic controlled skin. Real animals have a very large range of motion at their joints. This means creating realistic movements and the skin and the structures that support them must adapt to considerable tension and compression. Real animals have many degrees of freedom, especially in the main parts such as the neck or tail. It is costly to have as many joints on an animatronic controlled figurine as there are in real animals. Thus, it would be advantageous if the skin and support structure could improve the appearance of the figurine by making it appear that there are more joints than in the underlying mechanism. Real animals are biological and therefore have a complex outer shape. The skin and support structure must maintain their shape while appearing realistic, despite considerable movement, tension, and compression.

  Therefore, occupying as little space as possible is advantageous for the skin and its support structure. Since the strength of the robotic mechanism is related to its dimensions, if the skin and its supporting structure occupy a lot of space, only a little remains for the mechanism, making it difficult to build sufficiently strong and rigid To do. Finally. The skin and its supporting structure must be easy to manufacture.

  Therefore, there is a need for a mechanism that supports the animatronic controlled skin through a large range of motion with significant deflection and compression. Furthermore, hiding the underlying robot structure is desirable for the skin support mechanism. Furthermore, adapting to complex shapes is desirable for skin support mechanisms. Furthermore, it is desirable for the skin support structure to be very light. Furthermore, it is desirable for the skin support mechanism to occupy a small amount of space between the internal robot mechanism and the skin itself. Finally, it is desirable that the skin support mechanism be simple to manufacture.

  Therefore, a skeletal support structure for mechanical or robotic features is also disclosed. A skeletal support structure is a system that supports the skin of an animatronic controlled figurine that allows a large range of motion, is compact in size, lightweight, can be built into complex shapes, and is easy to manufacture is there. In one embodiment, the painted foamed latex skin covers the skeletal support structure.

  4-8 are examples of a skeletal support structure and overlying skin. FIG. 4 is a diagram showing realistic results obtained with skin and skeletal structure in one example.

  In the embodiment of FIG. 4, the walking figurine 100 is in the form of a dinosaur that pulls the cart 110. The dinosaur is attached to the cart using the yoke 120. The painted foamed latex skin 130 covers the skeletal support structure of the walking figurine 100. The skin 130 is made by injecting foamed latex into a mold that represents the outer shape of the desired character. In the case of a dinosaur, the neck and tail of the dinosaur flex and move in many directions. A unique skeletal structure is used on the neck and tail to actually see the dinosaur movement. The effect is real-looking skin floating over a mechanical skeleton that gives the appearance of a living animal.

  The skeletal support structure consists of a plurality of rings that are attached to each other and attached to the figurine at various points. The rings are attached to each other using flexible attachments and attached to the figurine at various locations using rigid or fixed attachments.

  In one embodiment, the skin is supported by a skeletal support system consisting of fiberglass, plastic and aluminum rings that are connected to each other and the walking machine skeleton by a combination of rigid and flexible rubber attachments. Attached to.

  FIG. 5 shows a skeletal support structure found under the system shown in FIG. Note that the head and tail are covered with a structure consisting of multiple rings. FIG. 6 is an enlarged view of the tail skeleton support structure. FIG. 7 is a view of the ring itself. The rings are attached to each other by flexible elements. In our latest embodiment, we are using a piece of latex surgical tube. They are oriented for easy attachment to the ring using plastic tie wraps. This orientation also allows the rings to compress and expand each other with very little force. They can also rotate with respect to each other to allow the tail or neck to twist about its longitudinal axis. However, the orientation of the tube tends to prevent the rings from repositioning or shearing with respect to each other.

  In one embodiment, the ring is made by first making a tolling computer scan that is used to mold the flexible skin. The ring is then designed in the CDA program by “slicing” the computer scanned surface. For example, the ring is CNC milled from a panel made by laminating carbon fiber sheets on a nomex honeycomb core. Usually these types of panels are used in the aircraft industry because they are very hard for their weight. By assembling the structure from the ring thus made, it is ensured that the complex skin shape matches the structure that supports it. In addition, due to the thinness of the rings and the flexibility of the flexible elastic tubes used to join them, the structure has a large deflection required when the underlying joint moves through a large range of motion. And can be adapted to the degree of compression.

  In order to install the ring structure on the underlying tail mechanism, one ring per link of the structure is installed on each link of the tail mechanism. Thus, the ring structure floats over the tail mechanism. In one embodiment, these rings are made from aluminum for strength.

  FIG. 8 shows. Figure 2 is a schematic view of this system installed on the tail with three joints and four mechanical links. Rings (801), (802), (803), and (804) are mounted on tail links (805), (806), (807), and (808), respectively. Examples of the remaining rings are labeled (809), but these remaining rings are mounted relative to each other and mounted on a stationary ring, otherwise they float over the tail mechanism. I am allowed to. A lycra sock is placed over the ring and under the skin to allow the skin to slide smoothly over the ring structure. The lycra-covered ring creates a relatively smooth continuous surface to support the tail skin, hides the underlying tail mechanism, and gives the illusion that there are more than three working joints.

In addition, according to the supportive walking system described so far, there is a novel robot joint that is small in size, has two degrees of freedom at right angles to each other, and can be powered using an electric actuator. Disclosed.

  As mentioned above, it is advantageous to use an electric motor for the robot and the animatronic control object. However, electric motors operate most effectively at high speeds. Since most robots and animatronic control systems often have a desired joint speed that is less than the optimal operating time of an electric motor, a reduction gear is required. Also, the form factor of the electric motor itself does not lend itself to a simple packaging solution that fits within the packaging required for many animatronic controlled features.

  In particular, it is often advantageous to turn the output of an electric motor by 90 degrees in order to properly package the electric motor in a slender animatronic control arm, neck or tail. In addition, it is advantageous to provide joints whose axes are intersecting or almost intersecting and perpendicular to each other. The reason for this is that the animal's back, neck and tail joints consist of vertebrae that bend in at least two directions, and therefore it is necessary to account for these joints in an animatronic controlled figurine.

  Therefore, a small robot joint is provided. A small robot joint has two rotational degrees of freedom, in which case the axes of rotation intersect or almost intersect and are at right angles to each other. Small robot joints can be powered using an electric motor. In addition, small robot joints provide important gear reduction.

  Figures 9a, 9b, 9c and 10 show an exemplary embodiment of a small robot joint.

  The joint consists of three links that can be actuated to move relative to each other. The first link (Link1) moves with respect to the second link (Link2) along axis A. The third link (Link3) moves relative to the second link along axis B. Note that in this example, the first and third links are the same. Although not necessary, making these links the same reduces manufacturing and inventory costs and is one of the features of this joint.

  The first link (Link1) consists of an electric motor (902), and attached to the rear part thereof is a rotary encoder (901) for measuring the motor position. The planetary gearbox (903) is attached to the front of the motor. This assembly is attached to the U link (908) via the adapter plate (904). The coupler shaft (905) is rigidly attached to the gearbox shaft and the right angle bevel pinion (907) is rigidly secured to the coupling using a dowel pin (not shown). The coupler shaft is rotatably mounted into the U-link using a combination of rotation and thrust bushing (906).

  The second link (Link2) consists of a main block (914), which is mounted with bevel gear sectors (911) and (918) and detents (909) and (019). Flange bushings (910), (913), (915) and (917) are also pushed into the first link.

  The first link is rotatably mounted to the second link using a shaft (916). The third link is similarly rotatably mounted on the second link using a shaft (912).

  Power is transmitted from the first link to the second link from the pinion (907) via the gear (911). By controlling the orientation of the motor (902), the second link is controlled with respect to the first link. Similarly, power is transmitted from the third link to the second link from the pinion (921) via the gear (918). By controlling the position of the motor (926), the orientation of the third link is controlled with respect to the second link.

  An articulated structure can be created by connecting a series of these joints. Please refer to FIG.

  Although the system has been described in detail and with reference to specific embodiments, it will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention. Accordingly, the invention defined in the claims is not limited to the above specific description, but includes modifications and variations as long as they are included in the claims and their equivalents. is there.

Other embodiments and finished products can be utilized and structural and functional changes can be made without departing from the scope of each claimed invention. The accompanying descriptions of exemplary and anticipated embodiments are presented for purposes of illustration and description. They are not intended to be exhaustive or are intended to limit the invention to the precise form disclosed.
Many modifications and variations are possible in light of the technology described herein. There are many other types of the present invention that differ from others only in details. The present invention should be determined by the claims.

It is a sketch of the Example of a support type walking system. 1 is a kinematic view of a supportive walking system. It is a CAD figure of the support type walk figure without a theme formation element. It is another CAD figure of the support type walk figure without a theme formation element. It is a photograph which shows the Example of frame | skeleton support structure. It is a CAD figure which shows the ring which forms a frame | skeleton support structure. It is a close-up figure which shows one Example of frame | skeleton support structure. It is a CAD figure of a skeletal support structure. It is a sketch of the skeletal support structure. It is a CAD figure of the Example of the joint of a small robot. It is another CAD figure of the Example of the joint of a small robot. It is another CAD figure of the Example of the joint of a small robot. FIG. 5 illustrates a method of creating a joint connection structure by connecting a series of exemplary joints.

Claims (5)

In a method of controlling the movement of a legged figure including first and second legs ,
Said shaped structure, bound to the support with a wheel driven by the drive mechanism,
An instruction that represents the speed of moving the support, receives from an input device including a manually operable input means,
Converting the speed of moving the support into a step length for walking the figurine ;
By the drive mechanism, moving the support at a speed represented by an instruction received from the input device,
At the same time, with the first leg to move by a distance corresponding to the step length, by walking the shaped structure by the first leg moves the second leg when the ground, walking the shaped structure A control method characterized by synchronizing with the movement of the support . A trajectory for moving the first leg is partially scheduled, and the act of moving the first leg includes moving the first leg along the partially planned trajectory. The control method according to claim 1 . The control method according to claim 1 , wherein the act of moving the first leg includes moving the first leg to a predetermined height. In the case where the first leg is brought into contact with the ground to complete the step movement during walking of the figurative object, when the ground contact force acting on the first leg exceeds a predetermined threshold, the first leg The control method according to claim 1, further comprising stopping the vertical movement of the motor. 5. The control method according to claim 4 , wherein the grounding force is indirectly detected by reading a current commanded to an actuator of the first leg.

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