JP4649806B2 - Robot apparatus and shock absorbing method for robot apparatus - Google Patents

Description

【００６３】
なお、各認識結果や出力セマンティクスコンバータモジュール２４７からの通知が各情動のパラメータ値の変動量△Ｅ［ｔ］にどの程度の影響を与えるかは予め決められており、例えば「叱られた」といった認識結果は「怒り」の情動のパラメータ値の変動量△Ｅ［ｔ］に大きな影響を与え、「誉められた」といった認識結果は「喜び」の情動のパラメータ値の変動量△Ｅ［ｔ］に大きな影響を与えるようになっている。
【００６４】
ここで、出力セマンティクスコンバータモジュール２４７からの通知とは、いわゆる行動のフィードバック情報（行動完了情報）であり、行動の出現結果の情報であり、感情モデル２６３は、このような情報によっても感情を変化させる。これは、例えば、「吠える」といった行動により怒りの感情レベルが下がるといったようなことである。なお、出力セマンティクスコンバータモジュール２４７からの通知は、上述した学習モジュール２６２にも入力されており、学習モジュール２６２は、その通知に基づいて行動モデルの対応する遷移確率を変更する。
【００６５】
なお、行動結果のフィードバックは、行動切換モジュール２６１の出力（感情が付加された行動）によりなされるものであってもよい。
【００６６】
また、本能モデル２６４は、「運動欲（exercise）」、「愛情欲（affection）」、「充電欲（以下、食欲（appetite）と記す。）」及び「好奇心（curiosity）」の互いに独立した４つの欲求について、これら欲求毎にその欲求の強さを表すパラメータを保持している。そして、本能モデル２６４は、これらの欲求のパラメータ値を、それぞれ入力セマンティクスコンバータモジュール２３０から与えられる認識結果や、経過時間及び行動切換モジュール２６１からの通知などに基づいて周期的に更新する。
【００６７】
具体的には、本能モデル２６４は、「運動欲」、「愛情欲」及び「好奇心」については、認識結果、経過時間及び出力セマンティクスコンバータモジュール２４７からの通知などに基づいて所定の演算式により算出されるそのときのその欲求の変動量をΔＩ［ｋ］、現在のその欲求のパラメータ値をＩ［ｋ］、その欲求の感度を表す係数ｋ_ｉとして、所定周期で（２）式を用いて次の周期におけるその欲求のパラメータ値Ｉ［ｋ＋１］を算出し、この演算結果を現在のその欲求のパラメータ値Ｉ［ｋ］と置き換えるようにしてその欲求のパラメータ値を更新する。また、本能モデル２６４は、これと同様にして「食欲」を除く各欲求のパラメータ値を更新する。
【００６８】
【数２】

【００６９】
なお、認識結果及び出力セマンティクスコンバータモジュール２４７からの通知などが各欲求のパラメータ値の変動量△Ｉ［ｋ］にどの程度の影響を与えるかは予め決められており、例えば出力セマンティクスコンバータモジュール２４７からの通知は、「疲れ」のパラメータ値の変動量△Ｉ［ｋ］に大きな影響を与えるようになっている。
【００７０】
なお、本実施の形態においては、各情動及び各欲求（本能）のパラメータ値がそれぞれ０から１００までの範囲で変動するように規制されており、また係数ｋ_ｅ、ｋ_ｉの値も各情動及び各欲求毎に個別に設定されている。
【００７１】
ミドル・ウェア・レイヤ２１０の出力セマンティクスコンバータモジュール２４７は、図４に示すように、上述のようにしてアプリケーション・レイヤ２１１の行動切換モジュール２６１から与えられる「前進」、「喜ぶ」、「鳴く」又は「トラッキング（ボールを追いかける）」といった抽象的な行動コマンドを出力系２５１の対応する信号処理モジュール２４０〜２４６に与える。
【００７２】
そしてこれら信号処理モジュール２４０〜２４６は、行動コマンドが与えられると当該行動コマンドに基づいて、その行動をするために対応するアクチュエータ２８_１〜２８_ｎ（図２）に与えるべきサーボ指令値や、スピーカ２０（図２）から出力する音の音声データ及び／又は発光部２５（図２）のＬＥＤに与える駆動データを生成し、これらのデータをロボティック・サーバ・オブジェクト２０２のバーチャル・ロボット２０３及び信号処理回路１４（図２）を介して対応するアクチュエータ２８_１〜２８_ｎ、スピーカ２０又は発光部２５に順次送出する。
【００７３】
このようにしてロボット装置１は、制御プログラムに基づいて自己（内部）及び周囲（外部）の状況や、使用者からの指示及び働きかけに応じた自律的な行動ができる。
【００７４】
続いて、以下に、本発明の適用部分である衝撃吸収機構について詳細に説明する。この衝撃吸収機構は、例えば落下等によりロボット装置１の頭部ユニット４に加えられた衝撃を弾性部材の弾性力により吸収するものである。
【００７５】
具体的に、落下等により頭部ユニット４に対して図９の矢印ａで示す方向に衝撃が加わった場合を考える。ここで、ロボット装置１の「頸部」に相当する可動部材１３０は、支持部材１２０に連結され、支持部材１２０は、弾性部材１１０の一端において取付部材１６０ａ，１６０ｂを介して結合固定されている。また、弾性部材１１０の他端においては、胴体部ユニット２の内部に格納される内部筐体１４０と取付部材１６０ｃ乃至１６０ｆを介して連結されている。このように、弾性部材１１０は、その一端において取付部品１６０ｃ乃至１６０ｆを介して内部筐体１４０と接続されているが、他端においては内部筐体１４０に対して固定されていない。したがって、図中矢印ａで示す方向に衝撃が加わった場合には、取付部品１６０ｅ，１６０ｆを支点として弾性部材１１０が撓むとともに、可動部材１３０及び支持部材１２０が内部筐体１４０に対して図中矢印ｂで示す方向に移動する。この弾性部材１１０の弾性変形によって衝撃が吸収される。
【００７６】
以下、このような衝撃吸収機構の構成について詳細に説明する。ここで、以下の記載において、垂直とは、ロボット装置１の腹部から背部へと貫通する方向を指し、水平とは、ロボット装置１の肩部と尻尾部とを結ぶ方向を指すものとする。なお、この方向は説明の便宜上決定したものであって、本実施の形態で示す方向のみに限定されない。
【００７７】
衝撃吸収機構における弾性部材１１０及び支持部材１２０の詳細を図１０に示す。弾性部材１１０は、例えば板バネ等の弾性を有するものである。この弾性部材１１０は、略長方形形状の部材の１つの短辺に接して略長方形形状の部材が切り抜かれて、基部１１１と２つの腕部１１２ａ，１１２ｂとを有する略コの字形状とされている。さらに、この腕部１１２ａ，１１２ｂは、後述する内部筐体１４０の形状に合わせて、水平面１１３ａ，１１３ｂ、傾斜面１１４ａ，１１４ｂ、及び垂直面１１５ａ，１１５ｂを有するように折曲加工され、折曲部には、補強のためのリブ１１６ａ乃至１１６ｄが設けられている。
【００７８】
腕部１１２ａ，１１２ｂの垂直面１１５ａ，１１５ｂの一端には、後述する取付部品１６０ａ，１６０ｂを挿通するための挿通孔１１７ａ，１１７ｂが設けられている。また、垂直面１１５ａ，１１５ｂには、切り起こし片１１８ａ，１１８ｂが設けられており、その先端は、垂直面１１５ａ，１１５ｂと略平行となるように、折曲加工されている。弾性部材１１０と支持部材１２０とは、後述するように、この取付部品１６０ａ，１６０ｂ及び切り起こし片１１８ａ，１１８ｂを介して接続固定される。さらに、垂直面１１５ａ，１１５ｂの端部には、弾性部材１１０の裏面に向かって折曲部１１９ａ，１１９ｂが設けられている。この折曲部１１９ａ，１１９ｂについては、後述する。
【００７９】
基部１１１の一端には、内部筐体１４０と接続するための後述する取付部品１６０ｃ及び１６０ｄがそれぞれ挿通する挿通孔１１７ｃ及び１１７ｄが設けられている。また、腕部１１２ａ，１１２ｂの水平面１１３ａ，１１３ｂの一端には、取付部品１６０ｅ，１６０ｆを挿通するための挿通孔１１７ｅ，１１７ｆが設けられている。弾性部材１１０と内部筐体１４０とは、この１６０ｃ乃至１６０ｆを介して接続固定される。
【００８０】
一方、支持部材１２０は、図１０に示すように、後述する可動部材１３０を駆動するための駆動モータ１２１を有している。また、支持部材１２０は、可動部材１３０を軸装するための回転軸１２２を有している。駆動モータ１２１の回転力は、図示しないギアを介して回転軸１２２に伝えられ、これにより、可動部材１３０は、回転軸１２２を回転中心として略９０°の回転角の範囲内で、開口部１２３の領域を回転駆動される。
【００８１】
また、支持部材１２０は、水平面１２４ａ，１２４ｂ、傾斜面１２５ａ，１２５ｂ、及び垂直面１２６ａ，１２６ｂとを有しており、これらの面において弾性部材１１０と接するようになされている。ここで、弾性部材１１０の水平面１１３ａ，１１３ｂが支持部材１２０の水平面１２４ａ，１２４ｂに、傾斜面１１４ａ，１１４ｂが傾斜面１２５ａ，１２５ｂに、垂直面１１５ａ，１１５ｂが垂直面１２６ａ，１２６ｂにそれぞれ対応する。
【００８２】
また、垂直面１２６ａ，１２６ｂには、上述した切り起こし片１１８ａ，１１８ｂを係止するための係止口１２７ａ，１２７ｂと取付部品１６０ａ，１６０ｂを挿通するための挿通孔１２８ａ，１２８ｂとが設けられている。
【００８３】
ところで、上述した弾性部材１１０と支持部材１２０とは、取付部品１６０ａ，１６０ｂ及び切り起こし片１１８ａ，１１８ｂを介して接続固定される。以下、詳細に説明する。図１１に示すように、切り起こし片１１８ａ，１１８ｂは、水平部１５０ａ，１５０ｂと垂直部１５１ａ，１５１ｂとを有している。また、水平部１５０ａ，１５０ｂの長さは、支持部材１２０の垂直面１２６ａ，１２６ｂにおける部材の厚さと略同一とされている。この切り起こし片１１８ａ，１１８ｂが、支持部材１２０の係止口１２７ａ，１２７ｂに係止されることで、弾性部材１１０が支持部材１２０に係止される。さらに、取付部品１６０ａ，１６０ｂが弾性部材１１０の挿通孔１１７ａ，１１７ｂ及び支持部材１２０の挿通孔１２８ａ，１２８ｂに挿通されることによって、結合固定される。
【００８４】
本実施の形態における衝撃吸収機構は、上述のように接続固定された弾性部材１１及び支持部材１２０に、ロボット装置１の「頸部」に相当する可動部材１３０が接続されることで構成される。すなわち、図１２に示すように、可動部材１３０は、略円筒形状を有し、支持部材１２０の回転軸１２２により回動自在に軸装される。
【００８５】
支持部材１２０と弾性部材１１０とは、例えば螺子である取付部品１６０ａ，１６０ｂによって接続される。
【００８６】
また、弾性部材１１０と内部筐体１４０とは、取付部品１６０ｃ乃至１６０ｆによって接続される。具体的には、図１３に示すように、弾性部材１１０の挿通孔１１７ｃ乃至１１７ｆと内部筐体１４０の挿通孔１４１ｃ乃至１４１ｆとに取付部品１６０ｃ乃至１６０ｆが挿通されることによって結合固定される。これにより、内部筐体１４０の上部にある解放部が弾性部材１１０によって覆われ、支持部材１２０は、内部筐体１４０の内部に格納される。すなわち、弾性部材１１０は、内部筐体１４０の一部を構成するものである。
内部筐体１４０の前面には、切欠部１４２ａ，１４２ｂが設けられており、この切欠部１４２ａ，１４２ｂにおいて上述した弾性部材１１０の折曲部１１９ａ，１１９ｂが係合される。さらに、図１４に示すように、内部筐体１４０の前面の縁部１４３ａ，１４３ｂに弾性部材１１０の裏面が接することで位置決めされる。
【００８７】
ここで、図１５に示すように、取付部品１６０ｃ，１６０ｄは、取付部品１６０ｅ，１６０ｆよりも上方に位置するように構成されている。この結果、弾性部材１１０には支持部材１２０の方向に向かって予圧が与えられるため、通常の動作時に弾性部材１１０の撓みが生じず、ガタつくことがない。さらに、この予圧によって、弾性部材１１０の裏面が内部筐体１４０の縁部１４３ａ，１４３ｂの方向に向かって圧接される。
【００８８】
以上のような構成を有する衝撃吸収機構の可動部材１３０に対して、例えば落下等により、上述した図９中の矢印ａで示す方向に衝撃が加わった場合を考える。弾性部材１１０は、その一端において取付部品１６０ｃ乃至１６０ｆによって内部筐体１４０と接続されているが、他端においては内部筐体１４０に対して固定されていない。したがって、図中矢印ａで示す方向に衝撃が加わった場合には、取付部品１６０ｅ，１６０ｆを支点として弾性部材１１０が撓み、内部筐体１４０の縁部１４３ａ，１４３ｂから離反するとともに、可動部材１３０及び支持部材１２０が内部筐体１４０に対して図中矢印ｂで示す方向に移動する。この弾性変形によって衝撃が吸収される。
【００８９】
このように、本実施の形態における衝撃吸収機構によれば、弾性部材１１０の一端において可動部材１３０を支持する支持部材１２０が接続され、他端において内部筐体１４０が接続されることで、弾性部材１１０の弾性力により、可動部材１３０に加わった衝撃を吸収することができる。
【００９０】
なお、本発明は、上述した実施の形態のみに限定されるものではなく、本発明の要旨を逸脱しない範囲において種々の変更が可能であることは勿論である。例えば、本実施の形態では、４足歩行の脚式移動ロボットに関して説明したが、ロボット装置は、内部状態に応じて動作するものであれば適用可能であって、移動手段は、４足歩行、さらには脚式移動方式に限定されない。
【００９１】
また、本実施の形態では、衝撃吸収機構は、頭部ユニットへの衝撃を吸収するものとして説明したが、これに限定されるものではなく、脚部ユニット等についても同様の機構を備えることにより、これらに加わる衝撃を吸収することが可能となる。
【００９２】
【発明の効果】
以上詳細に説明したように本発明に係るロボット装置は、本体に対して可動とされる可動部が連結されてなるロボット装置であって、上記可動部を可動に支持する支持部材と、上記支持部材と上記本体とを接続する接続部材とを有し、上記接続部材は、上記可動部に加えられた衝撃を吸収することを特徴としている。
【００９３】
ここで、ロボット装置においては、上記接続部材の一端に上記本体が連結されるとともに、他端に上記支持部が連結されており、上記接続部材が弾性変形することにより、上記可動部に加えられた衝撃が吸収される。
【００９４】
また、ロボット装置においては、上記接続部材及び上記支持部材のがたつきを防止するために、上記本体に対する方向に予圧をかけて、上記本体と上記接続部材とが連結される。
【００９５】
このようなロボット装置によれば、例えば落下等によって本体に接続される頭部や脚部等の可動部に衝撃が加わった際にも、接続部材が弾性変形することにより衝撃が吸収され、ロボット装置のメカ機構が塑性変形又は破壊等することを防止することができる。
【００９６】
また、本発明に係るロボット装置の衝撃吸収方法は、本体に対して可動とされる可動部が連結されてなるロボット装置の衝撃吸収方法であって、上記可動部を可動に支持する支持部と上記本体とを接続する接続部材によって、上記可動部に加えられた衝撃を吸収することを特徴としている。
【００９７】
ここで、ロボット装置の衝撃吸収方法においては、上記接続部材の一端に上記本体が連結されるとともに、他端に上記支持部が連結されており、上記接続部材が弾性変形することにより、上記可動部に加えられた衝撃が吸収される。
【００９８】
また、ロボット装置の衝撃吸収方法においては、上記接続部材及び上記支持部材のがたつきを防止するために、上記本体に対する方向に予圧をかけて、上記本体と上記接続部材とが接続される。
【００９９】
このようなロボット装置の衝撃吸収方法によれば、例えば落下等によって本体に接続される頭部や脚部等の可動部に衝撃が加わった際にも、接続部材が弾性変形することにより衝撃が吸収され、ロボット装置のメカ機構が塑性変形又は破壊等することを防止することができる。
【図面の簡単な説明】
【図１】本発明の一構成例として示すロボット装置の外観を示す外観図である。
【図２】本発明の一構成例として示すロボット装置の構成を示す構成図である。
【図３】本発明の一構成例として示すロボット装置の制御プログラムのソフトウェア構成を示す構成図である。
【図４】本発明の一構成例として示すロボット装置の制御プログラムのうち、ミドル・ウェア・レイヤの構成を示す構成図である。
【図５】本発明の一構成例として示すロボット装置の制御プログラムのうち、アプリケーション・レイヤの構成を示す構成図である。
【図６】本発明の一構成例として示すロボット装置の制御プログラムのうち、行動モデルライブラリの構成を示す構成図である。
【図７】本発明の一構成例として示すロボット装置の行動を決定するためのアルゴリズムである有限確率オートマトンを説明する模式図である。
【図８】本発明の一構成例として示すロボット装置の行動を決定するための状態遷移条件を表す図である。
【図９】本発明の一構成例として示すロボット装置における衝撃吸収機構によって衝撃が吸収される様子を説明する側面図である。
【図１０】同衝撃吸収機構における弾性部材及び支持部材の構成を示す斜視図である。
【図１１】同弾性部材と同支持部材との接続を説明する断面図である。
【図１２】同衝撃吸収機構の構成を示す側面図である。
【図１３】同衝撃吸収機構と本体との連結を説明する斜視図である。
【図１４】同弾性部材と同本体との接続を説明する斜視図である。
【図１５】同弾性部材に予圧がかけられる構成を説明する側面図である。
【符号の説明】
１ ロボット装置、２ 胴体部ユニット、３Ａ，３Ｂ，３Ｃ，３Ｄ 脚部ユニット、４ 頭部ユニット、５ 尻尾部、１１０ 弾性部材、１１１ 基部、１１２ａ，１１２ｂ 腕部、１１７ａ，１１７ｂ，１１７ｃ，１１７ｄ 挿通孔、１１８ａ，１１８ｂ 切り起こし片、１１９ａ，１１９ｂ 折曲部、１２０ 支持部材、１２１ 駆動モータ、１２２ 回転軸、１２７ａ，１２７ｂ 係止口、１２８ａ，１２８ｂ 挿通孔、１３０ 可動部位、１４０ 内部筐体、１４１ｃ，１４１ｄ，１４１ｅ，１４１ｆ 挿通孔、１４２ａ，１４２ｂ 切欠部、１４３ａ，１４３ｂ 縁部[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a robot apparatus having an impact absorbing mechanism for absorbing an impact applied by dropping or the like, and an impact absorbing method for the robot apparatus.
[0002]
[Prior art]
A mechanical device that performs an action similar to that of a human (living body) using an electrical or magnetic action is called a “robot”. Robots have begun to spread in Japan since the late 1960s, but many of them are industrial robots such as manipulators and transfer robots for the purpose of automating and unmanned production work in factories. Met.
[0003]
Recently, practical robots that support life as a human partner, that is, support human activities in various situations in daily life such as the living environment, have been developed. Unlike industrial robots, such practical robots have the ability to learn how to adapt themselves to humans with different personalities or to various environments in various aspects of the human living environment. For example, a “pet-type” robot that mimics the body mechanism and movement of a four-legged animal such as a dog or cat, or a body mechanism or movement of an animal that walks upright on two legs. Legged mobile robots such as “humanoid” or “humanoid” robots are already in practical use.
[0004]
Since these legged mobile robots can perform various operations with an emphasis on entertainment properties as compared with industrial robots, they may be called entertainment robots.
[0005]
The legged mobile robot has an appearance shape as close as possible to the appearance of animals and humans, and is designed to perform movements as close as possible to the movements of animals and humans. For example, in the case of the above-described four-legged “pet-type” robot, it has an external shape similar to a dog or a cat raised in a general home, and the user (owner) makes a “slap” or “boil” action. And behave autonomously according to the surrounding environment. For example, as an autonomous behavior, the behavior such as “barking” and “sleeping” is performed in the same manner as an actual animal.
[0006]
[Problems to be solved by the invention]
By the way, when the user is handling such a legged mobile robot, there may be a situation where the user accidentally drops the robot.
[0007]
Conventionally, there is no mechanism for absorbing the impact applied to the mechanical mechanism of the legged mobile robot in such a case, and the mechanical mechanism is protected by the rigidity of the parts.
[0008]
However, if the component rigidity is weak, there is a problem that plastic deformation and destruction occur, and this is particularly noticeable in the head and legs protruding from the main body, which is the “body”.
[0009]
The present invention has been proposed in view of such a conventional situation, and an object of the present invention is to provide a robot apparatus having an impact absorbing mechanism that absorbs an impact caused by dropping or the like, and an impact absorbing method for the robot apparatus. And
[0010]
[Means for Solving the Problems]
In order to solve the above-described problems, a robot apparatus according to the present invention is a robot apparatus in which a movable part that is movable with respect to a main body is connected, Having a rotation axis, The movable part Freely rotatable by the rotating shaft A supporting member that supports the connecting member, and a connecting member that connects the supporting member and the main body; The movable member is bent in the rotation direction, and the main body is coupled to one end of the connection member via a first attachment member, and the support member is coupled to the other end of the connection member via a second attachment member. When the impact is applied to the movable part, the first mounting member is bent as a fulcrum, and the movable part and the support member are moved in a direction opposite to the direction in which the movable part is moved by the impact. Move It is characterized by absorbing an impact applied to the movable part.
[0012]
Moreover, in the robot device, The first attachment member preloads the connection member in the direction of the support member. .
[0013]
In such a robot apparatus, even when an impact is applied to a movable part such as a head or a leg connected to the main body by dropping or the like, the impact is absorbed by elastic deformation of the connecting member.
[0014]
In order to achieve the above-described object, the impact absorbing method of the robot apparatus according to the present invention includes a movable part that is movable with respect to the main body. And a support member that rotatably supports the movable portion by a rotating shaft, and a connection member that connects the support member and the main body. A shock absorbing method for a robot apparatus, The movable member is bent in the rotation direction, and the main body is coupled to one end of the connection member via a first attachment member, and the support member is coupled to the other end of the connection member via a second attachment member. When the impact is applied to the movable portion by the connecting member to which the movable portion is coupled, the first mounting member is bent as a fulcrum, and the movable portion and the support member are moved in a direction in which the movable portion is moved by the impact. Move in the opposite direction It is characterized by absorbing an impact applied to the movable part.
[0016]
Moreover, in the shock absorbing method of the robot apparatus, A preload is applied in the direction of the support member to the connection member by the first attachment member. .
[0017]
In such a shock absorbing method of the robot apparatus, for example, even when an impact is applied to a movable part such as a head or a leg connected to the main body by dropping or the like, the shock is absorbed by elastic deformation of the connecting member. The
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings.
[0019]
A robot apparatus shown as one configuration example of the present invention is a robot apparatus that autonomously operates according to an internal state. This robot apparatus is a legged mobile robot that includes at least an upper limb, a trunk, and a lower limb, and uses only the upper limb and the lower limb or the lower limb as a moving means. Legged mobile robots include a pet-type robot that mimics the body mechanism and movement of a quadruped animal, and a robot device that mimics the body mechanism and movement of a biped animal that uses only the lower limbs as moving means. However, the robot apparatus shown as the present embodiment is a quadruped walking type legged mobile robot.
[0020]
This robotic device is a practical robot that supports human activities in various situations in daily life such as the living environment, and can act according to internal conditions (anger, sadness, joy, fun, etc.) and walk on four legs It is an entertainment robot that can express the basic movements of animals.
[0021]
This robot apparatus has in particular a head, a torso, an upper limb, a lower limb, and the like. The number of actuators and potentiometers corresponding to the degree of freedom of movement are provided in the portions corresponding to the connecting parts and joints of each part, and a target action can be expressed by the control of the control part.
[0022]
Furthermore, the robot apparatus includes an imaging unit for acquiring surrounding conditions as image data, various sensors for detecting an action received from the outside, various switches for detecting a physical action received from the outside, and the like. It has. A small CCD (Charge-Coupled Device) camera is used as the imaging unit. The various sensors include an acceleration sensor that detects acceleration, a distance sensor that measures a distance to a subject imaged by a CCD camera, and the like. The various switches include a contact-type push switch that detects touching by the user, and an operation switch that detects operation by the user. These are installed at appropriate locations outside or inside the robot apparatus.
[0023]
A robot apparatus shown as an example of the present invention includes an impact absorbing mechanism that absorbs an impact applied to the head that is movable with respect to the body.
[0024]
As for the present embodiment, the configuration of the robot apparatus will be described first, and then the application part of the present invention in the robot apparatus will be described in detail.
[0025]
As shown in FIG. 1, the robot apparatus 1 includes leg units 3 </ b> A, 3 </ b> B, 3 </ b> C, and 3 </ b> D connected to the front, rear, left and right of the body unit 2, and a head unit 4 connected to the front end of the body unit 2. It is configured.
[0026]
As shown in FIG. 2, the body unit 2 includes a CPU (Central Processing Unit) 10, a DRAM (Dynamic Random Access Memory) 11, a flash ROM (Read Only Memory) 12, a PC (Personal Computer) card interface circuit 13, and A control unit 16 formed by connecting the signal processing circuit 14 to each other via the internal bus 15 and a battery 17 as a power source of the robot apparatus 1 are housed. The body unit 2 houses an acceleration sensor 19 for detecting the direction of the robot apparatus 1 and the acceleration of movement. In the body unit 2, a speaker 20 for outputting a sound such as a cry or a melody is disposed at a predetermined position as shown in FIG. 1. The tail unit 5 of the body unit 2 is provided with an operation switch 21 as a detection mechanism for detecting an operation input from the user. The operation switch 21 is a switch that can detect the type of operation performed by the user, and the robot apparatus 1 is, for example, “admired” or “repressed” depending on the type of operation detected by the operation switch 21. Recognize.
[0027]
The head unit 4 includes a CCD (Charge Coupled Device) camera 22 for imaging the external situation and the color, shape, movement, etc. of the object, and a distance for measuring the distance to the object located in front. A sensor 23, a microphone 24 for collecting external sound, and a light emitting unit 25 including, for example, an LED (Light Emitting Diode) are arranged at predetermined positions as shown in FIG. However, the light emitting unit 25 is denoted as LED 25 as necessary in the description of the configuration. Further, although not shown in FIG. 1, a head switch 26 is provided inside the head unit 4 as a detection mechanism for indirectly detecting a user's contact with the head unit 4. The head switch 26 is a switch that can detect the tilt direction when the head is moved by a user's contact, for example. The robot apparatus 1 detects the tilt direction of the head detected by the head switch 26. Depending on the situation, it recognizes whether it has been praised or beaten.
[0028]
The joint portions of the leg units 3A to 3D, the connecting portions of the leg units 3A to 3D and the body unit 2, and the connecting portions of the head unit 4 and the body unit 2 include actuators 28 corresponding to several degrees of freedom. ₁ ~ 28 _n And potentiometer 29 ₁ ~ 29 _n Are arranged respectively. Actuator 28 ₁ ~ 28 _n For example, a servo motor is provided. By driving the servo motor, the leg units 3A to 3D are controlled to make a transition to a target posture or operation. Meat ball switches 27A to 27D as detection mechanisms mainly for detecting contact from the user are provided at positions corresponding to the “pads” at the tips of the leg units 3A to 3D, so that contact by the user can be detected. It is like that.
[0029]
In addition to this, the robot apparatus 1 is not shown here, but a light emitting unit for representing an operation state (operation mode) different from the internal state of the robot apparatus 1, charging, activation, activation stop, etc. A status lamp or the like indicating the state of the internal power supply may be appropriately provided at an appropriate location.
[0030]
In the robot apparatus 1, various switches such as the operation switch 21, the head switch 26, and the meat ball switch 27, various sensors such as the acceleration sensor 19 and the distance sensor 23, the speaker 20, the microphone 24, the light emitting unit 25, Actuator 28 ₁ ~ 28 _n , Each potentiometer 29 ₁ ~ 29 _n Are respectively corresponding hubs 30. ₁ ~ 30 _n Is connected to the signal processing circuit 14 of the control unit 16. On the other hand, the CCD camera 22 and the battery 17 are directly connected to the signal processing circuit 14 respectively.
[0031]
The signal processing circuit 14 sequentially takes in switch data supplied from the various switches described above, sensor data supplied from the various sensors, image data, and audio data, and these are respectively transferred to predetermined positions in the DRAM 11 via the internal bus 15. Store sequentially. In addition, the signal processing circuit 14 sequentially takes in battery remaining amount data representing the remaining amount of battery supplied from the battery 17 and stores it in a predetermined position in the DRAM 11.
[0032]
The switch data, sensor data, image data, audio data, and remaining battery data stored in the DRAM 11 in this way are used when the CPU 10 controls the operation of the robot apparatus 1.
[0033]
The CPU 10 reads out the control program stored in the flash ROM 12 and stores it in the DRAM 11 at the initial time when the power of the robot apparatus 1 is turned on. Alternatively, the CPU 10 reads out a control program stored in a semiconductor memory device (for example, a memory card 31) installed in a PC card slot of the body unit 2 (not shown in FIG. 1) via the PC card interface circuit 13 and stores it in the DRAM 11. Store.
[0034]
As described above, the CPU 10 determines its own and surrounding conditions, instructions from the user, and actions based on each sensor data, image data, audio data, and battery remaining amount data sequentially stored in the DRAM 11 from the signal processing circuit 14. Judging the presence or absence of.
[0035]
Further, the CPU 10 determines an action based on the determination result and the control program stored in the DRAM 11. The CPU 10 determines the actuator 28 based on the determination result. ₁ ~ 28 _n By driving a necessary actuator from among the above, for example, the head unit 4 is swung up and down and left and right, or each leg unit 3A to 3D is driven to walk. Further, the CPU 10 generates audio data as necessary and supplies the audio data to the speaker 20 via the signal processing circuit 14. Further, the CPU 10 generates a signal instructing turning on and off of the LED in the light emitting unit 25, and turns on and off the light emitting unit 25.
[0036]
Thus, the robot apparatus 1 behaves autonomously according to the situation of itself and surroundings, and instructions and actions from the user.
[0037]
By the way, the robot apparatus 1 shown as this Embodiment is a robot apparatus which can act autonomously according to an internal state. An example of a software configuration of a control program for controlling the robot apparatus 1 is as shown in FIG. As described above, this control program is stored in the flash ROM 12 in advance, and is read when the robot apparatus 1 is initially turned on.
[0038]
In FIG. 3, the device driver layer 200 is located in the lowest layer of the control program and is composed of a device driver set 201 composed of a plurality of device drivers. In this case, each device driver is an object that is allowed to directly access hardware used in a normal computer such as the CCD camera 22 (FIG. 2) or a timer, and receives an interrupt from the corresponding hardware. Process.
[0039]
The robotic server object 202 is located in the lowest layer of the device driver layer 200. For example, the above-described various sensors and actuators 28 are used. ₁ ~ 28 _n A virtual robot 203 that is a software group that provides an interface for accessing the hardware, a power manager 204 that is a software group that manages power supply switching, and software that manages various other device drivers The device driver manager 205 includes a group, and the designed robot 206 includes a software group that manages the mechanism of the robot apparatus 1.
[0040]
The manager object 207 includes an object manager 208 and a service manager 209. The object manager 208 is a software group that manages activation and termination of each software group included in the robotic server object 202, the middleware layer 210, and the application layer 211. The service manager 209 includes It is a software group that manages the connection of each object based on the connection information between each object described in the connection file stored in the memory card 31 (FIG. 2).
[0041]
The middleware layer 210 is located in an upper layer of the robotic server object 202, and includes a software group that provides basic functions of the robot apparatus 1 such as image processing and sound processing. The application layer 211 is positioned above the middleware layer 210, and determines the behavior of the robot apparatus 1 based on the processing result processed by each software group constituting the middleware layer 210. It is composed of software groups.
[0042]
Specific software configurations of the middleware layer 210 and the application layer 211 are shown in FIGS. 4 and 5, respectively.
[0043]
As shown in FIG. 4, the middle wear layer 210 is used for noise detection, temperature detection, brightness detection, scale recognition, distance detection, posture detection, contact detection, operation input detection, motion Recognition system 250 including signal processing modules 220 to 229 for detection and color recognition, an input semantic converter module 230, an output semantic converter module 247, posture management, tracking, motion reproduction, walking, and recovery from falling And an output system 251 having signal processing modules 240 to 246 for LED lighting and sound reproduction.
[0044]
Each of the signal processing modules 220 to 229 of the recognition system 250 includes each of switch data, sensor data, audio data, or image data read from the DRAM 11 (FIG. 2) by the virtual robot 203 of the robotic server object 202. Corresponding data is captured, predetermined processing is performed based on the data, and the processing result is given to the input semantic converter module 230. Here, for example, the virtual robot 203 is configured as a part that exchanges or converts signals according to a predetermined communication protocol.
[0045]
Based on the processing result given from each of these signal processing modules 220 to 228, the input semantic converter module 230 detects “noisy”, “hot”, “bright”, “sounding Domitos scale”, “detects an obstacle” , “Detected fall”, “struck”, “admired”, “detected moving object”, “detected ball”, etc. And the action is recognized, and the recognition result is output to the application layer 211.
[0046]
As shown in FIG. 5, the application layer 211 includes five modules: a behavior model library 260, a behavior switching module 261, a learning module 262, an emotion model 263, and an instinct model 264.
[0047]
In the behavior model library 260, as shown in FIG. 6, “when the remaining battery level is low”, “when returning to fall”, “when avoiding an obstacle”, “when expressing emotion”, “ Independent action models are provided corresponding to several preselected condition items such as “when a ball is detected”.
[0048]
Each of these behavior models has an emotion as described later as necessary when a recognition result is given from the input semantic converter module 230 or when a certain time has passed since the last recognition result was given. The following behavior is determined while referring to the parameter value of the corresponding emotion held in the model 263 and the parameter value of the corresponding desire held in the instinct model 264, and the determination result is output to the behavior switching module 261. .
[0049]
In the case of the robot apparatus 1 shown as this specific example, each behavior model has one node (state) NODE as shown in FIG. 7 as a method for determining the next behavior. ₀ ~ NODE _n To any other node NODE ₀ ~ NODE _n The next action is determined using an algorithm called finite probability automaton. The finite probability automaton is the node NODE ₀ ~ NODE _n Whether each node NODE transitions from one node to another node ₀ ~ NODE _n Arc ARC connecting the two ₁ ~ ARC _n-1 Transition probability P set for each ₁ ~ P _n Is an algorithm that determines probabilistically based on
[0050]
Specifically, each behavior model is a node NODE that forms its own behavior model. ₀ ~ NODE _n Correspond to each of these nodes NODE ₀ ~ NODE _n Each has a state transition table 270 as shown in FIG.
[0051]
In this state transition table 270, the node NODE ₀ ~ NODE _n Input events (recognition results) as transition conditions in are listed in the order of priority in the “input event name” row, and further conditions for the transition conditions are described in the corresponding columns in the “data name” and “data range” rows Has been.
[0052]
Therefore, the node NODE represented by the state transition table 270 of FIG. ₁₀₀ Then, when the recognition result “ball detected (BALL)” is given, the “size (SIZE)” of the ball given together with the recognition result is in the range of “0 to 1000”, “ If the recognition result “OBSTACLE” is given, the other node has a “distance” to the obstacle given with the recognition result in the range of “0 to 100”. It is a condition for transition to.
[0053]
This node NODE ₁₀₀ Then, even when there is no input of the recognition result, among the emotion and each desire parameter value held in the emotion model 263 and the instinct model 264 periodically referred to by the behavior model, the emotion model 263 holds “ When one of the parameter values of “Joy”, “Surprise” or “Sadness” is in the range of “50 to 100”, it is possible to transition to another node. .
[0054]
In the state transition table 270, the node NODE is displayed in the “transition destination node” column in the “transition probability to other node” column. ₀ ~ NODE _n The node names that can be transitioned from are listed, and each other node NODE that can transition when all the conditions described in the "input event name", "data name", and "data range" lines are met ₀ ~ NODE _n The transition probabilities to are respectively described in the corresponding places in the “transition probabilities to other nodes” column, and the node NODE ₀ ~ NODE _n The action to be output when transitioning to is described in the “output action” line in the “transition probability to other node” column. The sum of the probabilities of each row in the “transition probability to other node” column is 100 [%].
[0055]
Therefore, the node NODE represented by the state transition table 270 of FIG. ₁₀₀ Then, for example, when “ball is detected (BALL)” and a recognition result is given that the “SIZE (size)” of the ball is in the range of “0 to 1000”, “30 [%]” The probability of “node NODE ₁₂₀ (Node 120) ", and the action of" ACTION 1 "is output at that time.
[0056]
Each behavior model has a node NODE described as such a state transition table 270. ₀ ~ NODE _n Are connected to each other, and when a recognition result is given from the input semantic converter module 230, the corresponding node NODE ₀ ~ NODE _n The next action is determined probabilistically using the state transition table, and the determination result is output to the action switching module 261.
[0057]
The action switching module 261 shown in FIG. 5 selects an action output from an action model with a predetermined high priority among actions output from each action model of the action model library 260, and executes the action. A command to be performed (hereinafter referred to as an action command) is sent to the output semantic converter module 247 of the middleware layer 210. In this embodiment, the higher priority is set for the behavior model shown on the lower side in FIG.
[0058]
Further, the behavior switching module 261 notifies the learning module 262, the emotion model 263, and the instinct model 264 that the behavior is completed based on the behavior completion information given from the output semantic converter module 247 after the behavior is completed.
[0059]
The learning module 262 inputs the recognition result of the teaching received as an action from the user, such as “beated” or “admired” among the recognition results given from the input semantic converter module 230. Based on the recognition result and the notification from the behavior switching module 261, the learning module 262 decreases the probability of the behavior when “scored” and increases the probability of the behavior when “praised”. The corresponding transition probability of the corresponding behavior model in the behavior model library 260 is changed.
[0060]
The emotion model 263 is the sum of “Joy”, “Sadness”, “Anger”, “Surprise”, “Disgust” and “Fear”. For each of the six emotions, a parameter indicating the strength of the emotion is held for each emotion. Then, the emotion model 263 uses the parameter values of these emotions as the specific recognition results such as “beated” and “admired” given from the input semantic converter module 230, the elapsed time and the behavior switching module 261, respectively. It is updated periodically based on notifications from and so on.
[0061]
Specifically, the emotion model 263 is obtained by a predetermined arithmetic expression based on the recognition result given from the input semantic converter module 230, the behavior of the robot apparatus 1 at that time, the elapsed time since the last update, and the like. ΔE [t] is the amount of fluctuation of the emotion that is calculated at that time, E [t] is the parameter value of the current emotion, and k is the coefficient representing the sensitivity of the emotion. _e Then, the parameter value E [t + 1] of the emotion in the next cycle is calculated by the equation (1), and the parameter value of the emotion is updated so as to replace the parameter value E [t] of the emotion in the next cycle. . In addition, the emotion model 263 updates the parameter values of all emotions in the same manner.
[0062]
[Expression 1]

[0063]
It should be noted that how much each notification result and notification from the output semantic converter module 247 affects the amount of change ΔE [t] of the parameter value of each emotion is determined in advance. The recognition result has a great influence on the fluctuation amount ΔE [t] of the emotion value of “anger”, and the recognition result such as “admired” has the fluctuation amount ΔE [t] of the parameter value of the emotion of “joy”. It has come to have a big influence on.
[0064]
Here, the notification from the output semantic converter module 247 is so-called action feedback information (behavior completion information), which is information on the appearance result of the action, and the emotion model 263 changes the emotion also by such information. Let This is, for example, that the emotional level of anger is lowered by an action such as “barking”. Note that the notification from the output semantic converter module 247 is also input to the learning module 262 described above, and the learning module 262 changes the corresponding transition probability of the behavior model based on the notification.
[0065]
The feedback of the action result may be performed by the output of the action switching module 261 (the action to which the emotion is added).
[0066]
The instinct model 264 includes “exercise”, “affection”, “charge desire” (hereinafter referred to as “appetite”), and “curiosity”. For each of the four desires, a parameter representing the strength of the desire is held for each of these desires. The instinct model 264 periodically updates the parameter values of these desires based on the recognition result given from the input semantic converter module 230, the elapsed time and the notification from the behavior switching module 261, and the like.
[0067]
Specifically, the instinct model 264 uses a predetermined arithmetic expression for “exercise greed”, “loving lust” and “curiosity” based on the recognition result, elapsed time, notification from the output semantic converter module 247, and the like. ΔI [k] is the fluctuation amount of the desire at that time to be calculated, I [k] is the current parameter value of the desire, and a coefficient k representing the sensitivity of the desire _i The parameter value I [k + 1] of the desire in the next cycle is calculated using the equation (2) at a predetermined cycle, and the calculation result is replaced with the current parameter value I [k] of the desire. Update the desire parameter value. Also, the instinct model 264 updates the parameter values of each desire except “appetite” in the same manner.
[0068]
[Expression 2]

[0069]
It should be noted that how much the recognition result and the notification from the output semantic converter module 247 affect the fluctuation amount ΔI [k] of each desire parameter value is determined in advance, for example, from the output semantic converter module 247. This notification has a great influence on the fluctuation amount ΔI [k] of the parameter value of “fatigue”.
[0070]
In the present embodiment, the parameter values of each emotion and each desire (instinct) are regulated so as to fluctuate in the range from 0 to 100, respectively, and the coefficient k _e , K _i The value of is also set individually for each emotion and each desire.
[0071]
As shown in FIG. 4, the output semantic converter module 247 of the middleware layer 210 performs “forward”, “joy”, “ring” or the like given from the behavior switching module 261 of the application layer 211 as described above. An abstract action command such as “tracking (following the ball)” is given to the corresponding signal processing modules 240 to 246 of the output system 251.
[0072]
When the action command is given, these signal processing modules 240 to 246, based on the action command, actuate the corresponding actuator 28. ₁ ~ 28 _n The servo command value to be given to (FIG. 2), the sound data of the sound output from the speaker 20 (FIG. 2) and / or the drive data to be given to the LED of the light emitting section 25 (FIG. 2) are generated, and these data are The corresponding actuator 28 via the virtual robot 203 of the tick server object 202 and the signal processing circuit 14 (FIG. 2) ₁ ~ 28 _n , Sequentially sent to the speaker 20 or the light emitting unit 25.
[0073]
In this way, the robot apparatus 1 can perform an autonomous action according to its own (internal) and surrounding (external) situations, and instructions and actions from the user based on the control program.
[0074]
Subsequently, the impact absorbing mechanism, which is an application portion of the present invention, will be described in detail below. The impact absorbing mechanism absorbs an impact applied to the head unit 4 of the robot apparatus 1 by dropping or the like, for example, by the elastic force of the elastic member.
[0075]
Specifically, a case where an impact is applied to the head unit 4 in the direction indicated by the arrow a in FIG. Here, the movable member 130 corresponding to the “neck” of the robot apparatus 1 is connected to the support member 120, and the support member 120 is coupled and fixed at one end of the elastic member 110 via the attachment members 160 a and 160 b. . In addition, the other end of the elastic member 110 is connected to the internal housing 140 housed in the body unit 2 via attachment members 160c to 160f. As described above, the elastic member 110 is connected to the inner casing 140 at one end via the attachment parts 160c to 160f, but is not fixed to the inner casing 140 at the other end. Therefore, when an impact is applied in the direction indicated by the arrow a in the figure, the elastic member 110 bends with the attachment parts 160e and 160f as fulcrums, and the movable member 130 and the support member 120 are in the figure with respect to the internal housing 140. Move in the direction indicated by arrow b. The impact is absorbed by the elastic deformation of the elastic member 110.
[0076]
Hereinafter, the configuration of such an impact absorbing mechanism will be described in detail. Here, in the following description, “vertical” refers to a direction penetrating from the abdomen to the back of the robot apparatus 1, and “horizontal” refers to a direction connecting the shoulder and tail of the robot apparatus 1. This direction is determined for convenience of explanation, and is not limited to the direction shown in the present embodiment.
[0077]
Details of the elastic member 110 and the support member 120 in the shock absorbing mechanism are shown in FIG. The elastic member 110 has elasticity such as a leaf spring. The elastic member 110 is formed in a substantially U-shape having a base 111 and two arms 112a and 112b by cutting out a substantially rectangular member in contact with one short side of the substantially rectangular member. Yes. Further, the arm portions 112a and 112b are bent so as to have horizontal surfaces 113a and 113b, inclined surfaces 114a and 114b, and vertical surfaces 115a and 115b in accordance with the shape of the inner casing 140 described later. The portion is provided with ribs 116a to 116d for reinforcement.
[0078]
At one end of the vertical surfaces 115a and 115b of the arm portions 112a and 112b, insertion holes 117a and 117b for inserting attachment parts 160a and 160b described later are provided. The vertical surfaces 115a and 115b are provided with cut-and-raised pieces 118a and 118b, and the tips thereof are bent so as to be substantially parallel to the vertical surfaces 115a and 115b. As will be described later, the elastic member 110 and the support member 120 are connected and fixed via the attachment parts 160a and 160b and the cut and raised pieces 118a and 118b. Further, bent portions 119 a and 119 b are provided at the ends of the vertical surfaces 115 a and 115 b toward the back surface of the elastic member 110. The bent portions 119a and 119b will be described later.
[0079]
One end of the base 111 is provided with insertion holes 117c and 117d through which attachment parts 160c and 160d, which will be described later, for connecting to the internal housing 140 are inserted. In addition, insertion holes 117e and 117f for inserting the attachment parts 160e and 160f are provided at one end of the horizontal surfaces 113a and 113b of the arm portions 112a and 112b. The elastic member 110 and the internal housing 140 are connected and fixed via these 160c to 160f.
[0080]
On the other hand, as shown in FIG. 10, the support member 120 has a drive motor 121 for driving a movable member 130 described later. The support member 120 has a rotation shaft 122 for mounting the movable member 130. The rotational force of the drive motor 121 is transmitted to the rotary shaft 122 via a gear (not shown), whereby the movable member 130 has an opening 123 within a range of a rotation angle of about 90 ° with the rotary shaft 122 as the rotation center. The area is driven to rotate.
[0081]
The support member 120 has horizontal surfaces 124a and 124b, inclined surfaces 125a and 125b, and vertical surfaces 126a and 126b, and is in contact with the elastic member 110 on these surfaces. Here, the horizontal surfaces 113a and 113b of the elastic member 110 correspond to the horizontal surfaces 124a and 124b of the support member 120, the inclined surfaces 114a and 114b correspond to the inclined surfaces 125a and 125b, and the vertical surfaces 115a and 115b correspond to the vertical surfaces 126a and 126b, respectively. .
[0082]
The vertical surfaces 126a and 126b are provided with locking holes 127a and 127b for locking the cut and raised pieces 118a and 118b and insertion holes 128a and 128b for inserting the attachment parts 160a and 160b. ing.
[0083]
By the way, the elastic member 110 and the support member 120 described above are connected and fixed via attachment parts 160a and 160b and cut and raised pieces 118a and 118b. Details will be described below. As shown in FIG. 11, the cut and raised pieces 118a and 118b have horizontal portions 150a and 150b and vertical portions 151a and 151b. The lengths of the horizontal portions 150a and 150b are substantially the same as the thicknesses of the members on the vertical surfaces 126a and 126b of the support member 120. The elastic members 110 are locked to the support member 120 by the cut and raised pieces 118 a and 118 b being locked to the locking holes 127 a and 127 b of the support member 120. Further, the attachment parts 160a and 160b are coupled and fixed by being inserted into the insertion holes 117a and 117b of the elastic member 110 and the insertion holes 128a and 128b of the support member 120, respectively.
[0084]
The shock absorbing mechanism in the present embodiment is configured by connecting the movable member 130 corresponding to the “neck” of the robot apparatus 1 to the elastic member 11 and the support member 120 that are connected and fixed as described above. . That is, as shown in FIG. 12, the movable member 130 has a substantially cylindrical shape and is rotatably mounted on the rotation shaft 122 of the support member 120.
[0085]
The support member 120 and the elastic member 110 are connected by attachment parts 160a and 160b that are, for example, screws.
[0086]
Further, the elastic member 110 and the inner housing 140 are connected by attachment parts 160c to 160f. Specifically, as shown in FIG. 13, the attachment parts 160 c to 160 f are inserted and inserted into the insertion holes 117 c to 117 f of the elastic member 110 and the insertion holes 141 c to 141 f of the inner housing 140, so that they are coupled and fixed. As a result, the release portion at the top of the inner housing 140 is covered with the elastic member 110, and the support member 120 is stored inside the inner housing 140. That is, the elastic member 110 constitutes a part of the inner housing 140.
Notches 142a and 142b are provided on the front surface of the inner casing 140, and the bent portions 119a and 119b of the elastic member 110 described above are engaged with the notches 142a and 142b. Furthermore, as shown in FIG. 14, the inner casing 140 is positioned by making the back surface of the elastic member 110 contact the edge portions 143 a and 143 b of the front surface.
[0087]
Here, as shown in FIG. 15, the attachment parts 160c and 160d are configured to be positioned above the attachment parts 160e and 160f. As a result, since the preload is applied to the elastic member 110 in the direction of the support member 120, the elastic member 110 does not bend during normal operation and does not rattle. Furthermore, the back surface of the elastic member 110 is pressed against the edges 143a and 143b of the internal housing 140 by the preload.
[0088]
Consider a case where an impact is applied to the movable member 130 of the impact absorbing mechanism having the above-described configuration in the direction indicated by the arrow a in FIG. The elastic member 110 is connected to the inner casing 140 at one end thereof by attachment parts 160c to 160f, but is not fixed to the inner casing 140 at the other end. Therefore, when an impact is applied in the direction indicated by the arrow a in the figure, the elastic member 110 bends with the mounting parts 160e and 160f as fulcrums, separates from the edges 143a and 143b of the internal housing 140, and the movable member 130 Then, the support member 120 moves in the direction indicated by the arrow b in the drawing with respect to the inner housing 140. The impact is absorbed by this elastic deformation.
[0089]
As described above, according to the shock absorbing mechanism in the present embodiment, the support member 120 that supports the movable member 130 is connected to one end of the elastic member 110, and the internal housing 140 is connected to the other end. The impact applied to the movable member 130 can be absorbed by the elastic force of the member 110.
[0090]
It should be noted that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention. For example, although the present embodiment has been described with respect to a quadruped legged mobile robot, the robot apparatus can be applied as long as it operates according to the internal state, and the moving means is a quadruped walking, Furthermore, it is not limited to the leg type movement method.
[0091]
In the present embodiment, the shock absorbing mechanism is described as absorbing the shock to the head unit. However, the present invention is not limited to this, and the leg unit and the like are provided with the same mechanism. It is possible to absorb the impact applied to these.
[0092]
【The invention's effect】
As described above in detail, the robot apparatus according to the present invention is a robot apparatus in which a movable part that is movable with respect to a main body is coupled, and a support member that movably supports the movable part; It has a connection member which connects a member and the above-mentioned main part, and the above-mentioned connection member absorbs an impact applied to the above-mentioned movable part, It is characterized by the above-mentioned.
[0093]
Here, in the robot apparatus, the main body is coupled to one end of the connection member, and the support portion is coupled to the other end, and the connection member is elastically deformed to be applied to the movable portion. The shock is absorbed.
[0094]
Moreover, in the robot apparatus, in order to prevent the connection member and the support member from rattling, the main body and the connection member are coupled by applying a preload in a direction with respect to the main body.
[0095]
According to such a robot apparatus, even when an impact is applied to a movable part such as a head or a leg connected to the main body by dropping or the like, the impact is absorbed by the elastic deformation of the connecting member, and the robot It is possible to prevent the mechanical mechanism of the apparatus from being plastically deformed or broken.
[0096]
The impact absorbing method for a robot apparatus according to the present invention is an impact absorbing method for a robot apparatus in which a movable part movable with respect to a main body is connected, and a support part for movably supporting the movable part; An impact applied to the movable part is absorbed by a connecting member that connects the main body.
[0097]
Here, in the impact absorbing method of the robot apparatus, the main body is coupled to one end of the connection member, and the support portion is coupled to the other end, and the movable member is elastically deformed to thereby move the movable member. The impact applied to the part is absorbed.
[0098]
Further, in the impact absorbing method of the robot apparatus, in order to prevent the connection member and the support member from rattling, the main body and the connection member are connected by applying a preload to the main body.
[0099]
According to such a shock absorbing method of the robot apparatus, even when an impact is applied to a movable part such as a head or a leg connected to the main body by dropping or the like, the impact is caused by elastic deformation of the connecting member. Absorbed, the mechanical mechanism of the robot apparatus can be prevented from being plastically deformed or broken.
[Brief description of the drawings]
FIG. 1 is an external view showing an external appearance of a robot apparatus shown as one configuration example of the present invention.
FIG. 2 is a configuration diagram showing a configuration of a robot apparatus shown as an example of the configuration of the present invention.
FIG. 3 is a configuration diagram showing a software configuration of a control program of the robot apparatus shown as an example of the configuration of the present invention.
FIG. 4 is a configuration diagram showing a configuration of a middleware layer in a control program for a robot apparatus shown as one configuration example of the present invention.
FIG. 5 is a configuration diagram showing a configuration of an application layer in a control program for a robot apparatus shown as an example of the configuration of the present invention.
FIG. 6 is a configuration diagram showing a configuration of an action model library in a control program for a robot apparatus shown as an exemplary configuration of the present invention.
FIG. 7 is a schematic diagram illustrating a finite probability automaton that is an algorithm for determining the behavior of the robot apparatus shown as an example of the configuration of the present invention.
FIG. 8 is a diagram showing a state transition condition for determining the behavior of the robot apparatus shown as one configuration example of the present invention.
FIG. 9 is a side view illustrating a state in which an impact is absorbed by an impact absorbing mechanism in the robot apparatus shown as an example of the configuration of the present invention.
FIG. 10 is a perspective view showing configurations of an elastic member and a support member in the shock absorbing mechanism.
FIG. 11 is a cross-sectional view illustrating the connection between the elastic member and the support member.
FIG. 12 is a side view showing the configuration of the shock absorbing mechanism.
FIG. 13 is a perspective view illustrating the connection between the shock absorbing mechanism and the main body.
FIG. 14 is a perspective view for explaining connection between the elastic member and the main body.
FIG. 15 is a side view illustrating a configuration in which a preload is applied to the elastic member.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Robot apparatus, 2 trunk | drum unit, 3A, 3B, 3C, 3D Leg unit, 4 head unit, 5 tail part, 110 elastic member, 111 base part, 112a, 112b arm part, 117a, 117b, 117c, 117d Hole, 118a, 118b Cut and raised piece, 119a, 119b Bent part, 120 Support member, 121 Drive motor, 122 Rotating shaft, 127a, 127b Locking port, 128a, 128b Insertion hole, 130 Movable part, 140 Internal housing, 141c, 141d, 141e, 141f Insertion hole, 142a, 142b Notch, 143a, 143b Edge

Claims (6)

A robot apparatus in which a movable part that is movable with respect to a main body is connected,
A support member having a rotation shaft and rotatably supporting the movable portion by the rotation shaft ;
A connecting member for connecting the support member and the main body;
The connection member is bent in the rotation direction of the movable part, the main body is coupled to one end of the connection member via a first attachment member, and a second attachment member is connected to the other end of the connection member. When the impact is applied to the movable part, the first attachment member is bent as a fulcrum when the impact is applied to the movable part, and the movable part and the support member are moved in a direction in which the movable part is moved by the impact. Is a robot apparatus that absorbs the impact applied to the movable part by moving in the opposite direction . The robot apparatus according to claim 1, wherein the first attachment member applies a preload to the connection member in the direction of the support member . The robot apparatus has a shape imitating an animal,
The movable member is a robot apparatus according to claim 1, wherein that make up the head of the robot apparatus. Ri Na the movable portion which is movable is connected to the main body, the robot device comprising a supporting member for rotatably supporting the movable portion by a rotation shaft, and a connecting member for connecting the said support member and said body The shock absorbing method of
The movable member is bent in the rotation direction, and the main body is coupled to one end of the connection member via a first attachment member, and the support member is coupled to the other end of the connection member via a second attachment member. When the impact is applied to the movable portion by the connecting member to which the movable portion is coupled, the first mounting member is bent as a fulcrum, and the movable portion and the support member are moved in a direction in which the movable portion is moved by the impact. Is a shock absorbing method for a robotic device that absorbs an impact applied to the movable part by moving in the opposite direction . 5. The impact absorbing method for a robot apparatus according to claim 4 , wherein a preload is applied to the connection member in the direction of the support member by the first attachment member . The robot apparatus has a shape imitating an animal,
Said movable member, the shock-absorbing method of the robot apparatus according to claim 4, wherein that make up the head of the robot apparatus.

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