JP7127316B2 - Robot, robot control method and program - Google Patents

Description

The present invention relates to a robot, a robot control method, and a program.

Robots that operate autonomously in response to user actions are known. For example, when the robot (pseudo-biological device) disclosed in Patent Document 1 recognizes a motion permitted by a specific person, it performs a playful action toward the specific person.

Japanese Patent Application Laid-Open No. 2003-190651

However, if the user unintentionally collides with the robot of Patent Document 1, there is a risk that excessive force will be applied to the user due to the predetermined movement of the robot.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides a robot, a robot control method, and a program for executing an action with a small risk of applying excessive force to a predetermined object in response to a collision from the predetermined object. intended to provide

In order to achieve the above object, one aspect of the robot according to the present invention is
a driving means for driving the movable part;
collision detection means for detecting a collision from a predetermined object;
When the collision is detected by the collision detection means, a predetermined area including the predetermined target with which the collision has occurred is set as an operation prohibited area of the movable section, and an operation of the movable section that avoids the operation prohibited area is generated. a motion generating means for
drive control means for controlling the drive means based on the motion generated by the motion generation means;
comprising
It is characterized by

In order to achieve the above object, one aspect of the robot control method according to the present invention includes:
detecting a collision from a given target;
setting a predetermined area including the predetermined target as an operation prohibited area of the movable part of the robot when the collision is detected, and generating an operation of the movable part that avoids the operation prohibited area ;
driving the movable part based on the generated motion;
including,
It is characterized by

In order to achieve the above object, one aspect of the program according to the present invention is
The computer that controls the robot,
Collision detection means for detecting a collision from a predetermined object;
When the collision is detected by the collision detection means, a predetermined area including the predetermined object is set as an operation prohibited area of the movable portion of the robot, and an operation of the movable portion that avoids the operation prohibited area is generated. a motion generating means for
drive control means for controlling drive means for driving the movable portion based on the motion generated by the motion generation means;
to function as
It is characterized by

Advantageous Effects of Invention According to the present invention, it is possible to provide a robot, a robot control method, and a program that perform an action with little risk of applying excessive force to a predetermined object in response to a collision from the predetermined object.

1 is a front view showing a robot according to an embodiment of the invention; FIG. 1 is a top view showing a robot according to an embodiment of the invention; FIG. It is a figure which shows the hardware constitutions of the robot which concerns on embodiment of this invention. FIG. 4 is a front view showing motions of the arms of the robot according to the embodiment of the present invention; FIG. 4 is a side view showing motion of the arm of the robot according to the embodiment of the present invention; FIG. 4 is a front view showing motion of the head of the robot according to the embodiment of the present invention; FIG. 4 is a side view showing motion of the head of the robot according to the embodiment of the present invention; 1 is a block diagram showing the configuration of a robot according to an embodiment of the present invention; FIG. FIG. 4 is a front view showing at least one of the position and direction of collision from a predetermined object according to the embodiment of the present invention; FIG. 10 is a top view showing an area within a predetermined polar angle range centered in a direction opposite to the direction of the collision from the position of the collision, as seen from above at least one of the positions and directions of the collision shown in FIG. 9 ; be. FIG. 10 is a side view showing an area within a predetermined polar angle range centered on a direction opposite to the direction of the collision from the position of the collision when at least one of the positions and directions of the collision shown in FIG. 9 is viewed from the right side; be. FIG. 10 is a front view showing the direction of movement of the movable portion when the head is collided from the right side according to the embodiment of the present invention; A plurality of states in which the movable part moves away from the area within the range of the predetermined polar angle when the body section is collided with the front right side at a predetermined angle with respect to the left-right direction, according to the embodiment of the present invention. It is a top view showing FIG. 10 is a top view showing the direction of movement of the movable part when the body part is collided with the front right side at a predetermined angle with respect to the left-right direction according to the embodiment of the present invention; FIG. 10 is a top view showing the direction of movement of the movable portion when the right arm is collided with the front right side from a predetermined angle with respect to the left-right direction according to the embodiment of the present invention; 4 is a flow chart showing operation processing for a collision from a predetermined object according to the embodiment of the present invention; 4 is a flowchart showing operation direction setting processing according to the embodiment of the present invention; It is a figure which shows the example of the operation|movement direction information which concerns on embodiment of this invention.

A robot 100 according to an embodiment of the present invention will be described with reference to the drawings.

The robot 100 has a human-like shape and performs various predetermined actions in response to predetermined target actions. Here, the predetermined target is a person (for example, a user of the robot 100), an animal, another robot, or the like.

The robot 100 includes a body 102, a pair of arms 104, and a head 108, as shown in FIGS. The robot 100 also includes a pair of shoulder joints 105 connecting the body 102 and the pair of arms 104 respectively, a neck joint 109 connecting the body 102 and the head 108, A moving part (not shown) for moving the robot 100 is provided below the body part 102 . 1 is the vertical direction of the robot 100, and the horizontal direction of FIG. 1 is the horizontal direction of the robot 100 for easy understanding. Also, the front direction in FIG. 1 (the front side of the paper) will be described as the front, and the back direction in FIG. 1 (the back side of the paper) will be described as the rear.

FIG. 3 shows the hardware configuration of the robot 100. As shown in FIG. The robot 100 includes a control section 120 , a storage section 150 , a battery 155 , a movable section 160 , a driving section 170 and an acceleration sensor 180 .

The control unit 120 is provided inside the body unit 102 and controls the operation of each unit of the robot 100 . The control unit 120 is composed of a CPU (Central Processing Unit) 122 and a memory 124 . The memory 124 has, for example, ROM (Read Only Memory) and RAM (Random Access Memory). The functions of control unit 120 are implemented by CPU 122 executing a program stored in memory 124 .

The storage unit 150 stores data for the control unit 120 to control each unit of the robot 100 . The storage unit 150 stores a threshold value for determining a collision, a preset distance for selecting the movable unit 160, robot operation information, movement amount information, delay time information, and the like, which will be described later. The storage unit 150 has, for example, a ROM and a RAM.

The battery 155 is provided in the body section 102 and is composed of a storage battery that supplies electric power to each section of the robot 100 .

The movable part 160 is a part that can be moved with respect to the body part 102 . Specifically, the pair of arm portion 104 and head portion 108 shown in FIGS. 1 and 2 function as movable portion 160 . In this embodiment, as shown in FIGS. 1 and 2, the state in which the free end 104a of the arm 104 faces downward and the free end 108a of the head 108 faces upward is defined as the initial state of the robot 100 (when the power is turned on). state immediately after).

Each of the arms 104 is rotatable around a movable shaft 162a extending in the front-rear direction and a movable shaft 162b extending in the left-right direction. In other words, each of the arms 104 is rotatable about a movable shaft 162a and a movable shaft 162b that are orthogonal to each other.

In the present embodiment, each arm 104 rotates about one of movable shaft 162a and movable shaft 162b. Specifically, the arm portion 104 rotates about the movable shaft 162a so that the free end 104a of the arm portion 104 faces in the horizontal direction as shown in FIG. 4, or rotates in the front-rear direction as shown in FIG. The free end 104a of the arm 104 rotates about the movable shaft 162b so that the free end 104a of the arm 104 faces toward the left. The shoulder joint portion 105 is provided with a groove (not shown) so that the shoulder joint portion 105 and the arm portion 104 do not interfere with each other.

Returning to FIG. 2, the head 108 is rotatable around a movable axis 164a (roll axis) extending in the front-rear direction and a movable axis 164b (pitch axis) extending in the left-right direction. That is, the head 108 is rotatable around a movable axis 164a and a movable axis 164b that are perpendicular to each other.

In the present embodiment, head 108 rotates around either one of movable shaft 164a and movable shaft 164b. The head 108 rotates around a movable shaft 164a so that the free end 108a of the head 108 faces in the left-right direction as shown in FIG. It rotates about the movable shaft 164b so that the free end 108a faces.

Returning to FIG. 3, the driving section 170 is composed of driving members such as a motor and an actuator (not shown). The driving section 170 is provided, for example, in each of the shoulder joint section 105 and the neck joint section 109 shown in FIGS. Specifically, the drive section 170 rotates the movable shafts 162 a , 162 b , 164 a and 164 b of the movable section 160 . The driving section 170 functions as driving means.

Returning to FIG. 3, the acceleration sensor 180 measures the acceleration and acceleration direction generated in the robot 100 . The acceleration sensors 180 are provided, for example, on the body portion 102 and the head portion 108 shown in FIGS. The acceleration sensor 180 functions as collision detection section means together with the collision detection section 125, which will be described later.

Next, the functional configuration of the robot 100 will be described with reference to FIGS. 8 to 15. FIG. The robot 100 includes a control section 120 that controls each section, a storage section 150 that stores data, a movable section 160 that can be moved relative to the body section 102, and a drive section 170 that drives the movable section 160. , and an acceleration sensor 180 that measures the acceleration occurring in the robot 100 and the acceleration direction.

The controller 120 includes a collision detector 125, a motion generator 130, and a drive controller 145, as shown in FIG.

A collision detection unit 125 of the control unit 120 detects a collision from a predetermined object based on the acceleration measured by the acceleration sensor 180 and the acceleration direction. Further, the collision detection unit 125 detects at least one of the position P and the direction S of collision from a predetermined object as shown in FIG. 9 based on the acceleration and direction of acceleration measured by the acceleration sensor 180 discriminate. The collision detector 125 and the acceleration sensor 180 function as collision detection means.

Returning to FIG. 8 , the collision detection section 125 has an object determination section 126 , a collision determination section 127 and a collision calculation section 128 .

The object determination unit 126 of the collision detection unit 125 receives the signal representing the acceleration value and the signal representing the direction of acceleration output from the acceleration sensor 180 . The object determination unit 126 determines whether the acceleration value and the acceleration direction represented by the received signal are the acceleration value and the acceleration direction due to the action of the robot 100, or the acceleration value and the acceleration direction due to the action of the predetermined object. Determine whether or not The object determination unit 126 compares, for example, the robot motion information in which the motion of the robot 100, the acceleration value measured by the acceleration sensor 180, and the acceleration direction are associated with each other, and the acceleration value and the acceleration direction represented by the received signal. By doing so, it is determined whether the acceleration value and the acceleration direction are due to the action of the robot 100 or the acceleration value and the acceleration direction are due to the action of a predetermined object. As the robot motion information, the acceleration and acceleration direction due to the motion of the robot 100 are measured by the acceleration sensor 180 and stored in advance in the storage unit 150 .

When the object determination unit 126 determines that the acceleration value and the acceleration direction are due to an action from a predetermined object, the object determination unit 126 generates acceleration information representing the acceleration value and the acceleration direction output by the acceleration sensor 180 to prevent the collision. Output to determination unit 127 .

The collision determination unit 127 of the collision detection unit 125 determines whether or not the acceleration and acceleration direction due to the action from the predetermined object are due to the collision from the predetermined object. Specifically, when the acceleration value represented by the acceleration information output from the object determination unit 126 is greater than a preset threshold value, the collision determination unit 127 determines that the collision is from a predetermined object. do. The collision determination unit 127 outputs acceleration information to the collision calculation unit 128 when determining that the collision is from a predetermined object.

The collision calculator 128 of the collision detector 125 obtains at least one of the position P and the direction S of the collision from the predetermined object from the acceleration measured by the acceleration sensor 180 . For example, the collision calculation unit 128 calculates the position of the collision from the predetermined object from the difference between the acceleration output by the acceleration sensor 180 provided in the head 108 and the acceleration sensor 180 provided in the body 102 and the acceleration direction. At least one of P and direction S is determined. The collision calculator 128 generates collision information representing at least one of the determined position P and direction S of the collision from the predetermined object, and outputs the collision information to the motion generator 130 .

The motion generator 130 generates a motion of the movable part 160 based on at least one of the position P and the direction S of the collision from the predetermined object. In the present embodiment, motion generating section 130 sets a predetermined area including a predetermined target as the motion prohibited area of movable section 160, and generates motion of movable section 160 so as to avoid the motion prohibited area. As a result, the robot 100 does not come into contact with the predetermined target, and can perform an action with little possibility of applying excessive force to the predetermined target. Directions for avoiding the operation prohibited area will be described later.

The motion generation unit 130 has a distance determination unit 131 , a selection unit 132 , a motion direction setting unit 133 , a movement amount setting unit 134 , a delay time setting unit 135 and a generation unit 136 .

The distance determination unit 131 of the motion generation unit 130 obtains the distance between the collision position P and the movable unit 160 . Specifically, the distance determination unit 131 obtains the distances between the collision position P indicated by the collision information and the centers of the movable shafts 162 a , 162 b , 164 a , 164 b of the movable part 160 . Distance determination section 131 generates distance information that associates movable section 160 with the obtained distance, and outputs the information to selection section 132 , movement amount setting section 134 , and delay time setting section 135 .

The selection unit 132 of the motion generation unit 130 selects the movable unit 160 to operate. For example, the selection unit 132 selects the movable unit 160 associated with a distance shorter than a preset distance from the distance information output by the distance determination unit 131 . For ease of understanding, all movable parts 160 (ie, the pair of arms 104 and the head 108) are described below as being selected.

Selecting section 132 generates selection information representing selected movable section 160 and outputs it to motion direction setting section 133 , movement amount setting section 134 , and delay time setting section 135 .

The motion direction setting section 133 of the motion generation section 130 sets the motion direction of the movable section 160 selected by the selection section 132 . The motion direction setting unit 133 sets, as the motion direction of the selected movable part 160 from the movable part 160 indicated by the selection information and the collision direction S indicated by the collision information, an action direction for avoiding the motion prohibited area.

Specifically, the operation direction setting unit 133 sets the operation direction of the movable unit 160 by a predetermined polar angle (for example, , φ=90°), the direction in which the free end of the movable portion 160 is directed is set in the direction away from the area B (operation prohibited area).

For example, when a predetermined object collides with the head 108 of the robot 100 in the initial state from the right direction, the motion direction setting unit 133 sets the free end 108a of the head 108 to the region B ( The movement direction of the head 108 is set so that the head 108 rotates counterclockwise about the movable shaft 164a of the head 108 as viewed from the front so that the head 108 faces away from the motion prohibited area (left direction). Further, the movement direction setting unit 133 sets the movable axis of the arm 104 so that the free end 104a of the arm 104 faces away from the region B (movement prohibited region) (to the left) as the movement direction of the arm 104. The direction of clockwise rotation around 162a is set as viewed from the front. As a result, the robot 100 can avoid contact with the predetermined target and reduce the possibility of applying excessive force to the predetermined target. The dashed lines in FIG. 12 indicate the head 108 and arm 104 in the initial state.

Further, when there are a plurality of directions in which the free end of the movable portion 160 is directed away from the region B (operation prohibited region), the motion direction setting portion 133 selects the direction away from the collision position P as the motion direction of the movable portion 160. , the direction in which the free end of the movable portion 160 is directed is set.

For example, as shown in FIG. 13, when a predetermined object collides with the front right side of the body portion 102 of the robot 100 in the initial state from a predetermined angle (for example, 30°) with respect to the horizontal direction, region B (movement There are a plurality of directions in which the free end of the movable portion 160 is directed away from the prohibited area). The dashed lines in FIG. 13 indicate a plurality of states in which each of the movable parts 160 moves away from the region B (operation prohibited region).

In this case, the motion direction setting unit 133 rotates the movable shaft 162b of the right arm 104 so that the free end 104a of the right arm 104 in FIG. The direction of counterclockwise rotation when viewed from the right direction is set as the operation direction of the right arm 104 . As a result, the robot 100 can further avoid contact with the predetermined target, and can reduce the risk of excessive force being applied to the predetermined target.

The left arm 104 and the head 108 move in either direction (rearward or leftward), the free end of the movable part 160 faces away from the collision position P, but the motion direction setting part 133 preferably sets the operating direction of the movable parts 160 so that the free ends of the plurality of movable parts 160 face the same direction. 14, the motion direction setting unit 133 is configured so that the free ends 104a and 108a of the left arm 104 and the head 108 face the direction ( It is preferable to set the direction of motion of the left arm 104 and head 108 so that they face in the same direction as the back). In this case, the motion direction setting unit 133 sets, as the motion direction of the left arm 104, a direction in which the left arm 104 rotates counterclockwise about the movable shaft 162b when viewed from the right. Further, the motion direction setting unit 133 sets, as the motion direction of the head 108, a direction in which the head 108 is rotated clockwise about the movable shaft 164b as viewed from the right direction. By orienting the free ends of the plurality of movable parts 160 in the same direction, the robot 100 can more clearly inform a predetermined target, for example, the user of the robot 100, of the collision.

Furthermore, when the motion direction setting unit 133 sets the direction in which the free ends of the plurality of movable portions 160 face the same direction as the motion direction of the movable portions 160, the direction S of collision is set to the movable shaft 162a and the movable shaft 162b. The direction in which the free end of the movable portion 160 is directed to the direction having the largest component among the separated components is set as the operation direction of the movable portion 160. may

For example, when a predetermined object collides with the front right side of the right arm 104 in the initial state from a predetermined angle (for example, 30°) with respect to the left-right direction, the collision direction S is changed as shown in FIG. The free ends of the pair of arms 104 and the head 108 are arranged in the direction (leftward direction) having the largest component S1 of the components corresponding to the directions of the movable shafts 162a and 162b and the movable shafts 164a and 164b. The direction in which 104 a and 108 a are directed may be set as the operation direction of movable section 160 . In this case, the motion direction setting unit 133 sets, as the motion directions of the pair of arms 104, a direction in which the arms 104 are rotated clockwise about the movable shaft 162a when viewed from the front. The motion direction setting unit 133 also sets, as the motion direction of the head 108, a direction in which the head 108 is rotated about the movable shaft 164a counterclockwise when viewed from the front. As a result, the robot 100 can further soften the collision from the predetermined target. Note that when a predetermined object collides with the front right side of the right arm 104 in the initial state from a predetermined angle (eg, 30°) with respect to the left-right direction, the motion direction setting unit 133 sets the pair of arms 104 and the head 108 may be set so that their free ends 104a, 108a face rearward.

The motion direction setting unit 133 generates motion direction setting information that associates the movable portion 160 with the set motion direction of the movable portion 160 , and outputs the motion direction setting information to the generation portion 136 .

Returning to FIG. 8 , the movement amount setting unit 134 of the motion generation unit 130 sets the movement amount (rotation amount) of the selected movable part 160 . The movement amount setting unit 134 sets the movement amount of the selected movable part 160 based on the movable part 160 represented by the selection information and the distance between the collision position P and the movable part 160 represented by the distance information. For example, the movement amount setting unit 134 refers to the movement amount information in which the distance and the movement amount are associated, and sets the movement amount of the selected movable part 160 to the collision position P obtained by the distance determination unit 131 . and the movable portion 160 are set to be larger in order of shorter distance. As a result, a predetermined target, for example, the user of the robot 100 can show more flexible movements. The movement amount information is stored in the storage unit 150 in advance.

Movement amount setting section 134 generates movement amount setting information that associates movable section 160 with the set movement amount, and outputs the information to generation section 136 .

The delay time setting unit 135 of the motion generation unit 130 sets the time from the collision from the predetermined target to the start of motion of the selected movable unit 160 (hereinafter referred to as delay time). The delay time setting unit 135 sets the delay time of the selected movable part 160 based on the movable part 160 represented by the selection information and the distance between the collision position P and the movable part 160 represented by the distance information. For example, the delay time setting unit 135 refers to the delay time information in which the distance and the delay time are associated, and sets the delay time of the selected movable unit 160 to the collision position P obtained by the distance determination unit 131 . and the distance from the movable portion 160 is shorter. As a result, for example, the user of the robot 100 can see more flexible movements. The delay time information is stored in the storage unit 150 in advance.

Delay time setting section 135 generates delay time setting information that associates movable section 160 with the set delay time, and outputs the information to generating section 136 .

The generation unit 136 of the motion generation unit 130 receives the motion direction setting information output by the motion direction setting unit 133, the movement amount setting information output by the movement amount setting unit 134, and the extension time setting information output by the delay time setting unit 135. , and the operation of the movable part 160 is generated. The generation unit 136 generates motion information that associates the movable unit 160 with the set motion direction, movement amount, and delay time, and outputs the motion information to the drive control unit 145 .

The drive control section 145 of the control section 120 controls the drive section 170 based on the motion information output by the generation section 136 . The drive section 170 controlled by the drive control section 145 drives the movable section 160 .

As described above, in the robot 100, the movement direction of the movable part 160 is set so as to avoid the movement prohibited area, thereby reducing the possibility that an excessive force is applied to the predetermined target. In addition, by orienting the free ends of the plurality of movable parts 160 in the same direction, the robot 100 can, for example, more clearly inform the user of the robot 100 of the collision.

Next, operation processing for a collision from a predetermined object of the robot 100 configured as described above will be described with reference to the flowchart shown in FIG. When the user turns on the power (not shown), the robot 100 waits in an initial state and performs various predetermined actions in response to predetermined target actions.

First, when the acceleration sensor 180 detects acceleration, the acceleration sensor 180 transmits a signal representing the detected acceleration value and a signal representing the acceleration direction to the object determination section 126 of the collision detection section 125 (step S101).

Upon receiving the signal, the object determination unit 126 determines whether the acceleration value and the acceleration direction represented by the received signal are the acceleration value and the acceleration direction due to the action of the robot 100, or determine the acceleration value due to the action of the predetermined object. and the direction of acceleration (step S102). The robot motion information stored in the storage unit 150, in which the motion of the robot 100, the acceleration value measured by the acceleration sensor 180, and the acceleration direction are associated with each other, and the acceleration value and the acceleration direction represented by the received signal. If the acceleration value and the acceleration direction represented by the received signal do not exist in the robot motion information, the object determination unit 126 determines that the acceleration value and the acceleration direction are due to an action from a predetermined object. .

If it is determined that the acceleration value and the acceleration direction represented by the received signal are the acceleration value and the acceleration direction due to the action of the predetermined target (step S102; YES), the target determination unit 126 detects the acceleration sensor 180. generates acceleration information representing the acceleration value and the direction of acceleration output by , and outputs the acceleration information to the collision determination unit 127 . If it is determined that the acceleration value and acceleration direction indicated by the received signal are the acceleration value and acceleration direction due to the motion of the robot 100 (step S102; NO), the motion processing proceeds to acceleration detection (step S101). return.

The collision determination unit 127 of the collision detection unit 125 determines from the acceleration information output by the object determination unit 126 whether or not the acceleration and the acceleration direction due to the action from the predetermined object are the collision from the predetermined object (step S103). The collision determination unit 127 determines that the collision is from a predetermined object when the acceleration value represented by the acceleration information is greater than a preset threshold value stored in the storage unit 150 . When it is determined that the collision is from a predetermined object (step S103; YES), the collision determination section 127 outputs acceleration information to the collision calculation section 128. FIG. If it is determined that the collision is not from a predetermined object (step S103; NO), the operation processing returns to acceleration detection (step S101).

The collision calculation unit 128 of the collision detection unit 125 obtains at least one of the position P and the direction S of the collision from the predetermined object from the acceleration information output by the collision determination unit 127 (step S104). Specifically, the collision calculator 128 calculates the collision position P and the At least one of the direction S is determined. The collision calculation unit 128 generates collision information representing at least one of the obtained collision position P and direction S, and outputs the collision information to the distance determination unit 131 and the movement direction setting unit 133 of the movement generation unit 130 .

Next, the distance determination unit 131 of the motion generation unit 130 obtains the distance between the collision position P and the movable unit 160 from the collision information output by the collision calculation unit 128 (step S105). Distance determination section 131 generates distance information that associates movable section 160 with the obtained distance, and outputs the information to selection section 132 , movement amount setting section 134 , and delay time setting section 135 .

The selection unit 132 of the motion generation unit 130 selects the movable unit 160 to be operated from the distance information output by the distance determination unit 131 (step S106). The selection unit 132 selects the movable unit 160 associated with a distance shorter than the preset distance from the distance information. Here, it is assumed that all movable parts 160 (that is, the pair of arms 104 and head 108) are selected. Selecting section 132 generates selection information representing selected movable section 160 and outputs it to motion direction setting section 133 , movement amount setting section 134 , and delay time setting section 135 .

Next, the motion direction setting unit 133 of the motion generation unit 130 selects the motion direction of the movable unit 160 selected by the selection unit 132 based on the selection information output by the selection unit 132 and the collision information output by the collision calculation unit 128. Set (step S107). The motion direction setting unit 133 generates motion direction setting information that associates the movable portion 160 with the set motion direction of the movable portion 160 , and outputs the motion direction setting information to the generation portion 136 . Details of step S107 will be described later.

On the other hand, the movement amount setting unit 134 of the motion generation unit 130 uses the selection information output by the selection unit 132 and the distance information output by the distance determination unit 131 to determine the amount of movement (rotation) of the movable unit 160 selected by the selection unit 132 . amount) is set (step S108). The movement amount setting unit 134 refers to the movement amount information stored in the storage unit 150 and in which the distance and the movement amount are associated, and sets the movement amount of the selected movable part 160 to the collision position P. The distance to the movable part 160 is set to be larger in order of shorter distance. Movement amount setting section 134 generates movement amount setting information that associates movable section 160 with the set movement amount, and outputs the information to generation section 136 .

Further, the delay time setting unit 135 of the motion generation unit 130 sets the delay time of the movable unit 160 selected by the selection unit 132 based on the selection information output by the selection unit 132 and the distance information output by the distance determination unit 131. (step S109). The delay time setting unit 135 refers to the delay time information stored in the storage unit 150, in which the distance and the delay time are associated, and sets the delay time of the selected movable part 160 to the position P of the collision. The shorter the distance to the movable part 160, the shorter it is set. Delay time setting section 135 generates delay time setting information that associates movable section 160 with the set delay time, and outputs the information to generating section 136 .

The generation unit 136 of the motion generation unit 130 generates the motion of the movable part 160 from the motion direction setting information, the movement amount setting information, and the delay time setting information (step S110). The generation unit 136 generates motion information that associates the movable unit 160 with the set motion direction, movement amount, and delay time, and outputs the motion information to the drive control unit 145 .

The drive control unit 145 controls the drive unit 170 based on the motion information output by the generation unit 136 of the motion generation unit 130 (step S111). Then, the movable part 160 is driven by the driving part 170 to perform the generated motion (step S112). The action process for a collision from a predetermined object is repeated until the user turns off the power (step S113; NO). When the user turns off the power (step S113; YES), the action process for the collision from the predetermined object ends.

The operation direction setting process (step S107) will be described with reference to FIG. First, the motion direction setting unit 133 of the motion generating unit 130 determines a predetermined direction from the collision position P to the direction T opposite to the collision direction S from the collision direction S represented by the collision information output by the collision calculation unit 128. A region B (operation prohibited region) within a polar angle (for example, φ=90°) is set (step S201).

Next, the motion direction setting unit 133 directs the free end of each of the movable portions 160 in the direction away from the region B (motion prohibited region) from among the directions in which the movable portions 160 can operate. to select. Then, the movement direction setting unit 133 combines the movement directions selected in each of the movable parts 160 as shown in FIG. 18 and generates associated movement direction information (step S202). When there is one combination of motion directions represented by the motion direction information (step S203; NO), motion direction setting unit 133 sets the motion direction represented by the motion direction information as the motion direction of movable unit 160. (Step S209).

When there are a plurality of combinations of motion directions represented by the motion direction information (step S203; YES), the motion direction setting unit 133 selects all movable parts from among the combinations of motion directions represented by the motion direction information. A combination of motion directions in which the motion direction of the movable portion 160 directs the free end of the movable portion 160 away from the collision position P is selected, and motion direction information is updated (step S204). When there is one combination of motion directions represented by the updated motion direction information (step S205; NO), motion direction setting unit 133 selects the motion direction represented by the motion direction information as the motion direction of movable unit 160. is set (step S209).

If there are a plurality of combinations of motion directions indicated in the updated motion direction information (step S205; YES), the motion direction setting unit 133 selects the motion direction of the movable portion 160 from among the combinations of the updated motion direction information. A combination of motion directions in which the free ends face the same direction is selected, and the motion direction information is updated again (step S206). When there is one combination of motion directions represented by the updated motion direction information (step S207; NO), motion direction setting unit 133 selects the motion represented by the motion direction information as the motion direction of movable unit 160. A direction is set (step S209).

If there are a plurality of combinations of motion directions indicated in the updated motion direction information (step S207; YES), the motion direction setting unit 133 sets the collision direction S to the movable It is decomposed into components with respect to the directions of the axis 164a and the movable axis 164b. Next, the movement direction setting unit 133 selects a combination of movement directions for directing the free end of the movable part 160 in the direction having the largest component S1 from among the combinations of movement direction information updated again (step S208). . Then, the motion direction setting unit 133 sets a combination of motion directions in which the free end of the movable portion 160 is directed in the direction having the largest component S1 as the motion direction of the movable portion 160 (step S209).

As described above, the movable part 160 of the robot 100 operates avoiding the motion prohibited area in response to a collision from a predetermined object, and the robot 100 responds to a collision from a predetermined object. It is possible to perform an operation with little possibility of applying excessive force. In addition, by directing the free ends of the plurality of movable parts 160 in the same direction, the robot 100 can more clearly notify the predetermined target of the collision. Furthermore, the robot 100 can change the amount of movement of the movable part 160 based on the distance between the collision position P and the movable part 160, so that the user of the robot 100 can move more flexibly. can. The robot 100 can set the delay time based on the distance between the collision position P and the movable part 160, so that the user of the robot 100 can see more flexible movements.

Although the embodiments of the present invention have been described above, various modifications are possible without departing from the gist of the present invention.

For example, the collision detection unit 125 may detect the magnitude of collision from a predetermined object, and the movement amount setting unit 134 of the motion generation unit 130 determines the movement amount of the movable unit 160 according to the magnitude of the collision. can be increased. Also, the selection unit 132 of the motion generation unit 130 may change the number of movable units 160 to be selected based on the magnitude of the collision. The magnitude of the collision is, for example, the average value of the accelerations measured by the acceleration sensor 180 provided on the head 108 and the acceleration sensor 180 provided on the body 102 . Furthermore, it is preferable that the motion generator 130 cancels the setting of the motion prohibited area when a predetermined condition is satisfied. Predetermined conditions include elapse of a predetermined time (for example, 5 seconds) after a collision from a predetermined object, detection of behavior of a predetermined object other than collision, and the like.

Although the movable part 160 of the robot 100 is driven by two axes, the movable part 160 may be driven by three or more axes.

The functions of the control unit 120 can be executed using a normal information portable terminal, a personal computer, or the like, without depending on a dedicated system. For example, by storing and distributing a computer program for executing the above-described operations in a computer-readable recording medium and installing this computer program in a personal computer or the like, an information terminal that executes the above-described processes can be created. may be configured. Alternatively, the computer program may be stored in a storage device of a server device on a communication network such as the Internet, and may be downloaded by an ordinary information processing terminal to constitute an information processing device.

Also, when the functions of the control unit 120 are realized by sharing the functions of the OS (Operating System) and application programs, or by cooperation between the OS and application programs, only the application program part is stored in a recording medium or storage device. may be stored.

Furthermore, it is also possible to superimpose a computer program on a carrier wave and distribute it via a communication network. For example, the computer program may be posted on a bulletin board system (BBS) over a communications network and distributed over the network. Then, the above-described processing may be performed by activating this computer program and executing it in the same manner as other application programs under the control of the OS.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to such specific embodiments, and the present invention includes the invention described in the claims and the scope of equivalents thereof. is included. The invention described in the original claims of the present application is appended below.

(Appendix)
(Appendix 1)
a movable part;
a driving means for driving the movable portion;
collision detection means for detecting a collision from a predetermined object;
a motion generating means for generating a motion of the movable part to avoid a predetermined area including the predetermined target with which the collision has been detected when the collision is detected by the collision detecting means;
drive control means for controlling the drive means based on the motion generated by the motion generation means;
comprising
A robot characterized by:

(Appendix 2)
The motion generating means sets the predetermined area including the predetermined target with which the collision has occurred as a motion prohibited area of the movable part, and generates the motion of the movable part that avoids the motion prohibited area.
The robot according to appendix 1, characterized by:

(Appendix 3)
The motion generating means has a motion direction setting section that sets the motion direction of the movable portion based on at least one of the collision position and direction,
The motion direction setting unit sets, as the motion prohibited region of the movable portion, a region within a range of a predetermined polar angle centered on a direction opposite to the direction of the crash from the position of the collision. setting a direction to direct the free end of the movable part so as to avoid the area;
The robot according to appendix 2, characterized by:

(Appendix 4)
The motion direction setting unit sets, as the motion direction of the movable portion, a direction in which the free end of the movable portion is directed away from the collision position.
The robot according to appendix 3, characterized by:

(Appendix 5)
The action generating means is
a distance determination unit that determines the distance between the movable part and the collision position;
a movement amount setting unit that sets the movement amount of the movable part from the distance obtained by the distance determination unit;
having
The robot according to appendix 3 or 4, characterized by:

(Appendix 6)
comprising a plurality of said movable parts,
The robot according to appendix 5, characterized by:

(Appendix 7)
The motion direction setting unit sets the motion directions of the plurality of movable portions such that the free ends of the plurality of movable portions face the same direction.
The robot according to appendix 6, characterized by:

(Appendix 8)
the plurality of movable parts have movable axes orthogonal to each other and rotate about the movable axes;
The motion direction setting unit
The collision direction is resolved into components with respect to the directions of the plurality of movable axes, and the free ends of the plurality of movable parts are moved in the direction of the plurality of movable axes having the largest component among the resolved components. setting the direction of motion of the plurality of movable parts to face
The robot according to appendix 6 or 7, characterized by:

(Appendix 9)
The movement amount setting unit increases the movement amounts of the plurality of movable parts in ascending order of the distance obtained by the distance determination unit.
9. The robot according to any one of Appendices 6 to 8, characterized by:

(Appendix 10)
The motion generating means has a delay time setting unit that sets a delay time from the collision to the start of the motion of the plurality of movable parts,
10. The robot according to any one of Appendices 6 to 9, characterized in that:

(Appendix 11)
The delay time setting unit sets the delay time from the collision to the start of the operation of the plurality of movable parts in order of shortest distance obtained by the distance determination unit.
11. The robot according to appendix 10, characterized by:

(Appendix 12)
The motion generation means has a selection unit that selects the plurality of movable parts to operate based on the distance obtained by the distance determination unit,
12. The robot according to any one of appendices 6 to 11, characterized in that:

(Appendix 13)
The movement amount setting unit increases the movement amounts of the plurality of movable parts according to the magnitude of the collision detected by the collision detection means.
13. The robot according to any one of appendices 6 to 12, characterized in that:

(Appendix 14)
The action generating means cancels the setting of the action prohibited area when a predetermined condition is satisfied.
14. The robot according to any one of appendices 2 to 13, characterized in that:

(Appendix 15)
the predetermined condition is satisfied when a predetermined time has elapsed since the collision;
15. The robot according to appendix 14, characterized by:

(Appendix 16)
The collision detection means is
an acceleration sensor;
a collision detection unit that determines at least one of the position and direction of the collision based on the acceleration measured by the acceleration sensor and the acceleration direction;
having
16. The robot according to any one of Appendices 1 to 15, characterized by:

(Appendix 17)
the predetermined target includes a human or animal or other robot;
17. The robot according to any one of appendices 1 to 16, characterized by:

(Appendix 18)
The motion generated by the motion generating means is a motion that makes the movable part look as if it has flexibility.
18. The robot according to any one of appendices 1 to 17, characterized in that:

(Appendix 19)
detecting a collision from a given target;
generating a motion of the movable part to avoid a predetermined area containing the predetermined target when the collision is detected;
driving the movable part based on the generated motion;
including,
A robot control method characterized by:

(Appendix 20)
The computer that controls the robot,
Collision detection means for detecting a collision from a predetermined object;
motion generation means for generating a motion of the movable part to avoid a predetermined area including the predetermined target when the collision is detected by the collision detection means;
drive control means for controlling drive means for driving the movable portion based on the motion generated by the motion generation means;
to function as
A program characterized by

DESCRIPTION OF SYMBOLS 100... Robot, 102... Body part, 104... Arm part, 104a, 104b... Free end, 105... Shoulder joint part, 108... Head part, 109... Neck joint Unit 120 Control unit 122 CPU 124 Memory 125 Collision detection unit 126 Object determination unit 127 Collision determination unit 128 Collision Calculation unit 130 Motion generation unit 131 Distance determination unit 132 Selection unit 133 Motion direction setting unit 134 Movement amount setting unit 135 Delay time Setting unit 136 Generation unit 145 Drive control unit 150 Storage unit 155 Battery 160 Movable unit 162a, 162b, 164a, 164b Movable axis , 170... Drive unit, 180... Acceleration sensor, B... Area, P... Collision position, S... Collision direction, S1... Collision direction in the direction of the movable axis. Largest resolved component, T: direction opposite to direction of collision, φ: polar angle

Claims (19)

a driving means for driving the movable part;
collision detection means for detecting a collision from a predetermined object;
When the collision is detected by the collision detection means, a predetermined area including the predetermined target with which the collision has occurred is set as an operation prohibited area of the movable section, and an operation of the movable section that avoids the operation prohibited area is generated. a motion generating means for
drive control means for controlling the drive means based on the motion generated by the motion generation means;
comprising
A robot characterized by: The motion generating means has a motion direction setting section that sets the motion direction of the movable portion based on at least one of the collision position and direction,
The motion direction setting unit sets, as the motion prohibited region of the movable portion, a region within a range of a predetermined polar angle centered on a direction opposite to the direction of the crash from the position of the collision. setting a direction to direct the free end of the movable part so as to avoid the area;
The robot according to claim 1 , characterized by: The motion direction setting unit sets, as the motion direction of the movable portion, a direction in which the free end of the movable portion is directed away from the collision position.
3. The robot according to claim 2 , characterized by: The action generating means is
a distance determination unit that determines the distance between the movable part and the collision position;
a movement amount setting unit that sets the movement amount of the movable part from the distance obtained by the distance determination unit;
having
4. The robot according to claim 2 or 3 , characterized in that: comprising a plurality of said movable parts,
5. The robot according to claim 4 , characterized in that: The motion direction setting unit sets the motion directions of the plurality of movable portions such that the free ends of the plurality of movable portions face the same direction.
6. The robot according to claim 5 , characterized in that: the plurality of movable parts have movable axes orthogonal to each other and rotate about the movable axes;
The motion direction setting unit
The direction of the collision is resolved into components with respect to the directions of the plurality of movable axes, and the free ends of the plurality of movable parts are moved in the direction of the plurality of movable axes having the largest component among the resolved components. setting the direction of motion of the plurality of movable parts to face
7. The robot according to claim 5 or 6 , characterized in that: The movement amount setting unit increases the movement amounts of the plurality of movable parts in ascending order of the distance obtained by the distance determination unit.
8. The robot according to any one of claims 5 to 7 , characterized in that: The motion generating means has a delay time setting unit that sets a delay time from the collision to the start of the motion of the plurality of movable parts,
9. The robot according to any one of claims 5 to 8 , characterized in that: The delay time setting unit sets the delay time from the collision to the start of the operation of the plurality of movable parts in order of shortest distance obtained by the distance determination unit.
10. The robot according to claim 9 , characterized by: The motion generation means has a selection unit that selects the plurality of movable parts to operate based on the distance obtained by the distance determination unit,
11. The robot according to any one of claims 5 to 10 , characterized in that: The movement amount setting unit increases the movement amount of the plurality of movable parts according to the magnitude of the collision detected by the collision detection means.
12. The robot according to any one of claims 5 to 11 , characterized in that: The action generating means cancels the setting of the action prohibited area when a predetermined condition is satisfied.
13. The robot according to any one of claims 1 to 12 , characterized in that: the predetermined condition is satisfied when a predetermined time has elapsed since the collision;
14. The robot according to claim 13 , characterized by: The collision detection means is
an acceleration sensor;
a collision detection unit that determines at least one of the position and direction of the collision based on the acceleration measured by the acceleration sensor and the acceleration direction;
having
15. The robot according to any one of claims 1 to 14 , characterized in that: the predetermined target includes a human or animal or other robot;
16. The robot according to any one of claims 1 to 15 , characterized in that: The motion generated by the motion generating means is a motion that makes the movable part look as if it has flexibility.
17. The robot according to any one of claims 1 to 16 , characterized in that: detecting a collision from a given target;
setting a predetermined area including the predetermined target as an operation prohibited area of the movable part of the robot when the collision is detected, and generating an operation of the movable part that avoids the operation prohibited area ;
driving the movable part based on the generated motion;
including,
A robot control method characterized by: The computer that controls the robot,
Collision detection means for detecting a collision from a predetermined object;
When the collision is detected by the collision detection means, a predetermined area including the predetermined object is set as an operation prohibited area of the movable portion of the robot, and an operation of the movable portion that avoids the operation prohibited area is generated. a motion generating means for
drive control means for controlling drive means for driving the movable portion based on the motion generated by the motion generation means;
to function as
A program characterized by

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