WO2017135053A1 - Robot, robot control method, control program, and recording medium - Google Patents

Abstract

The present invention realizes a robot that can maintain a second posture even without transmission of force to a movable part. A robot (1) is provided with a plurality of movable parts (2, 3, 4, 5, 6, 7) and shifts from a first to a second posture when executing a predetermined function, wherein the first posture is a posture in which the robot is stable when, among the movable parts, only first movable parts (6, 7) are in contact with a floor surface, the second posture is a posture in which the robot is not stable when only the first movable parts are in contact with the floor surface, and the second posture is a posture in which the robot is stable when, among the movable parts, second movable parts (4, 5) are in contact with another object.

Description

Robot, robot control method, control program, and recording medium

The present invention relates to a robot having a plurality of movable parts, a robot control method, a control program, and a recording medium.

Conventionally, many robots having a plurality of movable parts such as a head, arms, and legs have been developed. Such a robot has a plurality of movable parts, and thus can make various gestures and take postures. In addition to this, the robot can execute various functions by operating various devices (projector, camera, microphone, speaker, display, etc.) mounted on the robot (for example, Patent Documents). 1).

Japanese Patent Publication “JP 2005-59186 A” (published on March 10, 2005) International Patent Publication “WO2015 / 174155A1 Publication” (International publication on November 19, 2015) Japanese Patent Publication “JP 2002-079480” (published March 19, 2002)

However, the conventional technology as described above has a problem that the robot cannot be stably stopped in a specific posture and the robot tilts. For example, it is assumed that the robot must maintain a specific posture in order to achieve a specific function. When such a specific posture is unstable, it is conceivable to transmit a force to the movable part and fix it so that the robot does not tilt no matter what posture it takes. As an example, it is possible to employ a drive unit that drives the movable unit. However, in order to maintain a certain posture of the robot, the drive unit consumes a lot of electric power in some cases and transmits the force to the movable unit or applies an electric brake, thereby moving the movable unit. Must be fixed at a specific rotational position. The amount of power consumed for this is not negligible considering the convenience of a battery-powered robot. In addition, it is desirable to suppress the power consumption as much as possible from the viewpoint of power saving and circuit protection. As described above, it is desired that the robot stably takes a specific posture regardless of the presence or absence of the drive unit. In particular, in a robot including a drive unit, the demand is further increased from the viewpoint of power saving and circuit protection.

The present invention has been made in view of the above-mentioned problems, and the object thereof is a robot capable of maintaining a specific posture even when transmission of force to the movable part is stopped, a robot control method, And to provide a program.

In order to solve the above-described problem, a robot according to one embodiment of the present invention includes a plurality of movable parts and can shift to a second posture different from the first posture when executing a predetermined function. In the robot, the first posture is a posture in which the robot is stabilized when only the first movable portion is in contact with the floor surface among the plurality of movable portions, and the second posture is the first posture. The robot is in a posture where the robot is not stabilized when only one movable portion comes into contact with the floor surface, and the second posture is a second movable different from the first movable portion among the plurality of movable portions. The robot is in a posture in which the robot is stabilized by contacting another object.

According to one aspect of the present invention, the robot can maintain its posture and execute a predetermined function even if no force is transmitted to the movable part.

It is a block diagram which shows the principal part structure of the robot which concerns on this invention. (A) is a figure which shows the external appearance of the robot which concerns on this invention, (b) is a figure which shows the skeleton of this robot. (A)-(d) is a figure which shows the specific example of the 2nd attitude | position which the robot which concerns on this invention can take. It is a flowchart which shows the flow of the process which the robot which concerns on this invention performs. It is a figure which shows the specific example of the attitude | position definition table hold | maintained at the memory | storage part of the robot which concerns on this invention. It is a figure which shows the other specific example of the 2nd attitude | position which the robot which concerns on this invention can take. It is a figure which shows the other specific example of the 2nd attitude | position which the robot which concerns on this invention can take. It is a figure which shows an example of the attitude | position where a robot is not stabilized only by a leg part touching down.

Embodiment 1
Embodiment 1 according to the present invention will be described below with reference to FIGS. Here, a case where the shape of the robot 1 according to the present invention has an appearance like a human body (that is, a humanoid robot) will be described as an example. That is, the robot 1 performs one or a plurality of posture (pose) changes and gestures (communication operation) to the user by individually moving movable parts such as the head, arms, hands, and feet. Is possible. The shape of the robot 1 is not limited to a human type, and may be an animal type such as a cat type or a dog type, or may be an insect type, a cocoon type, a centipede type, a snake type, or the like. .

(External configuration of robot 1)
First, the appearance of the robot 1 according to the present invention will be described with reference to FIG.

FIG. 2A is a front view showing an example of the appearance of the robot 1 according to this embodiment. As shown, the robot 1 includes a head 2 (movable part), a trunk part 3, a right arm part 4 (movable part), a left arm part 5 (movable part), a right leg part 6 (movable part), and a left leg part. 7 (movable part). The face corresponding to the face in the head 2 of the robot 1 and the face corresponding to the abdomen in the trunk 3 are referred to as “front”, and the side corresponding to the back of the head 2 and the back in the trunk 3. The side corresponding to is referred to as the “back”.

The head 2 is provided with a microphone 20, a projector 21 (projection unit), an LED (Light Emitting Diode) 22, a speaker 23, and a camera 24. These devices only need to be selectively provided according to what function the robot 1 is to execute, and can be omitted as appropriate. In the present embodiment, as an example, the projector 21 and the camera 24 are provided in the center of the forehead of the robot 1. The LEDs 22 are provided around both eyes of the robot 1. The microphone 20 and the LED 22 are provided as a pair on the left and right, corresponding to the ears and eyes of the robot.

The right arm portion 4 includes an upper right arm portion 41, a right forearm portion 42, and a right hand portion 43. From the one end (base side) to the other end (tip side) of the right arm portion 4, the upper right arm portion 41, the right forearm portion 42, and the right hand portion 43 are arranged in this order. One end of the right arm 4 is connected to a location corresponding to the right shoulder side of the trunk 3. The left arm part 5 includes a left upper arm part 51, a left forearm part 52, and a left hand part 53. The left upper arm 51, the left forearm 52, and the left hand 53 are arranged in this order from one end (base side) to the other end (tip side) of the left arm unit 5. One end of the left arm 5 is connected to a place corresponding to the left shoulder side of the trunk 3.

The right leg 6 is composed of a right thigh 61 and a right foot 62. One end (base side) of the right thigh 61 is connected to a place corresponding to the waist side of the trunk 3, and the right foot 62 is connected to the other end (tip side) of the right thigh 61. The left leg 7 is composed of a left thigh 71 and a left foot 72. One end (base side) of the left thigh 71 is connected to a place corresponding to the waist side of the trunk 3, and the left foot 72 is connected to the other end (tip side) of the left upper arm 51.

The means for accepting input of user instructions (predetermined instructions from the outside) is not limited to voice, but may be a light receiving unit such as a keyboard, a touch panel, or infrared rays.

(Skeleton structure of robot 1)
FIG. 2B is a diagram illustrating a skeleton configuration of the robot 1 according to the present embodiment. As shown in this figure, in addition to the members shown in FIG. 1, the robot 1 further includes a neck roll 11a, a neck pitch 11b, a neck yaw 11c, a right shoulder pitch 12, as a drive unit 40 (see FIG. 1), A left shoulder pitch 13, a right elbow roll 14, a left elbow roll 15, a right crotch pitch 16, a left crotch pitch 17, a right ankle pitch 18b, a right ankle roll 18a, a left ankle pitch 19b, and a left ankle roll 19a are provided. The neck roll 11a to the left ankle roll 19a are all servomotors in this embodiment, and may be provided at each joint portion as shown. The term neck roll 11a is intended to enable the servomotor to rotate and move the movable part in the roll direction. The same applies to other members such as the neck pitch 11b.

By instructing each drive unit 40 from the control unit 10 (see FIG. 1), which will be described later, control is performed such that the drive unit 40 is rotated to a specified angle or torque is turned on / off. As a result, the robot 1 can maintain or change the posture, perform an operation such as walking, or perform a gesture such as raising a hand. Below, what can adjust an angle among the drive parts 40 is described as a joint part especially.

The neck roll 11a, the neck pitch 11b, and the neck yaw 11c are arranged at a location corresponding to the neck in the robot 1. The control unit 10 can control the movement of the head 2 in the robot 1 by controlling these.

The right shoulder pitch 12 is arranged at a position corresponding to the right shoulder in the robot 1. The control unit 10 can control the movement of the entire right arm unit 4 in the robot 1 by controlling this. The left shoulder pitch 13 is disposed on the left shoulder of the robot 1. The control unit 10 can control the movement of the entire left arm unit 5 in the robot 1 by controlling this.

The right elbow roll 14 is disposed at a location corresponding to the right elbow in the robot 1. The control unit 10 can control the movement of the right forearm unit 42 and the right hand unit 43 in the robot 1 by controlling this. The left elbow roll 15 is disposed at a location corresponding to the left elbow in the robot 1. The control unit 10 can control the movement of the left forearm unit 52 and the left hand unit 53 in the robot 1 by controlling this.

The right crotch pitch 16 is disposed at a location corresponding to the right crotch in the robot 1. The control unit 10 can control the movement of the entire right leg 6 in the robot 1 by controlling this. The left crotch pitch 17 is disposed at a location corresponding to the left crotch in the robot 1. The control unit 10 can control the movement of the entire left leg 7 in the robot 1 by controlling this.

The right ankle pitch 18b and the right ankle roll 18a are arranged at a location corresponding to the right ankle in the robot 1. The control unit 10 can control the movement of the right foot 62 in the robot 1 by controlling these. The left ankle pitch 19 b and the left ankle roll 19 a are disposed at a location corresponding to the left ankle in the robot 1. The control unit 10 can control the movement of the left foot 72 in the robot 1 by controlling these.

Furthermore, the control unit 10 can cause the robot 1 to take the forward tilt posture or the backward tilt posture by simultaneously controlling the right crotch pitch 16, the left crotch pitch 17, the right ankle pitch 18b, and the left ankle pitch 19b.

As described above, the robot 1 may be provided with one drive unit 40 for driving the movable unit with respect to one movable unit (for example, the right leg 6 with respect to the right side). Crotch pitch 16 may be provided). Alternatively, a plurality of driving units 40 for driving the movable unit may be provided for one movable unit (for example, the neck roll 11a, the neck pitch 11b, and the neck with respect to the head 2). Yaw 11c may be provided).

Each drive unit 40 can notify the control unit 10 of a status such as an angle at a predetermined interval. The status notification is performed even when the torque of the servo motor is off, and the operation of the movable part by the user can be detected. The control unit 10 can recognize the angle of the servo motor by receiving the status notification.

Although the illustrated robot 1 has been described with an example in which the trunk 3 does not have a movable part, the waist portion of the trunk 3 may be configured to be rotatable left and right. In addition, a jaw-like member (not shown) is provided at a portion corresponding to the mouth of the head 2 so as to be movable according to the sound from the speaker 23, or a bowl-like member (not shown) is provided on the LED 22. In addition, it may be configured to be able to move like blinking. In such a case, the trunk 3 and the head 2 can also be movable parts. Moreover, you may comprise so that each movable part may move in the aspect different from the example shown in figure. For example, the right arm part 4, the left arm part 5, the right leg part 6, and the left leg part 7 may be configured to expand and contract in addition to rotating and bending and stretching.

(Configuration of robot 1)
Next, the configuration of the robot 1 will be described with reference to FIG. FIG. 1 is a block diagram showing the configuration of the robot 1. The robot 1 includes a plurality of movable parts, and the control of the individual movable parts can be made different from each other.

As shown in FIG. 1, the robot 1 includes a control unit 10, a microphone 20, a storage unit 30, and a drive unit 40. The drive unit 40 is as described above with reference to FIG. The robot 1 of this embodiment includes a projector 21 as an example. Further, the robot 1 may include a camera 24. In addition to the projector 21 and the camera 24, the robot 1 may include various devices that perform a specific function, but the illustration is omitted here.

The control unit 10 controls the operation and processing of the robot 1 in an integrated manner. A specific configuration of the control unit 10 will be described later. The microphone 20 is a device for acquiring voice input by the user to the control unit 10. The projector 21 is a device that outputs a signal related to a still image or a moving image (hereinafter collectively referred to as an image) processed by the control unit 10 and projects the image onto a projection destination. The camera 24 is a device that captures a subject and inputs an image. The camera 24 may be a digital camera or a digital video capable of capturing surrounding objects and user movements. The storage unit 30 is a storage medium that stores various types of information for the control unit 10 to perform processing. Specific examples of the storage unit 30 include a hard disk or a flash memory. The storage unit 30 defines a plurality of patterns of postures to be taken by the robot 1, and stores a posture definition table 31 that defines whether or not to turn off the torque of the joints of the robot 1 for each posture. The posture definition table 31 will be described later with a specific example. In addition to the posture definition table 31, the storage unit 30 stores a voice table (not shown) that is referred to in order to interpret a voice instruction when a voice instruction from the user is input. ing.

(Configuration of control unit 10)
The control unit 10 includes a voice recognition unit 81, a function specifying unit 82, a drive control unit 83, and a function execution unit 8 as functional blocks. Specifically, the function execution unit 8 is, for example, a projection execution unit 84, a shooting execution unit 85, or the like, but is not limited thereto.

The voice recognition unit 81 recognizes (interprets) the voice input to the microphone 20. The voice recognition unit 81 determines whether or not the input voice is a predetermined voice included in the voice table of the storage unit 30. For example, it is assumed that the sound input from the microphone 20 is “show this album in a slide show”. In this case, the voice recognition unit 81 refers to the voice table in the storage unit 30 and recognizes that a slide show projection has been instructed. Then, the recognition result is output to the function specifying unit 82.

The function specifying unit 82 specifies a function to be executed in accordance with the recognition result supplied from the voice recognition unit 81, and instructs the main body that executes the function to execute the function. For example, when it is determined by voice recognition that projection of a slide show has been instructed, the function specifying unit 82 specifies that the projection function realized by the projector 21 is to be executed, and the projection executing unit 84 that controls the projector 21 It instructs the execution of the projection function.

The drive control part 83 controls the drive part 40, respectively. In particular, when the robot 1 executes a specific function, the drive control unit 83 determines the posture to be taken by the robot 1 during the execution of the function, and controls each drive unit 40 so that the determined posture is obtained. To do. More specifically, the drive control unit 83 reads the posture definition corresponding to the function determined by the function specifying unit 82 from the posture definition table 31. Then, according to the read definition, the transmission of force from the specific drive unit 40 to the corresponding movable unit is permitted (torque is turned on), or the transmission of force from another drive unit 40 to the corresponding movable unit is stopped. (Torque off). The drive control unit 83 can turn off the torque for all the drive units 40, or can turn off the torque for some of the drive units 40. In this way, under the control of the drive control unit 83, the drive unit 40 moves to a predetermined rotation position or stops at the rotation position, so that each movable unit shown in FIG. The robot 1 can move to a predetermined position and take a specific posture.

Furthermore, the drive control unit 83 refers to the posture definition table 31 and determines whether or not torque off is possible for a specific posture to be taken by the robot 1. When the torque can be turned off for the specific posture, the drive control unit 83 turns off the torque of all the drive units 40 (joint portions) after causing the robot 1 to take the specific posture. .

The function execution unit 8 controls various devices mounted on the robot 1 to execute various functions provided in the robot 1. Specific examples of the function of the robot 1 include a projection function for projecting a video signal onto an external projection destination and a photographing function for photographing a subject as described above. The above functions are realized by the projection execution unit 84 controlling the projector 21 and the imaging execution unit 85 controlling the camera 24, respectively. In addition to the above, the robot 1 may have various functions such as a voice call function and a schedule management function (for example, functions provided in a mobile terminal such as a smartphone). In this case, the function execution unit 8 may include an execution unit for controlling a device that is an execution subject of these functions.

Note that the robot 1 according to the present embodiment may incorporate a computer including a control unit 10 that is a CPU (central processing unit) and a storage unit 30. In this case, each unit shown as the functional block can be realized by the CPU reading a program stored in a storage device such as a ROM (read only memory) (not shown) to a RAM (random access memory) or the like and executing it. .

(About the posture of the robot 1)
As described above, the robot 1 according to the present invention includes a plurality of movable units, and when the function execution unit 8 of the robot 1 executes a predetermined function, the function is changed from the basic posture (first posture). It is possible to shift to a specific posture (second posture) for execution.

The predetermined function may be, for example, a projection function realized by the projection execution unit 84 controlling the projector 21, or a shooting function realized by the shooting execution unit 85 controlling the camera 24. Or any other function.

Here, the basic posture is a posture that the robot 1 takes while the robot 1 is being charged or while the robot 1 is not performing a function and is waiting for a user instruction input. The basic posture may be, for example, a posture in which the robot 1 is upright as shown in FIG. Alternatively, the basic posture is a posture in which the robot 1 is sitting. Specifically, the legs (the right leg 6 and the left leg 7) are perpendicular to the trunk 3 that is vertical to the floor surface. The posture may be such that the waist is bent so that the back of the leg is in contact with the floor surface. That is, the basic posture means that only the leg (first movable part) is in contact with the floor surface, so that the robot 1 is supported by the leg and the floor surface, and the other movable parts are not in contact with the object. The posture is not inclined. In the following, the posture in which the robot 1 is not tilted even when the torque of the driving unit 40 is turned off and is stationary is expressed as a posture in which the robot 1 is stable.

On the other hand, the specific posture (second posture) is a posture different from the basic posture to be taken when the robot 1 executes a specific function. The specific posture is a posture in which the robot 1 is not stable (without transmission of force to the movable portion) when only the leg portion (first movable portion) is in contact with the floor surface (for example, FIG. 8). . In addition, the specific posture is a posture in which the robot 1 is stabilized when a movable portion other than the leg portion comes into contact with and is supported by the other object. The specific posture may be, for example, a forward tilt posture that the robot 1 takes when projecting an image on the floor as the projection function. Alternatively, the specific posture is determined when the projector 21 is provided on the back surface (back head) of the head 2 or when the arm portions (the left arm portion 5 and the right leg portion 6) of the robot 1 are longer than a predetermined length. The rearward posture may be used. The robot 1 makes the specific posture the stable posture by bringing at least one movable portion different from the leg portion as the first movable portion into contact with another object as the second movable portion. As realized.

According to the above configuration, the robot 1 realizes a stable specific posture by bringing the second movable part other than the first movable part (such as the leg part) in contact with the floor surface into contact with another object. . As long as the other object is fixed so as not to move at least in the direction of the load received via the second movable part, when the load on the robot acts on the second movable part, the second object A reaction force that balances the load acts on the object at the contact point between the movable part and the object. Therefore, the robot 1 cannot stand still when a force (load) for tilting the robot 1 is applied only by the leg contacting the floor surface in a specific posture. By contacting the object, a reaction force is obtained, and the object can stand still without being tilted by the load. As a result, the robot 1 can maintain a specific posture and can execute a predetermined function.

Hereinafter, a specific example of a specific posture as a posture in which the robot 1 is stable will be described with reference to (a) to (d) of FIG. FIGS. 3A to 3D are side views when the robot 1 taking a specific posture is viewed from the left side of the robot 1. In this embodiment, when the robot 1 takes a specific posture, the positions of both arms (right arm 4 and left arm 5) and both legs (right leg 6 and left leg 7) are placed symmetrically. Shall. Therefore, when the robot 1 takes a specific posture, in this embodiment, the right arm portion 4 and the right leg portion 6 (not shown in the figure) are placed at positions symmetrical to the left arm portion 5 and the left leg portion 7, respectively. In the following, description of the positions of the right arm portion 4 and the right leg portion 6 is omitted. The same applies to other embodiments. However, the robot 1 of the present invention is not limited to this, and the robot 1 may take a left-right asymmetric specific posture.

For example, when executing a projection function for projecting an image onto a floor surface, the robot 1 takes a forward tilt posture (second posture) as shown in FIGS. 3A to 3C as a specific posture. Alternatively, a rearward tilting posture (second posture) as shown in FIG. According to FIGS. 3A to 3D, the specific posture of the robot 1 means that the bottom surface of the left foot portion 72 of the left leg portion 7 as the first movable portion is in contact with the floor surface B. In this posture, the left hand portion 53 of the left arm portion 5 is in contact with another object as the second movable portion. According to the above configuration, the robot 1 tilts when only the leg portions (the right leg portion 6 and the left leg portion 7) are in contact with the floor surface in a specific posture, but the arm portion (the right arm portion 4). Since the left arm 5) is in contact with another object, the robot 1 can be supported by receiving a reaction force from the object via the arm. Therefore, the robot 1 can be stationary without tilting in the specific posture. FIG. 3D shows a configuration in which the leg includes a knee joint, and the thigh and the lower knee connected to the knee joint can be individually driven, and the arm is sufficiently long. The posture is realized by a robot having at least one of the configurations.

It should be noted that the other object that the left hand part 53 contacts may specifically be the floor surface B, as shown in (c) and (d) of FIG. According to the above configuration, even when the trunk portion 3 is inclined at an arbitrary angle (for example, substantially horizontally) by bringing the arm portion into contact with the floor B as the other object described above in addition to the leg portion. The posture of the robot 1 can be stabilized.

Or the other object which the left hand part 53 contacts may be the left leg part 7, as shown to the other movable part of the robot 1, specifically, (a) and (b) of FIG. . According to the said structure, an arm part is made to contact the leg part currently supported by the floor surface B. FIG. That is, the arm part supports the trunk part 3 by contacting the leg part as the other object described above. This specific posture is suitable for the robot 1 in which the arm portion is relatively short and the arm portion does not reach the floor surface B unless the trunk portion 3 is tilted by a corresponding angle (horizontal or forward). It is.

More specifically, when the projector 21 is provided on the front side of the head 2, the specific posture at the time of executing the projection function is that at least a part of the left arm portion 5 (such as the left hand portion 53) The posture is in contact with the front surface. The front surface of the leg is a surface on the same side as the projection direction (front) of the projector 21. Specifically, the front surface of the leg is, for example, the front surface of the left thigh 71 (including a surface corresponding to a human knee or shin) and the front surface of the left foot 72 (corresponding to the back or toe of a human foot). Including the surface to be used). According to the above configuration, when the projection direction of the projector 21 is the front of the robot 1 and the surface of the robot 1 seen when the robot 1 is viewed from the projection destination is the front, the arm is attached to the front side of the leg. Thus, it is possible to maintain a posture (forward tilt posture) in which the trunk 3 is tilted in the projection direction (forward). Therefore, the projection direction of the projector 21 provided on the head 2 can be directed to the front floor surface B. As the trunk 3 is tilted forward, the projection direction can be made perpendicular to the floor surface B, and the trapezoidal distortion of the projection image P projected from the projector 21 can be suppressed accordingly. Become.

Preferably, as shown in FIG. 3A, the specific posture is a posture in which the bottom surface of the left foot portion 72 is in contact with the floor surface B and the left hand portion 53 is in contact with the back of the left foot portion 72. It is. According to the above configuration, the trunk 3 is tilted forward by attaching the tip of the arm (the hand, that is, the right hand 43 and the left hand 53) to the back of the foot (the right foot 62 and the left foot 72). Thus, the forward tilting posture of the robot 1 can be maintained. By placing a hand on the back of the movable part (ie, the foot) that directly touches the floor B of the legs, the object becomes more stable (compared to hands on the knee or thigh indirectly). Being supported, the posture is more stable. The specific posture is a posture suitable for a robot whose arm portion is short and the trunk portion 3 does not reach the floor surface B unless the trunk portion 3 is tilted forward or parallel to the floor surface B. Furthermore, in the specific posture, the inclination of the trunk 3 can be made as close as possible to the floor B as much as possible (compared to the case where a hand is placed on the knee or thigh). Thereby, when the projection direction of the projector 21 provided in front of the head 2 is directed to the front floor surface B, the projection direction is made perpendicular to the floor surface B by the amount of the trunk 3 tilted forward. be able to. Accordingly, it is possible to suppress the distortion of the trapezoid of the projection image P projected from the projector 21 correspondingly.

With reference to (a) of FIG. 3, more preferably, in the specific posture, the trunk 3 is configured such that the inclination θ1 of the trunk 3 with respect to the floor surface B is equal to or less than a predetermined value (so as to approach the horizontal). Tilted forward. Specifically, the inclination θ1 of the trunk 3 is determined such that the inclination θ2 of the projection direction of the projector 21 with respect to the floor surface B is equal to or greater than a predetermined value (approaching the vertical direction). Here, the inclination θ2 of the projection direction is an angle formed by the projection direction D and the floor B where the distortion of the projection image P projected by the projector 21 is the strongest. The smaller the inclination θ2, the smaller the projection image P. The distortion becomes stronger. Therefore, the inclination θ2 is determined according to how much the distortion of the projection image P is allowed according to the performance of the image processing function for correcting the distortion mounted on the robot 1. Specifically, the image processing function is a function of correcting a projection image P projected on the floor and distorted into a trapezoid into a rectangle by image processing (hereinafter referred to as a trapezoid correction function). From the above, in the specific posture, the trunk 3 tilts so that the distortion of the projection image P projected by the projector 21 is within a range that can be corrected by the trapezoid correction function (image processing function) of the robot 1. It is preferable.

(Processing flow by robot 1)
FIG. 4 is a flowchart showing a flow of processing executed by the control unit 10 of the robot 1. When the voice is input to the microphone 20, the voice recognition unit 81 compares the input voice with the voice of the sample stored in the voice table, and recognizes the meaning content of the input voice (S101). The function specifying unit 82 determines whether or not an instruction to execute a predetermined function provided in the robot 1 is instructed based on the recognition result by the voice recognition unit 81 (S102). Here, when the input voice does not correspond to the function execution instruction (NO in S102), the control unit 10 of the robot 1 may execute a process according to the meaning content of the input voice (S110).

On the other hand, when execution of a predetermined function is instructed (YES in S102), the function specifying unit 82 specifies the function instructed to execute (S103: function specifying step). Here, for example, it is assumed that the function specifying unit 82 recognizes that it has been instructed to project a slide show of images stored in the robot 1 onto the floor surface.

Subsequently, the drive control unit 83 determines a posture to be taken by the robot 1 when executing the function specified by the function specifying unit 82 (S104). For example, the drive control unit 83 refers to the posture definition table 31 and determines a specific posture associated with a function for projecting an image on the floor surface (hereinafter, function name “floor projection”). Then, the drive control unit 83 reads the determined definition of the specific posture from the posture definition table 31. The drive control unit 83 determines whether or not the current posture of the robot 1 corresponds to the determined specific posture (S105). If the current posture is not a specific posture (NO in S105), the drive control unit 83 controls the drive unit 40 of each joint according to the definition of the specific posture so as to shift to the specific posture (S106). : Drive control step). In other words, the drive control unit 83 controls the drive unit 40 of each joint so that the servo motor corresponding to each joint maintains the holding angle defined for the servo motor. Here, the drive control unit 83 refers to the posture definition table 31 and determines whether or not the specific posture determined in S104 is a posture in which the robot 1 is stable even if torque is removed. If the determined specific posture is a posture in which the robot 1 does not tilt even if torque is removed (YES in S107), the drive control unit 83 sets the posture of the robot 1 determined in S105. After the transition, the transmission of force from each drive unit 40 to the corresponding movable unit is stopped. Stopping the transmission of force includes, for example, turning off the power of all the driving units 40 that drive each movable unit. Specifically, the drive control unit 83 turns off the torque of the servo motor corresponding to each joint of the robot 1 (S108: drive stop step). The determination step of S107 may be performed at any timing after the step of S104 is executed and before the step of S108 is executed.

While the robot 1 is controlled to take the specific posture by the drive control unit 83 or after the robot 1 shifts to the specific posture by the control of the drive control unit 83, the function execution unit 8 The function specified by the unit 82 is executed (S109). Here, for example, the projection execution unit 84 executes a floor projection function.

According to the above method, after the robot 1 shifts to the specific posture for executing the floor projection function, the drive control unit 83 stops the current to the drive unit 40. Therefore, the posture of the robot 1 can be stabilized without tilting, and the execution of the floor projection function can be continued. In addition, the drive unit 40 does not consume power, and as a result, power saving and circuit protection by avoiding heat generation can be realized.

(Attitude definition table 31)
FIG. 5 is a diagram illustrating a specific example of the posture definition table 31 referred to by the control unit 10 of the robot 1. In FIG. 5, the posture definition information is shown in a table format data structure, and is not intended to limit the definition information data structure to the table format.

In the present embodiment, as shown in FIG. 5, in the posture definition table 31, one posture definition information includes three pieces of information: holding angle information, function information, and torque-off flag. More specifically, in the holding angle column of the posture definition table 31, for each posture, the holding angle of each servo motor when the posture is taken by the robot 1 is a servo motor (drive unit) corresponding to each joint portion. 40). In the function column, predetermined functions that can be executed by the robot 1 are stored in association with postures. As a result, it becomes clear which function is the posture taken when the posture is executed. More specifically, in S104, the drive control unit 83 refers to the posture definition table 31 illustrated in FIG. 5, and sets the posture of “02_forward tilt” as the specific posture corresponding to the function name “floor projection”. Can be determined. In the example illustrated in FIG. 5, a plurality of functions are associated with one posture, but the correspondence between the posture and the function may be one-to-one.

In the torque off flag column, there is information indicating whether or not the robot 1 is in a stable posture even if the torque of all servo motors corresponding to the joints is turned off when the robot 1 takes the posture. Stored. Here, “OK” in the torque-off flag indicates that the posture does not tilt even when the torque is turned off, that is, a stable posture. Conversely, “impossible” of the torque-off flag indicates that the posture may be tilted when the torque is turned off, that is, the posture is not stable. By determining whether the torque-off flag associated with the posture is “possible” or “impossible”, the drive control unit 83 allows each servo motor to move after the robot 1 takes the determined specific posture. It is determined whether or not the torque can be turned off. Specifically, in S107, the drive control unit 83 refers to the posture definition table 31 shown in FIG. 5, and the torque-off flag associated with the determined specific posture “02_forward lean” is “possible”. It is determined whether it is present or not. Here, since the torque off flag of the determined specific posture “02_forward lean” is “possible”, the drive control unit 83 causes the robot 1 to take the specific posture “02_forward lean” and then the robot 1 Turn off the torque of all servo motors corresponding to the joints.

Note that the posture definition table 31 shown in one table as shown in FIG. 5 is merely an example, and the posture definition table 31 may include a plurality of tables. For example, a first table that associates the posture to be taken for executing the function for each function, a second table that associates holding angle information for each posture, and a torque off flag associated with each posture. The posture definition table 31 may be configured by the three tables.

Further, the method for determining whether or not each of the specific postures is a stable posture (whether or not torque can be turned off) is not limited to the above. The drive control unit 83 may determine whether or not torque off is possible for the posture based on the holding angle for each servo motor defined for one posture without referring to the torque-off flag.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the first embodiment are denoted by the same reference numerals and description thereof is omitted. In the first embodiment, a specific example of a stable posture will be described with respect to a forward tilt posture that the robot 1 takes to execute a function of projecting an image onto a front floor surface. In the present embodiment, a specific example of a stable posture will be described with reference to FIG. 6 regarding a specific posture that the robot 1 takes to execute the function of projecting an image on the ceiling.

The robot 1 may take a bridge posture (second posture) as shown in FIG. 6 as a specific posture, for example, when executing a function of projecting an image on a ceiling surface (function name “ceiling projection”). According to FIG. 6, the bridge posture is such that the bottom surface of the left foot portion 72 as the first movable portion is in contact with the floor surface B, and the left hand portion 53 as the second movable portion is another object (here, The posture is in contact with the floor surface B). Thereby, in addition to the left leg 7, the left arm 5 supports the head 2 and the trunk 3 of the robot 1 using the reaction force from the floor B, so that the posture of the robot 1 is stabilized. Here, in the bridge posture, each of the following joint portions, right shoulder pitch 12, left shoulder pitch 13, right crotch pitch 16, left crotch pitch 17, right ankle pitch 18b, and left ankle pitch 19b, the corresponding movable portion is the robot 1 The movable part is held at an angle so as to face rearward. Thereby, the robot 1 can take a stable posture in a state where the front surfaces of the head 2 and the trunk 3 (that is, the heel and the belly of the robot 1) are directed toward the ceiling surface C. The projector 21 provided in the front can project an image toward the ceiling surface C.

[Embodiment 3]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those described in the first and second embodiments are denoted by the same reference numerals and description thereof is omitted.

In the first and second embodiments, the robot 1 uses at least a part of the second movable portion (for example, the left hand portion 53 of the left arm portion 5) as another object in order to make the specific posture stable. It was the structure made to contact the other movable part of the robot 1, or the floor B.

However, other objects with which the robot 1 contacts the second movable part are not limited to the above. In order to make the specific posture stable, for example, the robot 1 attaches, for example, the left hand portion 53 to a stationary object such as a wall surface, a handrail, a handle, a tension rod, a pillar, or a pole as the other object (second The movable part may be in contact with each other. Specifically, as shown in FIG. 7A, the specific posture of the robot 1 according to the present invention is such that the left hand portion 53 is attached to the wall surface W (other object), and the left arm portion 5 and the left leg portion 7 The robot 1 may be in a stable posture by supporting the robot 1.

Alternatively, the robot 1 may be configured such that, for example, the left hand portion 53 is attached to an object such as a strap, a ball, a figurine, or furniture as the other object. In other words, in order to make the specific posture stable, the robot 1 is fixed so that it does not move in the direction in which the load of the robot 1 acts on the “other object” with which the second movable part is brought into contact. It is an object. For example, a strap, a ball, and the like are objects that may move if a load is applied from another direction, but are fixed so as not to move in a direction in which a force (load) to which the robot 1 tries to tilt is applied. Since these objects are fixed with respect to the load direction, a reaction force that balances the load can be supplied to the second movable portion of the robot 1 if conditions are adjusted. As long as the robot 1 is an object fixed in this way, the second movable part can be brought into contact with an arbitrary object, whereby a stable posture can be realized. Specifically, as shown in FIG. 7B, the specific posture of the robot 1 according to the present invention is such that the left hand portion 53 is attached to the desk F (another object), and the left arm portion 5 and the left leg portion 7 The robot 1 may be in a stable posture by supporting the robot 1.

[Modification]
In each of the above-described embodiments, the drive control unit 83 of the robot 1 is configured to turn off and stop all the drive units 40 after the robot 1 has shifted to a stable posture. This is because according to the above configuration, the most effective results can be obtained from the viewpoint of power saving and circuit protection by avoiding heat generation. However, in the present invention, it should be understood that the configuration in which the drive control unit 83 partially stops the drive unit 40 is not excluded. For example, the drive control unit 83 may be configured to turn off the power for some of the drive units 40 (for example, the right ankle pitch 18b and the left ankle pitch 19b having the largest amount of power consumption).

The specific posture of the robot 1 according to the present invention is also suitably used when the robot 1 executes various predetermined functions other than the projection function. For example, the forward tilting posture according to the present invention in which the robot 1 is stable is when the robot 1 takes a picture using the camera 24, more specifically, when reading a QR code (registered trademark) or the like installed on the floor surface. Applicable.

The projector 21 and the camera 24 are not limited to the head 2 (between eyebrows) of the robot 1 and may be provided on the front side (abdomen side) of the trunk 3. Also in this case, the robot 1 can take a specific posture as shown in FIGS. 3A to 3D or FIG. Thereby, the robot 1 can execute a function of projecting an image forward or a function of photographing the front in a stable posture even when the drive unit 40 is stopped.

The robot 1 is configured to bring the left hand portion 53 into contact with another object as at least a part of the second movable portion when taking a specific posture. However, the robot 1 is not limited to this configuration, and the robot 1 is a portion corresponding to the elbow of the left arm portion 5 (a connection portion between the left upper arm portion 51 and the left forearm portion 52) or the upper right arm portion 41 of the right arm portion 4 and the right side. You may make the connection part with the forearm part 42 contact another object.

Furthermore, when the robot 1 includes a wing part, a tail part or the like as a movable part on the back surface of the trunk part 3, or when the robot 1 includes a corner part or a feeler part as a movable part on the head 2. The robot 1 may bring these movable parts into contact with other objects as the second movable part. According to the above configuration, the robot 1 is stabilized in the specific posture.

When the drive unit 40 is realized by a servomotor, the servomotor (for example, the left shoulder pitch 13 and the left elbow roll 15) is passed through the second movable unit (for example, the left arm unit 5) in a specific posture such as a forward tilted posture. The load applied to the servo motor is preferably equal to or less than the friction load of the servo motor. When this condition is satisfied, the load (the force that tilts the robot 1) does not exceed the friction load of the servo motor. As a result, the servomotor can maintain the rotational position in the forward leaning posture even in the absence of torque, so that the forward leaning posture is not lost. Therefore, it is preferable to employ a motor having a high gear ratio for the drive unit 40 as a servo motor. The higher the gear ratio, the greater the friction load of the servo motor, and it can withstand a larger load. Thereby, the variation of the attitude | position for stabilizing a specific attitude | position spreads. In addition to or instead of the above condition, the direction of the load applied to the servo motor that drives the movable part via the second movable part is preferably different from the rotation direction of the servo motor. . When this condition is satisfied, a load is applied in the direction of rotation of the servo motor, that is, the direction deviating from the direction in which the joint portion of the movable portion is bent. Therefore, the joint part is not bent and the movable part does not move. Preferably, in the posture definition information shown in FIG. 5, the holding angle of the servo motor that drives each movable part is determined so that the rotation direction of the servo motor deviates from the load direction.

[Example of software implementation]
The control blocks (particularly, the function specifying unit 82, the drive control unit 83, the projection execution unit 84, and the imaging execution unit 85) of the robot 1 are realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like. Alternatively, it may be realized by software using a CPU (Central Processing Unit).

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

[Summary]
A robot (1) according to an aspect 1 of the present invention includes a plurality of movable parts (a head 2, a trunk 3, a right arm 4, a left arm 5, a right leg 6, and a left leg 7), and has a predetermined function. In a robot that can move to a second posture (such as a forward tilt posture) different from the first posture (such as an upright posture) when executing (floor projection, ceiling projection, etc.), the first posture is: Of the plurality of movable parts, only the first movable part (the right leg part 6 and the left leg part 7) is in a posture in which the robot is stabilized by contacting the floor surface, and the second posture is the above The posture in which the robot is not stabilized only by the first movable portion coming into contact with the floor surface is the second posture different from the first movable portion among the plurality of movable portions. When the movable parts (the right arm part 4 and the left arm part 5) are in contact with other objects (other movable parts, floor surface B, etc.), The robot is a commitment to stability.

According to the above configuration, the robot achieves a stable second posture by bringing the second movable part other than the first movable part in contact with the floor surface into contact with another object. When a predetermined condition such as the other object being fixed is satisfied, even if a load on the robot acts on the second movable part, the contact point between the second movable part and the object A reaction force that balances the load is applied. Therefore, the robot cannot stand still when a force (load) for tilting the robot is applied only by the first movable part contacting the floor surface in the second posture. When the second movable part comes into contact with the object, it can be kept stationary without being tilted by the load. As a result, the robot can maintain the second posture and execute a predetermined function without transmitting force to the movable part.

The robot according to Aspect 2 of the present invention is the robot according to Aspect 1, wherein the one or more legs (the right leg 6 and the left leg 7), the trunk (3) connected to the legs, and the body One or a plurality of arms (right arm 4 and left arm 5) connected to the trunk, and the second posture is at least a part of the leg (right foot 62, The left foot portion 72) is in contact with the floor surface, and at least a part of the arm portion (the right hand portion 43, the left hand portion 53) is in contact with the object as the second movable portion.

According to the above configuration, in the second posture, the robot is tilted when only the leg portion is in contact with the floor surface, and the arm is in contact with the object. The robot can be supported by the reaction force received from the object via the. Therefore, the robot can stand still without tilting.

In the robot according to aspect 3 of the present invention, in the aspect 2, the second posture is a posture in which at least a part of the arm portion is in contact with the floor surface. According to said structure, in addition to a leg part, by attaching an arm part to the floor surface as said other object, even if a trunk part inclines near horizontal, a 2nd attitude | position can be stabilized. it can.

In the robot according to aspect 4 of the present invention, in the aspect 2, the second posture is a posture in which at least a part of the arm portion is in contact with the leg portion. According to the above configuration, by attaching an arm to a leg supported on the floor (an arm contacts a leg as another object), the leg and the arm support the robot and stabilize the posture. . This posture is suitable for a robot whose arms are short and the trunk does not reach the floor unless the trunk is tilted horizontally or above.

A robot according to an aspect 5 of the present invention includes the projection unit (projector 21) that projects a still image or a moving image on a projection destination and the head (2) connected to the trunk, in the above aspect 4. The projection unit is provided on the head, and in the second posture, at least a part of the arm unit is in contact with the same surface (front surface) of the leg unit as the projection direction of the projection unit. It is a posture.

According to the above configuration, when the projection direction of the projection unit is the front of the robot and the surface seen when the robot is viewed from the projection destination is the front of the robot, by attaching the arm part to the front side of the leg, The trunk can be tilted forward to maintain a forward leaning posture. Therefore, the projection direction of the projection unit provided in the head can be directed to the front floor surface. Since the forward leaning posture can be maintained, the trapezoidal distortion of the projected image can be suppressed when the image is projected onto the floor surface.

In the robot according to aspect 6 of the present invention, in the aspect 5, the leg is in contact with the thighs (right thigh 61, left thigh 71) connected to the trunk and the floor surface. Including a foot part (right foot part 62, left foot part 72) that supports the thigh part, and the arm part includes a hand part (right hand part 43, left hand part 53) at one end not connected to the trunk. The second posture is a posture in which the bottom of the foot is in contact with the floor and the hand is in contact with the back of the foot.

According to the above configuration, by attaching the tip of the arm (ie, the hand) to the back of the foot, the trunk can be tilted forward to maintain a forward leaning posture. An object that has been fixed more stably (as compared to a hand on the knee or thigh) by placing a hand on the instep of the part of the leg that directly touches the floor (ie, the foot). The posture will be more stable. In addition, this posture is suitable for a robot in which the arm portion is short and the trunk does not reach the floor unless the trunk portion is tilted further forward than horizontal. Furthermore, the inclination of the trunk can be made as close to horizontal as possible (compared to putting hands on the knees and thighs), and the projection direction of the projection unit provided in front of the head can be directed to the front floor surface. It becomes possible. Thereby, when projecting an image on the floor, the trapezoidal distortion of the projected image can be further suppressed. In the robot according to aspect 5 or 6, when the second posture is a posture when the projection unit executes a projection function, the second posture is more preferably determined by the projection unit. The posture in which the distortion of the projected image is within a range that can be corrected by image processing. This makes it possible to properly execute the projection function.

A robot according to an aspect 7 of the present invention includes a projection unit that projects a still image or a moving image onto a projection destination in the above-described aspects 1 to 4, and the second posture is when the projection unit executes a projection function. This is an attitude in which the distortion of the image projected by the projection unit falls within a range that can be corrected by image processing. According to the above configuration, the robot can appropriately execute the projection function while maintaining the second posture such that the trapezoidal distortion is within a correctable range when the projection function is executed.

The robot according to Aspect 8 of the present invention is the robot according to Aspects 1 to 7, wherein one or more drive units (40) that individually drive each movable unit by transmitting a force to each of the plurality of movable units. ), And the driving unit drives each movable unit so that the second movable unit contacts the object, thereby realizing the second posture. According to said structure, a robot can be automatically changed to a 2nd attitude | position by control of a drive part. In addition, after the transition to the stable second posture, even if the power supply to the drive unit is stopped, the robot can remain stationary without being tilted. Taking the attitude of 2 is particularly effective from the viewpoint of power saving and circuit protection.

The robot according to aspect 9 of the present invention includes the drive control unit (83) that permits or stops transmission of force from the drive unit (40) to the movable unit in the above-described aspect 8, and the drive control unit includes: After the robot moves to the second posture, transmission of force to some or all of the movable parts is stopped.

In the robot according to aspect 10 of the present invention, in the aspect 9, the drive unit is a servo motor, and the drive control unit drives the movable unit after the robot moves to the second posture. Turn off the torque of some or all of the drives. According to these configurations, since the current to the drive unit is stopped after shifting to the stable second posture, the posture of the robot can be maintained without tilting. That is, while the robot is performing a predetermined function, the drive unit does not consume power, and circuit protection is achieved by saving power and avoiding heat generation.

In the robot according to Aspect 11 of the present invention, in the Aspect 10, the load applied to the servo motor that drives the movable part via the second movable part in the second posture is a friction of the servo motor. And / or the direction of the load applied to the servo motor that drives the movable part via the second movable part is different from the rotational direction of the servo motor. One is satisfied.

According to the above configuration, even if a force is applied to the second movable part, the servo motor does not rotate unless the force exceeds the friction load of the servo motor. Therefore, even if the torque is removed, the second movable part does not move. Absent. On the other hand, even if a force is applied to the second movable part, if the direction in which the force is applied is not the rotational direction of the servo motor, the servo motor will not rotate. It does n’t move. Therefore, the robot can be stationary if the second posture satisfies at least one of the conditions.

The robot according to aspect 12 of the present invention includes the function specifying unit (82) that specifies a function to be executed by the robot according to the instruction input to the robot according to the aspect 9, and includes the drive control unit ( 83) controls the driving unit (40) so that the robot takes a posture corresponding to the function specified by the function specifying unit, and the posture is a force from the driving unit to the movable unit. In the case where the robot is in a stable posture even if the transmission is stopped, the driving unit is stopped after the robot has shifted to the posture.

According to the above configuration, when a function to be executed is specified by the function specifying unit, the drive control unit controls each drive unit so that the robot takes a posture for executing the specified function. . If the posture after the transition is a posture in which the robot is stable, the drive control unit stops the driving unit after the transition to the posture is completed. Thus, since the current to the drive unit is stopped after the transition to the stable second posture, the posture of the robot can be maintained in the second posture without tilting. That is, while the robot is executing a predetermined function (while taking the second posture), the drive unit does not consume power, and circuit protection is achieved by saving power and avoiding heat generation.

The robot control method according to the thirteenth aspect of the present invention is a robot control method that includes a plurality of movable parts and can shift to a second posture different from the first posture when executing a predetermined function. The robot includes one or more drive units that individually drive each movable unit by transmitting a force to each of the plurality of movable units, and the control method is input to the robot. In response to the received instruction, a function specifying step (S103) for specifying a function to be executed by the robot and controlling the drive unit so that the robot takes a posture corresponding to the function specified by the function specifying step. The drive control step (S106), and when the posture is a posture in which the robot is stable even when transmission of force from the drive unit to the movable unit is stopped, the robot is After the transition to, and a drive stop step (S108) for stopping the drive unit. According to said method, there exists an effect similar to the said aspect 12.

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

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

1 Robot 2 Head (movable part) 3 Trunk part (movable part) 4 Right arm part (movable part / arm part) 5 Left arm part (movable part / arm part) 6 Right leg part (movable part / leg) Part), 7 left leg part (movable part / leg part), 8 function execution part, 10 control part, 20 microphone, 21 projector (projection part), 24 camera (shooting part), 30 storage part, 31 posture definition table, 40 drive part, 43 right hand part (hand part), 53 left hand part (hand part), 81 voice recognition part, 82 function identification part, 83 drive control part, 84 projection execution part, 85 shooting execution part

Claims (15)

1. In a robot having a plurality of movable parts and capable of shifting to a second posture different from the first posture when executing a predetermined function,
   The first posture is a posture in which the robot is stabilized when only the first movable portion is in contact with the floor surface among the plurality of movable portions, and the second posture is the first movable portion. The robot is in an unstable posture if only the part touches the floor,
   The second posture is a posture in which the robot is stabilized when a second movable portion different from the first movable portion among the plurality of movable portions comes into contact with another object. Characteristic robot.
2. One or more legs, a trunk connected to the legs, and one or more arms connected to the trunk,
   In the second posture, at least a part of the leg part is in contact with the floor as the first movable part, and at least a part of the arm part is in contact with the object as the second movable part. The robot according to claim 1, wherein the robot is in a posture.
3. The robot according to claim 2, wherein the second posture is a posture in which at least a part of the arm portion is in contact with the floor surface.
4. The robot according to claim 2, wherein the second posture is a posture in which at least a part of the arm portion is in contact with the leg portion.
5. A projection unit that projects a still image or a moving image onto a projection destination;
   A head connected to the trunk,
   The projection unit is provided on the head,
   5. The robot according to claim 4, wherein the second posture is a posture in which at least a part of the arm portion is in contact with the same surface of the leg portion as the projection direction of the projection portion. .
6. The leg includes a thigh connected to the trunk and a foot that contacts the floor and supports the thigh, and the arm is attached to one end not connected to the trunk. Including the hand,
   The said 2nd attitude | position is an attitude | position which the said hand part is contacting the back of the said foot part while the bottom face of the said foot part is contacting the floor surface. robot.
7. Providing a projection unit that projects a still image or video to the projection destination,
   The second attitude is an attitude when the projection unit executes a projection function, and the distortion of an image projected by the projection unit is an attitude that can be corrected by image processing. The robot according to any one of claims 1 to 4.
8. Including one or a plurality of drive units for individually driving each movable unit by transmitting a force to each of the plurality of movable units;
   8. The drive unit according to claim 1, wherein the drive unit drives each movable unit so that the second movable unit is in contact with the object, thereby realizing the second posture. 9. The robot according to item.
9. A drive control unit for permitting or stopping transmission of force from the drive unit to the movable unit;
   The robot according to claim 8, wherein the drive control unit stops transmission of force to a part or all of the movable units after the robot shifts to the second posture.
10. The drive unit is a servo motor,
    The robot according to claim 9, wherein the drive control unit turns off a torque of a part or all of the drive units that drive the movable unit after the robot shifts to the second posture. .
11. In the second posture,
    A load applied to the servo motor that drives the movable part via the second movable part is equal to or less than a friction load of the servo motor; and
    The direction of the load applied to the servo motor that drives the movable part via the second movable part is different from the rotational direction of the servo motor;
    The robot according to claim 10, wherein at least one of the conditions is satisfied.
12. In accordance with an instruction input to the robot, a function specifying unit that specifies a function to be executed by the robot is provided.
    The drive control unit
    While controlling the drive unit so that the robot takes a posture corresponding to the function specified by the function specifying unit,
    When the posture is a posture in which the robot is stable even if transmission of force from the driving unit to the movable unit is stopped, the driving unit is stopped after the robot has shifted to the posture. The robot according to claim 9, wherein
13. A robot control method comprising a plurality of movable parts and capable of shifting to a second posture different from the first posture when executing a predetermined function,
    The robot includes one or more drive units that individually drive each movable unit by transmitting a force to each of the plurality of movable units,
    The above control method is
    A function specifying step for specifying a function to be executed by the robot in response to an instruction input to the robot;
    A drive control step for controlling the drive unit so that the robot takes a posture corresponding to the function specified by the function specifying step;
    When the posture is a posture in which the robot is stable even when transmission of force from the driving unit to the movable unit is stopped, the driving stop that stops the driving unit after the robot has shifted to the posture. And a robot control method.
14. A control program for causing a computer to function as the robot according to claim 12, wherein the control function causes the computer to function as the function specifying unit and the drive control unit.
15. A computer-readable recording medium on which the control program according to claim 14 is recorded.

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