Apparatus, apparatus control method and recording medium
AssigneeCasio Computer Co., Ltd.
InventorsHirokazu Hasegawa, Wataru Nimura, Erina Ichikawa, Tomio Higo
Life of this patent
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Abstract
A controller of a robot executes processing of determining whether an apparatus is likely to be subjected to an impact and, when determination is made that the apparatus is likely to be subjected to an impact in a case where a movable part is in a first state in which the movable part is able to cause the apparatus to execute a physical operation, transferring the movable part from the first state to a second state for suppressing an impact exerted on the movable part.
Claims10
A robot in which a head is connected to a body through a joint to be driven by output from a motor, the head being movable up and down or rotatable relative to the body by driving of the joint, the robot comprising a controller configured to execute:
- processing of causing the joint to be driven at a predetermined first cycle by the output from the motor, to thereby cause the robot to perform a simulated breathing operation;
- processing of determining, through detection of an output value from an acceleration sensor or a gyro sensor that is included in the robot at a predetermined second cycle, whether the robot is in a state of falling or in a state of rotating at a speed equal to or higher than a predetermined speed;
- and
- processing of, when the motor is in an operable state, in a case where a determination is made that the robot is in the state of falling or in a case where a determination is made that the robot is in the state of rotating at the speed equal to or higher than the predetermined speed, transferring the motor to a free state and causing the simulated breathing operation to be stopped, to thereby transfer the robot to a simulated fainting state.
A method for mitigating collisions of a robot, the method comprising:
- causing a joint of the robot to be driven at a predetermined first cycle by an output from a motor of the robot, to thereby cause the robot to perform a simulated breathing operation;
- determining, through detection of an output value from an acceleration sensor or a gyro sensor of the robot at a predetermined second cycle, whether the robot is in a state of falling or in a state of rotating at a speed equal to or higher than a predetermined speed;
- and
- when the motor is in an operable state, in a case where a determination is made that the robot is in the state of falling or in a case where the determination is made that the robot is in the state of rotating at the speed equal to or higher than the predetermined speed, transferring the motor to a free state and causing the simulated breathing operation to be stopped, to thereby transfer the robot to a simulated fainting state.
A non-transitory computer-readable recording medium storing a program causing a controller provided in a robot to execute:
- processing to cause a joint of the robot to be driven at a predetermined first cycle by an output from a motor of the robot, to thereby cause the robot to perform a simulated breathing operation;
- processing to determine, through detection of an output value from an acceleration sensor or a gyro sensor of the robot at a predetermined second cycle, whether the robot is in a state of falling or in a state of rotating at a speed equal to or higher than a predetermined speed;
- and
- processing to, when the motor is in an operable state, in a case where a determination is made that the robot is in the state of falling or in a case where the determination is made that the robot is in the state of rotating at the speed equal to or higher than the predetermined speed, transfer the motor to a free state and cause the simulated breathing operation to be stopped, to thereby transfer the robot to a simulated fainting state.
Dependencies are inferred from the claim text.