Legged mobile robot and actuator device applicable to join shaft of the robot
AssigneeSony Corporation
InventorMasatsugu Iribe
Life of this patent
Estimating the term…
Abstract
In order to suitably intercommunicate an output signal from a sensor arranged outside an actuator with a higher-order control system, an output from a contact sensor at an arbitrary position on a robot is entered to a nearest actuator device in that a wiring route is the shortest (or joint driving is not interfered therewith). Then, in the actuator device, the output of the outside sensor is processed to remove noise and sensor information is computed, and the processed results are bus-transmitted to the higher-order control system together with a drive-control signal of the actuator and sensor information from sensors housed in the actuator.
Claims10
A legged mobile robot comprising:
- at least a plurality of movable legs;
- actuator devices for driving the movable legs;
- a higher-order control system for controlling the robot;
- sensors including at least one of a position sensor, an acceralation sensor, an angular velocity sensor, which are and a torque sensor, housed in every joint-actuator device for detecting driving situations of the actuator device;
- and
- a sensor disposed outside the actuator device for detecting contact and collision with surroundings,
- wherein the actuator device comprises an input interface for receiving a sensor signal from at least the one sensor disposed outside the actuator device;
- a signal processing unit for removing noise from sensor signals received from the housed sensors and the outside sensor;
- and an arithmetic processing unit for drive-controlling an actuator motor and for processing sensor-information according to a command from the higher-order control system.
An actuator device applicable to a joint shaft of a legged mobile robot comprising:
- an actuator motor;
- a sensor housed in the device for detecting actuator driving situations;
- an input interface for receiving sensor signals from at least one outside sensor disposed outside the device;
- a signal processing unit for removing noise from sensor signals from the sensor housed in the device and from the outside sensor;
- a bus interface for transmitting actuator drive-control signals to and from a higher-order control system and also for transmitting sensor information from the sensor housed in the actuator device and the sensor disposed outside the actuator device via a bus;
- and
- an arithmetic processing unit for drive-controlling the actuator motor and for processing sensor information according to a command from the higher-order control system.
Dependencies are inferred from the claim text.