Legged robot and method for teaching motions thereof
AssigneeSony Corporation
InventorsHiroki Saijo, Yoshihiro Kuroki
Life of this patent
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Abstract
A legged robot is provided with a plurality of basic motion programs. The legged robot can produce a teaching motion program for performing a series of expressive motions by recognizing and language-processing instructions from a user in the form of voice-input, and extracting and combining at least one basic motion in a time series. More sophisticated and complex teaching programs can be edited by controlling the produced teaching motion programs stored in a database and combining the teaching motion programs with the basic motion programs.
Claims16
A legged robot comprising:
- a driving member including at least one movable leg part;
- actual-motion processing means for processing motion-exhibit which is performed by the driving member;
- user-input means for inputting instructions from a user;
- language processing means for language interpretation of the input from the user via the user-input means;
- action-control means for controlling an action in accordance with a result of language-processing of the input from the user;
- and
- motion-teaching means for forming teaching motion programs by combining instructions inputted from the user into a time-series combination.
A legged robot comprising:
- a driving member including at least one movable leg part;
- actual-motion processing means for processing motion-exhibit which is performed by the driving member;
- user-input means for inputting instructions from a user;
- language processing means for language interpretation of the input from the user via the user-input means;
- action-control means for controlling an action in accordance with a result of language-processing of the input from the user;
- a basic motion database storing basic motion programs in which basic motions to be exhibited by the driving member are recorded;
- and
- a teaching motion database for registering teaching motion programs which are each formed with a time-series combination of at least one motion program,
- wherein the action-control means extracts corresponding motion programs from the basic motion database and/or the teaching motion database in accordance with the result of language-processing of the input from the user, and inputs the extracted motion programs to the actual motion processing means, whereby the motion-exhibit is performed by the driving member.
A legged robot comprising:
- a driving member including at least one movable leg part;
- actual-motion processing means for processing motion-exhibit which is performed by the driving member;
- user-input means for inputting instructions from a user;
- language processing means for language interpretation of the input from the user via the user-input means;
- action-control means for controlling an action in accordance with a result of language-processing of the input from the user;
- motion-simulation means for confirming the stability of motions by performing simulation of a motion program to be inputted to the actual motion processing means;
- and
- warning means for warning the user of a result of the simulation performed by the motion-simulation means.
A legged robot comprising:
- a driving member including at least one movable leg part;
- actual-motion processing means for processing motion-exhibit which is performed by the driving member;
- user-input means for inputting instructions from a user;
- language processing means for language interpretation of the input from the user via the user-input means;
- action-control means for controlling an action in accordance with a result of language-processing of the input from the user;
- a basic motion database storing basic motion programs in which basic motions to be exhibited by the driving member are recorded;
- and
- a teaching motion database for registering first teaching motion programs which are each formed with a time-series combination of at least one motion program;
- wherein the action-control means extracts corresponding motion programs from the basic motion database and/or the teaching motion database in accordance with the result of language-processing of the input from the user, and edits a second teaching motion program by using a time-series combination of the motion programs extracted from the basic motion database and/or the teaching motion database.
A legged robot comprising:
- a driving member including at least one movable leg part;
- actual-motion processing means for processing motion-exhibit which is performed by the driving member;
- user-input means for inputting instructions from a user, said user-input means comprises at least one of a voice input device, a contact-pressure-sensitive sensor, an image input device, and an attitude sensor;
- language processing means for language interpretation of the input from the user via the user-input means;
- action-control means for controlling an action in accordance with a result of language-processing of the input from the user;
- and
- meaning conversion means for converting the meaning of contents inputted by the contact-pressure-sensitive sensor, the image input device, or the attitude sensor.
A method for teaching motions to a legged robot comprising a driving member including at least one movable leg part and actual motion processing means for processing motion-exhibit which is performed by the driving member, the method comprising the steps of:
- accepting inputs from a user;
- processing said inputs for language interpretation;
- and
- producing and editing teaching motion programs by combining inputs inputted from the user into a time-series combination.
A method for teaching motions to a legged robot comprising a driving member including at least one movable leg part and actual motion processing means for processing motion-exhibit which is performed by the driving member, the method comprising the steps of:
- user-inputting for accepting an input from a user;
- language-processing for language interpretation of the input from the user;
- and
- teaching-motion-editing for producing and editing teaching motions in accordance with a result of language-processing of the input from the user;
- wherein the legged robot further comprises a basic motion database storing basic motion programs in which basic motions to be exhibited by the driving member are recorded, and a teaching motion database for registering first teaching motion programs which are each formed with a time-series combination of at least one motion program;
- and
- wherein in the teaching-motion-editing step, the corresponding motion programs are extracted from the basic motion database and/or the teaching motion database in accordance with the result of language-processing of the input from the user, and a second teaching motion program is edited by using a time-series combination of the extracted motion programs.
A method for teaching motions to a legged robot comprising a driving member including at least one movable leg part and actual motion processing means for processing motion-exhibit which is performed by the driving member, the method comprising the steps of:
- user-inputting for accepting an input from a user;
- language-processing for language interpretation of the input from the user;
- teaching-motion-editing for producing and editing teaching motions in accordance with a result of language-processing of the input from the user;
- storing basic motion programs for basic motions to be exhibited by the driving member in a basic motion database;
- registering teaching motion programs, which are each formed from a time-series combination motion programs, in a teaching motion database;
- actual-motion-processing for extracting the corresponding motion programs from the basic motion database and/or the teaching motion database in accordance with the result of language-processing of the input from the user, and inputting the extracted motion programs to the actual motion processing means, whereby the motion-exhibit is performed by the driving member;
- motion-simulating for confirming the stability of motions by performing simulation of the motion program to be used for the motion-exhibit in the actual-motion-processing step;
- and
- warning the user of a result of the simulation performed in the motion-simulating step.
A method for teaching motions to a legged robot comprising a driving member including at least one movable leg part and actual motion processing means for processing motion-exhibit which is performed by the driving member, the method comprising the steps of:
- user-inputting for accepting an input from a user, said input is in the form of at least one of voice, contact-pressure, image, and attitude;
- language-processing for language interpretation of the input from the user;
- teaching-motion-editing for producing and editing teaching motions in accordance with a result of language-processing of the input from the user, and
- meaning-converting for converting the meaning of the input in the form of contact-pressure, image, or attitude.
Dependencies are inferred from the claim text.