Robot apparatus and control method thereof

A control method of a movable robot apparatus, comprising:

• a first step of detecting a safety level status and detecting a safety level of the safety level status detected;
• determining the safety level of the detected safety level status by comparing the detected safety level status to a plurality of threshold values and grouping the detected safety level status as a function of the comparison result,
• wherein the safety level is a volume calculated as a function of a joint angle, a capability of the joint angle, a timing of a potential risk, and a planned action, and the volume is calculated as the area of one of a plurality of safe space definition circles,
• wherein the plurality of safe space definition circles include a safe space definition circle which contacts with a first link and a second link of one or more joint mechanisms, and a safe space definition circle which has a radius being a distance between the movable robot apparatus and an obstacle and a center being the movable robot apparatus;
• and
• a second step of performing a control process so as to make said robot apparatus implement prescribed countermeasures according to said safety level status detected and said safety level detected,
• wherein when the safety level increases, corresponding to a different safety level status, while the countermeasures are performed, the control means determines whether to maintain current countermeasures.

A movable robot apparatus comprising:

• safety level status detecting means for detecting a safety level status;
• and
• control means for performing a control process so as to implement prescribed countermeasures according to a position of said safety level status detected by said safety level status detecting means,
• wherein the position of the detected safety level status is determined by comparing the detected safety level status to a plurality of threshold values and grouping the detected safety level status as a function of the comparison result,
• wherein the safety level is a volume calculated as a function of a joint angle, a capability of the joint angle, a timing of a potential risk, and a planned action, and the volume is calculated as the area of one of a plurality of safe space definition circles,
• wherein the plurality of safe space definition circles include a safe space definition circle which contacts with a first link and a second link of one or more joint mechanisms, and a safe space definition circle which has a radius being a distance between the movable robot apparatus and an obstacle and a center being the movable robot apparatus,
• wherein when the safety level increases, corresponding to a different safety level status, while the countermeasures are performed, the control means determines whether to maintain current countermeasures.

A control method of a movable robot apparatus, comprising:

• a first step of detecting a safety level status;
• and
• a second step of performing a control process so as to make said robot apparatus implement prescribed countermeasures according to a position of said safety level status detected in said first step;
• determining the position of the detected safety level status by comparing the detected safety level status to a plurality of threshold values and grouping the detected safety level status as a function of the comparison result,
• wherein the safety level is a volume calculated as a function of a joint angle, a capability of the joint angle, a timing of a potential risk, and a planned action, and the volume is calculated as the area of one of a plurality of safe space definition circles,
• wherein the plurality of safe space definition circles include a safe space definition circle which contacts with a first link and a second link of one or more joint mechanisms, and a safe space definition circle which has a radius being a distance between the movable robot apparatus and an obstacle and a center being the movable robot apparatus,
• determining whether to maintain current countermeasures when the safety level increases, corresponding to a different safety level status, while the countermeasures are performed.

A robot apparatus having a plurality of movable units, comprising:

• driving means for driving said movable units;
• control means for controlling said driving means;
• object detecting means for detecting an object;
• action determination means for determining an action of said robot apparatus;
• and
• safety level detecting means for detecting a safety level involving said object and said movable units,
• wherein the safety level is a volume calculated as a function of a joint angle, a capability of the joint angle, a timing of a potential risk, and a planned action, and the volume is calculated as the area of one of a plurality of safe space definition circles,
• wherein the plurality of safe space definition circles include a safe space definition circle which contacts with a first link and a second link of one or more joint mechanisms, and a safe space definition circle which has a radius being a distance between the robot apparatus and an obstacle and a center being the robot apparatus,
• wherein said control means moves said movable units as a function of said safety level and said action determined by said action determination unit in order to mitigate or avoid danger,
• wherein the action determined is a preprogrammed countermeasure corresponding to the detected safety level,
• wherein when the safety level increases, corresponding to a different safety level status, while the countermeasures are performed, the action determination means determines whether to keep current countermeasures.

A control method of a robot apparatus having a plurality of movable units, said control method comprising:

• a first step of determining an action of said robot apparatus;
• a second step of, when an object is detected, detecting safety level involving the object and said movable units,
• wherein the safety level is a function of a capability of a joint angle, a timing of a potential risk, and available countermeasures;
• and
• a third step of moving said movable units based on said safety level detected and said action determined to mitigate or avoid danger,
• wherein the safety level is a volume calculated as a function of a joint angle, a capability of the joint angle, a timing of a potential risk, and a planned action, and the volume is calculated as the area of one of a plurality of safe space definition circles,
• wherein the plurality of safe space definition circles include a safe space definition circle which contacts with a first link and a second link of one or more joint mechanisms, and a safe space definition circle which has a radius being a distance between the robot apparatus and an obstacle and a center being the robot apparatus,
• determining whether to keep the action when the safety level increases, corresponding to a different action, while the action is being performed.