Legged mobile robot control system
AssigneeHonda Motor Co., Ltd.
InventorsTaro Yokoyama, Sachie Hashimoto
Life of this patent
Estimating the term…
Abstract
In a control system of a legged mobile robot having a body and legs connected to the body and driven by a leg actuator, there is provided an operation controller which identifies a human being like visitor to be conducted in a company building and the like, and controls operation of the leg actuator to conduct the identified visitor to a destination such as a reception room in the company building space along a route determined based on a map stored in a map database, while keeping pace with the visitor, thereby enabling to establish better communication with the visitor.
Claims9
A system for controlling a legged humanoid mobile robot having a body, a plurality of legs and arms each connected to the body, a leg actuator for driving the legs and an arm actuator for driving the arms, comprising:
- a map database configured to store a map of environmental space where the robot moves;
- an operation controller configured to identify one of human beings to be conducted, and control operation of at least the leg actuator to conduct the identified human being to a destination in the space along a route determined based on the map, while keeping a predetermined distance from the human being;
- a head actuator configured to drive a head connected to the body;
- and
- an utterance generator configured to generate utterance,
- wherein the operation controller controls operation of the leg actuator to conduct the human being at a moving speed that is in pace with a walking speed of the human being, controls operation of the head actuator to turn the head back so as to see the human being and operation of the leg actuator to decrease the moving speed when the distance from the human being increases during conducting, controls operation of the utterance generator to utter to the human being by selecting words according to a remaining of distance, and controls at least operation of the utterance generator to utter to the human being in order to look for the human being if the human being is lost during the conducting.
Dependencies are inferred from the claim text.