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1. WO2022009961 - ROBOT, AND ROBOT MANUFACTURING METHOD

Publication Number WO/2022/009961
Publication Date 13.01.2022
International Application No. PCT/JP2021/025847
International Filing Date 08.07.2021
IPC
B25J 5/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
B25J 19/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02Sensing devices
CPC
B25J 19/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02Sensing devices
B25J 5/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
Applicants
  • 株式会社ソニー・インタラクティブエンタテインメント SONY INTERACTIVE ENTERTAINMENT INC. [JP]/[JP]
Inventors
  • 香田 祐太 KODA, Yuta
  • 尾花 功一 OBANA, Koichi
Agents
  • 特許業務法人はるか国際特許事務所 HARUKA PATENT & TRADEMARK ATTORNEYS
Priority Data
2020-11928610.07.2020JP
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) ROBOT, AND ROBOT MANUFACTURING METHOD
(FR) ROBOT ET SON PROCÉDÉ DE FABRICATION
(JA) ロボットとロボットの製造方法
Abstract
(EN) The present invention improves the posture and the walking stability of a robot by accurately calculating the load acting on the sole surfaces. A robot (1) comprises: foot parts (6) having respective sole surfaces; a plurality of load sensors (63) disposed on each foot part (6); and a control device (20). The control device (20) comprises: a correction-value calculation unit (20B) that calculates a correction value based on the center-of-gravity position of a load; and a load calculation unit (20C) that calculates the load acting on each sole surface on the basis of the calculated correction value and output from the plurality of load sensors (63).
(FR) La présente invention permet d'améliorer la posture et la stabilité de marche d'un robot en calculant avec précision la charge agissant sur les surfaces de semelle. Un robot (1) comprend : des parties de pied (6) comportant des surfaces de semelle respectives ; une pluralité de capteurs de charge (63) disposés sur chaque partie de pied (6) ; et un dispositif de commande (20). Le dispositif de commande (20) comprend : une unité de calcul de valeur de correction (20B) qui calcule une valeur de correction sur la base de la position du centre de gravité d'une charge ; et une unité de calcul de charge (20C) qui calcule la charge agissant sur chaque surface de semelle sur la base de la valeur de correction calculée et des données de sortie de la pluralité de capteurs de charge (63).
(JA) 足裏面に作用している荷重を正確に算出し、ロボットの姿勢や歩行の安定性を向上する。ロボット(1)は、足裏面を有している足部(6)と、足部(6)に配置されている複数の荷重センサ(63)と、制御装置(20)とを有している。制御装置(20)は、荷重の重心位置に応じた補正値を算出する補正値算出部(20B)と、算出された補正値と複数の荷重センサ(63)の出力とに基づいて足裏面に作用している荷重を算出する荷重算出部(20C)とを有している。
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