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Leg type moving robot, its motion teaching method and storage medium

A technology for moving robots and machines, used in instruments, manipulators, motor vehicles, etc.

Inactive Publication Date: 2003-12-24
SONY CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0017] However, there are few examples of neural networks being applied to situations where motion capture is used to teach motion in robots

Method used

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  • Leg type moving robot, its motion teaching method and storage medium
  • Leg type moving robot, its motion teaching method and storage medium
  • Leg type moving robot, its motion teaching method and storage medium

Examples

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Embodiment Construction

[0074] An embodiment of the present invention will be described in detail below with reference to the drawings.

[0075] figure 1The appearance of the legged walking robot 1 according to the embodiment of the present invention viewed from the front and the rear is shown. The walking robot is a human-like or human-type entertainment robot. A robot is composed of an upper limb including two arms and a head, a lower limb including two legs for realizing locomotion operations, and a torso interconnecting the upper and lower limbs. In addition, a tactile sensor (not shown) is attached to the ground contact portion (sole) of the foot so that the tactile sensation of the ground surface on which the foot is placed can be detected.

[0076] figure 2 A model for composing degrees of freedom in the legged mobile robot 1 is schematically illustrated.

[0077] The neck joint supporting the head has three degrees of freedom represented by the neck joint deflection axis, the neck joint ...

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Abstract

A learning motion control is made by using a hierarchical recurrent neural network. A variety of motion patterns can be created by segmenting a motion pattern taught by a human into parts, automatically in time series, combining the parts, and controlling the motion of the body. Local time-series patterns and a perspective pattern combination of the local time-series patterns are formed by time-series segmentation. The control stability of the motion pattern is ensured since the ZMP stability criteria witch are the indices of the static and dynamic stabilities of body are satisfied.

Description

technical field [0001] The invention relates to a legged mobile robot with joints with multiple degrees of freedom, a method for teaching motion in the robot and a storage medium product. More particularly, the present invention relates to a legged mobile robot that learns motion patterns in the form of time-series data using a recurrent neural network, a method of teaching motion in a robot, and a storage medium product. Background technique [0002] A mechanical machine capable of performing actions based on electrical or magnetic action in a manner simulating human actions is commonly referred to as a "robot". The word "robot" is said to be derived from the Slavic word "ROBOTA (slave machine)". In Japan, robot use spread from the late 1960s. However, many robots are industrial robots, such as manipulator and transport robots intended for automated and unattended operation of production work in factories. [0003] A fixed robot that is fixedly installed in a specific pl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/16B25J9/22B62D57/032G06N3/00
CPCB62D57/032B25J9/163G06N3/008B25J9/16
Inventor 伊藤真人
Owner SONY CORP
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