Robot, input unit, remote control device, and robot remote control system

Abstract

To solve a problem that a conventional robot moving by using wheels and having two arms is difficult to perform detailed work using two arm portions.SOLUTION: A robot 1 comprises: two arm portions 10; a body portion 11 to which the arm portions are rotatably connected; a vehicle portion 9 that is moved by rotations of wheels; a body supporting arm 12 that supports the body portion 11 so as to change a position with respect to the vehicle portion 9 and has one end connected to the vehicle portion 9; an arm connecting portion 14 that is provided on the vehicle portion 9 and connects the body supporting arm 12 to the vehicle portion so as to rotate with a flexibility of at least two rotations including rotations about an azimuth rotation axis and rotations about an elevation angle rotation axis; and a body connecting portion 13 that connects the body portion 11 to the body supporting arm 12 so as to rotate with a flexibility of at least two rotations including rotation about a body rotation axis passing through the body portion 11 and rotations about a body inclined rotation axis.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a robot that moves using wheels and has two arms, an input unit through which an operator inputs instructions to remotely control the robot, a remote control device equipped with this input unit, and a robot remote control system. [Background technology]

[0002] Humanoid robots have been developed that can walk like humans and move both arms (see, for example, Patent Document 1). Humanoid robots are suitable for performing human-like movements inside buildings. However, they are not suitable for working on uneven terrain outdoors. It is difficult for a robot to walk on two legs on uneven ground. On uneven ground, it is desirable for a robot to move using wheels or crawlers (caterpillars).

[0003] Robots with two arms that move on crawlers have been developed (for example, Patent Documents 2 to 4). In conventional robots with two arms that move on crawlers, the two arms are located apart. Therefore, it is thought that it would be difficult for conventional robots to use the two arms to perform delicate tasks like those performed by humans.

[0004] When operating some kind of device using hands and feet, there is a foot input device that allows input of operation instructions with the feet, and that has three degrees of freedom, namely, forward and backward movement, left and right rotation, and tilting (stepping direction), and can give three types of operation instructions with a single input device (see Patent Document 5). This foot input device is applied to a shooting game machine. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication WO2018 / 074101 [Patent Document 2] Patent No. 4509753 [Patent Document 3] Patent No. 3944171 [Patent Document 4] Patent No. 4585132 [Patent Document 5] JP 7-200088 Summary of the Invention [Problem to be solved by the invention]

[0006] What is desired is a robot that moves using wheels and uses two arms to perform delicate work. When remotely operating a robot that moves using wheels and uses two arms to perform delicate work, it needs to be operated by two people. For example, one person remotely controls the robot to move, and another person remotely controls the arms. Having two people remotely operate the robot is not desirable in terms of work efficiency. It can also be difficult for two people to coordinate their remote operation.

[0007] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a robot that can move using wheels and perform delicate work using two arms. Another object of the present invention is to provide an input unit that enables a single person to remotely control a robot that moves using wheels and performs delicate work using two arms. [Means for solving the problem]

[0008] The robot according to the present disclosure comprises two arms, a torso section to which the arms are rotatably connected, a vehicle section that moves by rotating wheels, a torso support arm having one end connected to the vehicle section and supporting the torso section so that its position relative to the vehicle section can be changed, an arm connection section that is provided on the vehicle section and connects the torso support arm to the vehicle section so as to be rotatable with at least two rotational degrees of freedom, including rotation around an azimuth rotation axis that intersects the vehicle section and rotation around an elevation rotation axis that intersects the azimuth rotation axis and the torso support arm, and a torso connection section that connects the torso section to the torso support arm so as to be rotatable with at least two rotational degrees of freedom, including rotation around a torso rotation axis that passes through the torso section and rotation around a torso tilt rotation axis that is approximately parallel to the elevation rotation axis.

[0009] The input unit according to the present disclosure comprises a foot rest on which the operator places their feet, a rotation support section that supports the foot rest so that the foot rest can be tilted in the front-to-back direction, tilted in the left-to-right direction, and rotatable around a foot cross rotation axis that intersects with the foot rest, and an angle detection section that detects the front-to-back tilt angle, which is the tilt angle of the foot rest in the front-to-back direction, the left-to-right tilt angle, which is the tilt angle of the foot rest in the left-to-right direction, and the foot rotation angle, which is the rotation angle around the foot cross rotation axis, and the front-to-back tilt angle, left-to-right tilt angle, and foot rotation angle are input to a control signal generation section that generates control signals to control an operation target section, which is at least a part of an operated section including at least one of a torso connection section, an arm connection section, and a vehicle section that the robot has, and the control signal generation section generates a control signal based on the front-to-back tilt angle, left-to-right tilt angle, and foot rotation angle. [Effects of the Invention]

[0010] The robot according to the present disclosure can move using wheels and perform delicate work using two arms.

[0011] With the input unit according to the present disclosure, a robot that moves using wheels and performs delicate work using two arms can be remotely controlled by a single person. [Brief explanation of the drawings]

[0012] [Figure 1]1 is a schematic diagram illustrating the configuration of a robot remote control system according to a first embodiment. [Figure 2] 1A and 1B are a front view and a right side view of a remote control device that remotely controls a robot in a robot remote control system according to Embodiment 1. [Figure 3] 1 is a perspective view of a robot remotely controlled by a robot remote control system according to Embodiment 1. FIG. [Figure 4] 1 is a front view of a robot remotely controlled by a robot remote control system according to Embodiment 1. FIG. [Figure 5] 1 is a right side view of a robot remotely controlled by a robot remote control system according to Embodiment 1. FIG. [Figure 6] 1 is a rear view of a robot remotely controlled by a robot remote control system according to the first embodiment. FIG. [Figure 7] 1 is a plan view of a robot remotely controlled by a robot remote control system according to a first embodiment. FIG. [Figure 8] 2 is an enlarged perspective view of a portion having an arm of a robot remotely controlled by the robot remote control system according to the first embodiment. FIG. [Figure 9] 2 is an enlarged front view of a portion having an arm of the robot remotely controlled by the robot remote control system according to the first embodiment. FIG. [Figure 10] 2 is an enlarged right side view of a portion having an arm of the robot remotely controlled by the robot remote control system according to the first embodiment. FIG. [Figure 11] 2 is an enlarged rear view of a portion having an arm of the robot remotely controlled by the robot remote control system according to the first embodiment. FIG. [Figure 12] 2 is an enlarged plan view of a portion having an arm of a robot remotely controlled by the robot remote control system according to the first embodiment. FIG. [Figure 13] FIG. 2 is a perspective view of the robot remotely controlled by the robot remote control system according to the first embodiment, in a different posture. [Figure 14]10 is an enlarged perspective view of a portion having arms of the robot remotely controlled by the robot remote control system according to the first embodiment, in a different posture. FIG. [Figure 15] 2 is a diagram illustrating a rotation axis of a robot remotely controlled by the robot remote control system according to the first embodiment. FIG. [Figure 16] 2A to 2C are an enlarged front view, a right side view, and a rear view of an arm of a robot remotely controlled by the robot remote control system according to the first embodiment. [Figure 17] 2 is an enlarged perspective view of an arm of a robot remotely controlled by the robot remote control system according to the first embodiment. FIG. [Figure 18] 2 is a diagram illustrating the structure of a foot input device included in a remote control device that remotely controls a robot in the robot remote control system according to the first embodiment. FIG. [Figure 19] 1 is a perspective view of a foot input unit used in a foot input device included in a remote control device that remotely controls a robot in the robot remote control system according to the first embodiment. FIG. [Figure 20] 3 is a diagram illustrating the structure of a foot input unit used in a foot input device included in a remote control device that remotely controls a robot in the robot remote control system according to the first embodiment, with the foot rest removed. FIG. [Figure 21] 3 is a cross-sectional view illustrating the structure of a foot input unit used in a foot input device included in a remote control device that remotely controls a robot in the robot remote control system according to the first embodiment. FIG. [Figure 22] 4A to 4C are diagrams illustrating the relationship between the motion input by the foot input unit used in the foot input device included in the remote control device that remotely controls the robot in the robot remote control system according to the first embodiment and the angle detected. [Figure 23] 1 is a block diagram illustrating a functional configuration of a robot remote control system according to a first embodiment. [Figure 24] 3 is a diagram illustrating instruction movement correspondence data that associates the angle input by the foot input device of the remote control device that remotely controls the robot in the robot remote control system according to the first embodiment with the movement of the robot. FIG. [Figure 25] 10 is a plan view illustrating a modified example of a foot input device included in a remote control device that remotely controls a robot in the robot remote control system according to the first embodiment. FIG. [Figure 26] FIG. 10 is a perspective view of a robot remotely controlled by a robot remote control system according to a second embodiment. [Figure 27] FIG. 10 is a front view of a robot remotely controlled by a robot remote control system according to a second embodiment. [Figure 28] FIG. 10 is a right side view of a robot remotely controlled by a robot remote control system according to a second embodiment. [Figure 29] FIG. 10 is a rear view of a robot remotely controlled by a robot remote control system according to the second embodiment. [Figure 30] FIG. 10 is a plan view of a robot remotely controlled by a robot remote control system according to a second embodiment. [Figure 31] FIG. 10 is a block diagram illustrating the functional configuration of a robot remote control system according to a second embodiment. [Figure 32] FIG. 10 is a diagram illustrating instruction movement correspondence data that associates the angle input by the foot input device of the remote control device that remotely controls the robot in the robot remote control system according to the second embodiment with the movement of the robot. [Figure 33] FIG. 10 is a block diagram illustrating the functional configuration of a robot remote control system according to a third embodiment. [Figure 34] FIG. 10 is a diagram illustrating instruction movement correspondence data that associates the angle input by the foot input device of the remote control device that remotely controls the robot in the robot remote control system according to the third embodiment with the movement of the robot. [Figure 35] FIG. 10 is a front view of a robot remotely controlled by a robot remote control system according to a fourth embodiment. [Figure 36] FIG. 10 is a right side view of a robot remotely controlled by a robot remote control system according to a fourth embodiment. [Figure 37] FIG. 10 is a block diagram illustrating the functional configuration of a robot remote control system according to a fourth embodiment. [Figure 38]10A and 10B are a front view and a right side view of a remote control device that remotely controls a robot in a robot remote control system according to a fourth embodiment. [Figure 39] FIG. 11 is a front view of an upper body input device provided in a remote control device that remotely controls a robot in a robot remote control system according to a fourth embodiment. [Figure 40] FIG. 11 is a perspective view of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 41] FIG. 11 is a front view of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 42] FIG. 11 is a right side view of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 43] FIG. 11 is a rear view of a robot remotely controlled by a robot remote control system according to the fifth embodiment. [Figure 44] FIG. 11 is a left side view of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 45] FIG. 11 is a plan view of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 46] FIG. 11 is a perspective view of a humanoid part of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 47] FIG. 11 is a front view of a humanoid part of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 48] FIG. 11 is a right side view of a humanoid part of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 49] FIG. 11 is a rear view of a humanoid part of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 50] FIG. 11 is a left side view of a humanoid part of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 51] FIG. 11 is a plan view of a humanoid part of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 52] FIG. 13 is a bottom view of a humanoid part of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 53] 13 is a diagram illustrating a rotation axis of a robot remotely controlled by a robot remote control system according to a fifth embodiment. FIG. [Figure 54] FIG. 11 is a perspective view of a robot remotely controlled by a robot remote control system according to the fifth embodiment, in another posture 1. [Figure 55] FIG. 11 is a perspective view of a robot remotely controlled by a robot remote control system according to the fifth embodiment, in another posture 2. [Figure 56] FIG. 11 is a perspective view of a robot remotely controlled by a robot remote control system according to the fifth embodiment, in another posture 3. [Figure 57] FIG. 10 is a perspective view of a robot remotely controlled by a robot remote control system according to the fifth embodiment, in another posture 4. [Figure 58] FIG. 11 is a perspective view of a robot remotely controlled by a robot remote control system according to the fifth embodiment, in another posture 5. [Figure 59] FIG. 11 is a perspective view of an arm of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 60] FIG. 13 is another perspective view of the arm of the robot remotely controlled by the robot remote control system according to the fifth embodiment. [Figure 61] FIG. 11 is a front view of an arm of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 62] FIG. 11 is a right side view of an arm of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 63] FIG. 11 is a rear view of an arm of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 64] FIG. 11 is a left side view of an arm of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 65]FIG. 11 is a plan view of an arm of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 66] FIG. 13 is a bottom view of an arm of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 67] 10 is a diagram illustrating a rotation axis of an arm of a robot remotely controlled by a robot remote control system according to a fifth embodiment. FIG. [Figure 68] FIG. 11 is a cross-sectional view illustrating the structure of a wrist joint of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 69] FIG. 11 is a perspective view of a hand of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 70] FIG. 13 is another perspective view of the hand of the robot remotely controlled by the robot remote control system according to the fifth embodiment. [Figure 71] FIG. 11 is a front view of a hand of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 72] FIG. 11 is a right side view of a hand of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 73] FIG. 11 is a rear view of a hand of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 74] FIG. 11 is a left side view of a hand of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 75] FIG. 11 is a plan view of a hand of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 76] FIG. 13 is a bottom view of a hand of a robot remotely controlled by a robot remote control system according to a fifth embodiment. [Figure 77] FIG. 10 is a block diagram illustrating the functional configuration of a robot remote control system according to a fifth embodiment. [Figure 78]FIG. 11 is a diagram illustrating instruction movement correspondence data that associates the angle input by the foot input device of the remote control device that remotely controls the robot in the robot remote control system according to the fifth embodiment with the movement of the robot. DETAILED DESCRIPTION OF THE INVENTION

[0013] Embodiment 1 FIG. 1 is a schematic diagram of a robot remote control system according to a first embodiment. The robot remote control system 100 mainly comprises a crawler mobile robot (abbreviated as robot) 1, a head-mounted display 2 worn by an operator 90, a remote control device 3, and a site camera 4. The operator 90 is an operator who remotely controls the robot 1. The robot 1 is a type of robot that has two arms and moves on crawlers (caterpillars). The site camera 4 is mounted on top of the robot 1 and captures images of the site where the robot 1 is operating. The images captured by the site camera 4 are displayed on the head-mounted display 2.

[0014] In the remote control device 3, an input device and a control and arithmetic device for the operator 90 to input operation instructions are mounted on the electric wheelchair 5. The operator 90 inputs operation instructions while sitting on the electric wheelchair 5. Operation instructions are instructions from the operator 90 regarding the movement of each part of the robot 1. Examples of operation instructions are to raise the right hand or to move forward. The signals that actually move the robot 1 are control signals generated from the operation instructions. The control signals are signals that actually move the robot 1, such as to set the length of the actuator to 30 cm, or to rotate the servo motor of the elbow joint 30 degrees. The control signals control the actuator, the servo motor of the elbow joint, etc. The control signals are generated from the operation instructions.

[0015] An operator 90 sits in an electric wheelchair 5 and remotely controls the robot 1 using his feet and hands. The input devices include a foot operation input device 6, instruction reading cameras 7A and 7B, and a microphone 8. The remote control device 3 generates control signals for controlling the robot 1 from the operation instructions input by the operator 90. The foot operation input device 6 allows the operator 90 to input operation instructions with his feet. The instruction reading cameras 7A and 7B capture images of the upper body of the operator 90. The remote control device 3 analyzes the images captured by the instruction reading cameras 7A and 7B and reads operation instructions for the arms of the robot 1. The remote control device 3 generates control signals from the read operation instructions.

[0016] The microphone 8 is attached to the head-mounted display 2. The microphone 8 is provided in a position close to the mouth of the operator 90. In other words, the microphone 8 is provided in a position where the voice uttered by the operator 90 can be input. The remote control device 3 generates a control signal for remotely controlling the robot 1 from the operation instructions input by the input device. The location where the operator 90 is located is called a control center.

[0017] The configuration of the remote control device 3 that remotely controls the robot 1 will be described with reference to Figure 2. The control arithmetic unit 60 possessed by the remote control device 3 is mounted, for example, behind the backrest of the electric wheelchair 5. An operator 90 sits in the electric wheelchair 5. A foot input device 6 is installed at the feet of the operator 90. The operator 90 uses his or her feet to input instructions to remotely control parts of the robot 1 other than the arms. Instruction reading cameras 7A and 7B are installed on the left and right of the upper front side of the electric wheelchair 5. The instruction reading cameras 7A and 7B capture images of the upper body of the operator 90. The remote control device 3 reads the operation instructions input by the operator 90 for the arms 10 from the captured images.

[0018] The operator 90 wears a head-mounted display 2 on his head. Images captured by a site camera 4 are displayed on the head-mounted display 2. The head-mounted display 2 also comes with headphones, allowing the operator 90 to hear the sounds from the site. It is also possible to prevent the sounds from the site from being output to the headphones. The operator 90 can also input commands to stop or operate the robot 1 by voice through the microphone 8.

[0019] The control and arithmetic device 60 is implemented by an electronic computer including a CPU 81, a memory unit 82, and the like. The memory unit 82 stores programs and data executed by the CPU 81. The data includes data used in processing and data obtained as a result of processing. The memory unit 82 is a semiconductor memory such as a flash memory and a hard disk. The memory unit 82 includes a volatile storage device and a non-volatile storage device.

[0020] The structure of the robot 1 will be described with reference to Figures 3 to 14. Figures 3 to 7 are a perspective view, a front view, a right side view, a rear view, and a plan view of the entire robot 1. Figures 8 to 12 are a perspective view, a front view, a right side view, a rear view, and a plan view of an enlarged portion of the robot 1 having arms. Figure 13 is a perspective view of the robot 1 in a different posture. Figure 14 is a perspective view of the robot 1 in a different posture, with an enlarged portion having arms 10. The states in which the robot 1 takes the postures shown in Figures 3 to 12 are called the reference states of the robot 1.

[0021] The robot 1 has a vehicle section 9, two arms 10, a body section 11, a body support arm 12, a body connection section 13, and an arm connection section 14. The vehicle section 9 is a type of vehicle that moves on crawlers. The vehicle section 9 has crawlers like those found on small power shovels. The arms 10 have a shape similar to that of a human arm. The arms 10 have a five-fingered hand 26 (the reference numeral is shown in Figure 16). The arms 10 will be described later. The two arms 10 are connected to the top of the body section 11. The body section 11 and the two arms 10 have the same positional relationship and size as a human body and arm. Therefore, the robot 1 can perform fine work similar to that of a human.

[0022] The torso support arm 12 extends from the vehicle unit 9 and supports the torso unit 11. The torso support arm 12 supports the torso unit 11 so that its position relative to the vehicle unit 9 can be changed. The torso support arm 12 has cylindrical portions at both ends and a portion connecting the cylindrical portions. A torso connection portion 13 is provided on the upper cylindrical portion of the torso support arm 12. The torso connection portion 13 connects the torso unit 11 to the torso support arm 12 so that it can rotate with two rotational degrees of freedom. An arm connection portion 14 is provided on the lower cylindrical portion of the torso support arm 12. The arm connection portion 14 connects the torso support arm 12 to the vehicle unit 9 so that it can rotate with two rotational degrees of freedom. The torso support arm 12 can position the torso unit 11 in a position and posture suitable for the task. The length of the torso support arm 12 is determined taking into consideration the expected height of the location where the robot 1 will be working and the expected maximum distance from the location where the vehicle unit 9 can approach.

[0023] The vehicle unit 9 is provided with crawler travel units 15 on the left and right sides. L , and the right side is the crawler moving part 15 R When the left and right are not specified, they are referred to as crawler travel unit 15. The same subscripts are used for the other components of the vehicle unit 9, which are provided on the left and right. L or RThe crawler travel unit 15 has driven wheels 16 and crawlers 17 stretched across the wheels 16. The wheels 16 are arranged in a row, for example, with five axles. The crawlers 17 are ring-shaped, with metal plates connected together. The metal plates that make up the crawlers 17 are provided with protrusions in a direction perpendicular to the direction of rotation. To facilitate the flow of water and the like back and forth, the crawlers 17 are provided with two rows of spaced apart protrusions in the center. When the wheels 16 rotate, the crawlers 17 also rotate. The crawlers 17 come into contact with the ground, etc. The vehicle unit 9 moves as the crawlers 17 rotate while in contact with the ground, etc. Therefore, the vehicle unit 9 can move even if the ground, etc., is uneven. The left and right crawler travel units 15 L , 15 R For example, the right crawler moving part 15 R Move the left crawler moving part 15 forward. L The vehicle section 9 is equipped with a battery 18 at the rear of the upper surface thereof as a power source.

[0024] The torso 11 has shoulder frames 19, an upper torso 20, and a lower torso 21. The upper torso 20 and lower torso 21 are referred to as the torso main body. The shoulder frame 19 is cylindrical. Two arms 10 are connected to the left and right ends of the shoulder frame 19. The shoulder frame 19 is an arm connection part where the two arms 10 are connected. The upper torso 20 has a part through which the shoulder frame 19 passes. The upper torso 20 rotatably holds the shoulder frame 19. The part where the upper torso 20 and shoulder frame 19 are rotatably connected is referred to as the shoulder frame rotation part 22. The rotation axis that rotates the shoulder frame rotation part 22 is referred to as the shoulder frame rotation axis. The upper torso 20 is also located below the part through which the shoulder frame 19 passes. The lower torso 21 is rotatably connected to the underside of the upper torso 20. The part where the upper torso 20 and lower torso 21 are rotatably connected is referred to as the torso cross rotation part 23. The rotation axis that rotates the torso cross rotation part 23 is called the torso cross rotation axis. The shoulder frame rotation axis and the torso cross rotation axis are perpendicular to each other. The torso support arm 12 is rotatably connected to the lower torso 21 from below. The torso cross rotation axis intersects with the shoulder frame rotation axis and the lower torso 21.

[0025] The angle of the shoulder frame 19 relative to the lower torso 21 can be changed with two rotational degrees of freedom. The shoulder frame rotation unit 22 rotatably connects the shoulder frame 19 to the upper torso 20. Furthermore, the torso cross rotation unit 23 rotatably connects the upper torso 20 to the lower torso 21 in a direction perpendicular to the shoulder frame rotation unit 22. The shoulder frame rotation unit 22 and the torso cross rotation unit 23 are posture change units that change the posture of the torso 11 relative to the torso support arm 12. The shoulder frame rotation unit 22 is an arm connection rotation unit that rotates the shoulder frame 19 relative to the upper torso 20. Note that when two members in a twisted relationship (strictly speaking, their center lines) are orthogonal to each other, they are perpendicular to each other when one of them is translated so that they exist on the same plane.

[0026] The torso cross rotation unit 23 allows the shoulder frame 19 and the upper torso 20 to be oriented in a direction different from the direction in which the torso support arm 12 extends. This allows the shoulder frame 19 and the two arms 10 to be tilted relative to the torso support arm 12 at an angle suitable for the task. The shoulder frame rotation unit 22 allows the site camera 4, the shoulder frame 19, and the two arms 10 to be oriented in a direction different from the direction in which the upper torso 20 faces. This allows the operator 90 to remotely control the arm 10 by extending their arm forward, even when the robot 1 is in a tilted position with the torso 11 tilted or when the arm 10 is facing in a direction that would be difficult for a human to orient. Thanks to the torso cross rotation unit 23 and the shoulder frame rotation unit 22, the operator 90 can remotely control the robot 1 in a natural posture, even when the robot 1 is in a tilted position with the torso 11 tilted or when the arm 10 is facing in a direction that would be difficult for a human to orient.

[0027] The upper torso section 20 has an upper wheel section 20A, a horizontal cylinder 20B, and a torso connecting frame 20C. The upper wheel section 20A is a cylindrical section through which the shoulder frame 19 passes. The shoulder frame 19 is rotatably inserted into a through-hole in the upper wheel section 20A. The upper wheel section 20A and the shoulder frame 19 constitute a shoulder frame rotation section 22. A motor and gears for rotating the shoulder frame 19 relative to the upper wheel section 20A and maintaining the rotation angle are provided inside the shoulder frame 19. The same applies to the other rotatably connected sections.

[0028] The horizontal cylinder 20B is a cylindrical member located below the upper wheel portion 20A and protruding forward from the upper wheel portion 20A. The torso connection frame 20C connects the upper wheel portion 20A and the horizontal cylinder 20B on their back sides. The torso connection frame 20C is connected to the back side of the upper wheel portion 20A in the vertical direction in the standard state. The horizontal cylinder 20B protrudes forward from the lower end of the torso connection frame 20C. The shoulder frame 19 and the horizontal cylinder 20B are perpendicular to each other.

[0029] The lower torso section 21 has a front wheel section 21A and a vertical cylinder 21B. The front wheel section 21A, located at the top of the lower torso section 21, is ring-shaped when viewed from the front of the robot 1. A horizontal cylinder 21B is rotatably inserted into the wheel of the front wheel section 21A, forming the torso cross rotation section 23. The vertical cylinder 21B is a cylindrical section that is vertically arranged below the front wheel section 21A. In the standard state, the vertical cylinder 21B extends in the up and down direction.

[0030] The body connection part 13 connects the lower body part 21, i.e., the vertical cylinder 21B, to the upper part of the body support arm 12 so that it can rotate with two degrees of freedom of rotation. The body connection part 13 has an upper cylinder 13A, a rotating shaft holding yoke 13B, and a rotating shaft member 13C. The upper cylinder 13A has a cylindrical outer shape and a connecting hole on its top surface into which the vertical cylinder 21B is rotatably inserted. The rotating shaft holding yoke 13B is connected to the underside of the upper cylinder 13A. The rotating shaft member 13C is a shaft member that is rotatably held by the rotating shaft holding yoke 13B. The rotating shaft holding yoke 13B has a shape like two plate-like members that sandwich and hold the rotating shaft member 13C, connected at the top. Here, a yoke is a mutually opposing member with holes or protrusions that rotatably hold another member. A member held in a hole provided in the yoke is called a shaft member.

[0031] The vertical cylinder 21B of the lower torso section 21 is rotatably inserted into the upper cylinder 13A of the torso connection section 13. In other words, the vertical cylinder 21B is rotatable around the torso rotation axis that passes through the torso section 11. The rotation shaft member 13C is rotatably inserted into a through-hole provided in the upper part of the torso support arm 12. The rotation axis that passes through the rotation shaft member 13C is called the torso tilt rotation axis. The torso tilt rotation axis is a rotation axis that is perpendicular to the torso rotation axis and the torso support arm 12.

[0032] The fuselage support arm 12 has an upper wheel portion 12A, an arm portion 12B, a lower wheel portion 12C, and a rolling portion 12D. The upper wheel portion 12A and the lower wheel portion 12C have cylindrical outer shapes. The radius of the cylinder of the upper wheel portion 12A is smaller than the radius of the cylinder of the lower wheel portion 12C. The upper wheel portion 12A and the lower wheel portion 12C have through holes on their side surfaces (end faces of the cylinders). The diameter of the through hole of the upper wheel portion 12A is smaller than the diameter of the through hole of the lower wheel portion 12C. A rotating shaft member 13C, which serves as the fuselage tilt rotation axis, is rotatably inserted into the upper wheel portion 12A. This allows the elevation angle of the lower fuselage section 21 to be changed relative to the fuselage support arm 12. A rotating shaft member 14C, which serves as the elevation angle rotation axis, is inserted into the through hole of the lower wheel portion 12C. This allows the elevation angle of the fuselage support arm 12 to be changed relative to the vehicle section 9. The arm portion 12B is a member that connects the upper wheel portion 12A and the lower wheel portion 12C. When viewed from the side, the arm portion 12B is made up of three plates that connect the upper wheel portion 12A and the lower wheel portion 12C. When viewed from the front, the arm portion 12B is rectangular. The outer shape of the arm portion 12B is a column with a roughly trapezoidal side surface. A rolling portion 12D, which has a cylindrical outer surface, is connected to the side of the lower wheel portion 12C on the arm connection portion 14 side.

[0033] The arm connection unit 14 has a base 14A, a rotational axis holding yoke 14B, a rotational axis member 14C, a drive motor 14D, and a drive belt 14E. The arm connection unit 14 connects the fuselage support arm 12 to the vehicle unit 9 so that it can rotate with two degrees of freedom of rotation. The arm connection unit 14 can rotate around an azimuth rotation axis perpendicular to the vehicle unit 9 and an elevation rotation axis perpendicular to both the azimuth rotation axis and the fuselage support arm 12. The base 14A has a shape in which two cylinders of different diameters are stacked on top of each other and can rotate with their centers aligned. In the base 14A, the larger-diameter cylinder is mounted on the top surface of the vehicle unit 9, and the rotational axis holding yoke 14B is connected to the smaller-diameter cylinder. The central axis of the two cylinders is the azimuth rotation axis. The base 14A is supported on the vehicle unit 9 so that it can rotate around the azimuth rotation axis. A rolling recess 14G in which the rolling portion 12D rolls is provided on the upper surface of the base portion 14A. The rolling recess 14G is a recess having a cylindrical surface with the same radius of curvature as the rolling portion 12D.

[0034] The rotating shaft holding yoke 14B is made up of two plate-like members that hold the rotating shaft member 14C. The rotating shaft holding yoke 14B is connected to the upper surface of the base portion 14A perpendicularly to the base portion 14A, with the two plate-like members parallel to each other. A rolling recess 14G is provided on the upper surface of the base portion 14A in the portion sandwiched between the rotating shaft holding yokes 14B. The rotating shaft member 14C held by the rotating shaft holding yoke 14B is inserted into a through-hole provided in the lower wheel portion 12C. The rolling portion 12D is rotatably accommodated within the rolling recess 14G. This arm connection portion 14 allows the fuselage support arm 12 to rotate around the elevation rotation axis.

[0035] The drive motor 14D is disposed behind the base 14A. The drive motor 14D rotates the drive belt 14E, thereby causing the base 14A and the support arm 12 to rotate.

[0036] Three types of Cartesian coordinate systems are used to represent the posture of the robot 1. The three types of Cartesian coordinate systems are a first coordinate system based on the vehicle unit 9, a second coordinate system based on the trunk connection unit 13, and a third coordinate system based on the shoulder frame 19 and the on-site camera 4. The first XYZ coordinate system based on the vehicle unit 9 is defined as follows: The first XYZ coordinate system represents the positions of the trunk support arm 12 and the trunk connection unit 13 relative to the vehicle unit 9. X1 axis: An axis parallel to the left-right direction of the vehicle part 9. Y1 axis: An axis parallel to the front-to-rear direction of the vehicle part 9. Z1 axis: An axis parallel to the height direction of the vehicle section 9. Azimuth rotation axis. The X1, Y1, and Z1 axes are perpendicular to one another. The intersection of the azimuth rotation axis and the elevation rotation axis is the origin of the first XYZ coordinate system. The elevation rotation axis is an axis parallel to the X1Y1 plane that includes the X1 and Y1 axes. The right is the positive direction of the X1 axis, the front is the positive direction of the X1 axis, and the up is the positive direction of the Z1 axis. The X1 and Y1 axes are parallel to the top surface of the vehicle unit 9. The Z1 axis is perpendicular to the top surface of the vehicle unit 9.

[0037] A second XYZ coordinate system based on the trunk connection part 13 is defined as follows: The position of the shoulder frame 19 relative to the trunk connection part 13 is expressed by the second XYZ coordinate system. X2 axis: An axis parallel to the body tilt rotation axis of the body connection part 13. Y2 axis: The axis perpendicular to the X2 and Z2 axes. Z2 axis: An axis parallel to the body rotation axis of the body connection part 13. The X2 axis, Y2 axis, and Z2 axis are perpendicular to one another. The intersection of the fuselage tilt rotation axis and the fuselage rotation axis is the origin of the second XYZ coordinate system. In the reference state, the X1 axis and X2 axis, the Y1 axis and Y2 axis, and the Z1 axis and Z2 axis are parallel to one another. In the reference state, the right side of the vehicle unit 9 is the positive direction of the X2 axis, the front is the positive direction of the Y2 axis, and the upward is the positive direction of the Z2 axis.

[0038] A third XYZ coordinate system based on the shoulder frame 19 and the on-site camera 4 is defined as follows: The position of the arm 10 relative to the shoulder frame 19 is expressed by the third XYZ coordinate system. X3 axis: An axis parallel to the shoulder frame rotation axis of the shoulder frame rotation unit 22. Y3 axis: An axis perpendicular to the X3 and Z3 axes. Z3 axis: An axis parallel to the direction in which the on-site camera 4 extends relative to the shoulder frame 19. The X3, Y3, and Z3 axes are perpendicular to one another. The intersection of the shoulder frame rotation axis and a plane that is perpendicular to the shoulder frame rotation axis and passes through the center of the shoulder frame 19 is defined as the origin of the third XYZ coordinate system. In the reference state, the right side of the shoulder frame 19 is defined as the positive direction of the X3 axis, the front side is defined as the positive direction of the Y3 axis, and the upward side is defined as the positive direction of the Z3 axis.

[0039] The site camera 4 is fixed on the shoulder frame 19. In the reference state, the site camera 4 faces in a direction parallel to the Y3 axis. The site camera may be rotatable relative to the shoulder frame. The site camera may be rotatably connected to the shoulder frame 19 by a camera connection part. The rotation axis of the site camera is, for example, parallel to the Z3 axis. The rotation axis of the site camera does not have to be parallel to the Z3 axis. The rotation axis of the site camera may exist on the symmetry plane of the shoulder frame 19, which is plane-symmetric. The direction in which the rotation axis of the site camera extends may be within a specified angle with the Z3 axis. The site camera may also be connected to the shoulder frame so that it can be rotated up and down, so that the direction of the optical axis of the site camera can change on the symmetry plane.

[0040] The rotation axes of the robot 1 will be described with reference to Fig. 15. The robot 1 has the following six rotation axes. AZ1 axis: Azimuth rotation axis at arm connection part 14. EL1 axis: Elevation rotation axis at arm connection part 14. EL2 axis: Fuselage tilt rotation axis at fuselage connection part 13. AZ2 axis: Fuselage rotation axis at fuselage connection part 13. XEL axis: fuselage cross-rotation axis at fuselage cross-rotation section 23 EL3 axis: Shoulder frame rotation axis at shoulder frame rotation part 22

[0041] The AZ1 axis is parallel to the Z1 axis. The EL1 axis is perpendicular to the AZ1 axis and parallel to the X2 axis. The EL2 axis is perpendicular to the AZ1 axis and parallel to the EL1 axis and X2 axis. The AZ2 axis is perpendicular to the EL2 axis and X2 axis and parallel to the Z2 axis. The XEL axis is perpendicular to the AZ2 axis and Z2 axis and parallel to the Y2 axis. The EL3 axis is perpendicular to the AZ2 axis and XEL axis. The EL3 axis is parallel to the X3 axis.

[0042] The AZ1 axis does not have to be parallel to the Z1 axis. The AZ1 axis only needs to intersect the X1Y1 plane. The AZ1 axis and EL1 axis do not need to be orthogonal, as long as they intersect. The EL1 axis and EL2 axis do not need to be parallel as long as the angular difference is small. The angular difference between the EL1 axis and EL2 axis only needs to be within a specified range (including zero degrees). Two lines are said to be approximately parallel when the angular difference between them is within a specified range including zero degrees. Note that the angular difference between two lines in a twisted relationship is the angular difference when one of the lines is translated so that the two lines are on the same plane. The AZ2 axis and EL2 axis do not need to be orthogonal, as long as they intersect. The EL3 axis only needs to intersect the AZ2 axis and the XEL axis.

[0043] The rotation angles around the six rotation axes of the robot 1 are defined as follows: θ AZ1 : The angle of rotation around the AZ1 axis, i.e. the azimuthal rotation axis. θ EL1 : The angle of rotation around the EL1 axis, i.e. the elevation rotation axis. θ EL2 : The angle of rotation around the EL2 axis, i.e. the fuselage tilt rotation axis. θ AZ2 :The angle of rotation around the AZ2 axis, i.e. the body rotation axis. θ XEL : The angle of rotation around the XEL axis, i.e. the fuselage cross rotation axis. θ EL3 : The rotation angle around the EL3 axis, i.e. the shoulder frame rotation axis.

[0044] θ AZ1 is the angle between the body support arm 12 projected onto the X1Y1 plane and the Y1 axis.AZ1 When the fuselage support arm 12 is positioned to the right of the Y1 axis as viewed from above, θ AZ1 >0.

[0045] θ EL1 is the angle between the body support arm 12 and the X1Y1 plane. EL1 is called the elevation angle. When the fuselage support arm 12 is positioned above the X1Y1 plane, θ EL1 When the body support arm 12 is perpendicular to the X1Y1 plane, θ EL1 = 90 degrees. EL1 At an angle of >90 degrees, the front surface of the body 11 faces diagonally upward.

[0046] θ EL2 is the angle between the lower torso 21 and the torso support arm 12. EL2 is called the body tilt rotation angle. EL1 < 90 degrees, and θ EL2 When the Z2 axis is greater than the Z1 axis, the lower torso 21 is positioned above the torso support arm 13. The angle between the Z2 axis and the Z1 axis is 90-(θ EL1 +θ EL2 ) becomes.

[0047] θ AZ2 is called the trunk rotation angle. When viewed from the side where the upper trunk 20 is present, if the front direction of the lower trunk 21 is located to the right of the positive direction of the Y2 axis, then θ AZ2 >0. The positive direction of the Y2 axis is the front direction of the upper cylinder 13A of the body connection part 13. The front direction of the lower body part 21 is the direction in which the horizontal cylinder 20B protrudes. The front direction of the upper cylinder 13A is the direction in which the rotation shaft holding yoke 13B looks like the katakana character "U".

[0048] θ XEL is the angle between the shoulder frame 19 and the X2Y2 plane. XEL is called the cross-torso rotation angle. When the shoulder frame 19 is lowered on the side where the right arm 10 is connected, θ XEL >0.

[0049] θ EL3is the angle between the perpendicular line from the on-site camera 4 to the X3 axis and the Z3 axis. EL3 is called the shoulder frame rotation angle. When the on-site camera 4 is located to the right of the Z3 axis as viewed from the positive direction of the X3 axis, θ EL3 >0.

[0050] The structure of the arm 10 will be described with reference to Figures 16 and 17. Figure 16 is an enlarged front view, right side view, and back view of the arm. Figure 17 is an enlarged perspective view of the arm. Two arms 10 are connected to the left and right sides of the upper part of the upper torso 20. The upper arm 24, forearm 25, and hand 26 of each arm 10 are connected in series to the upper torso 20. The arm 10 has a shoulder joint 27, an elbow joint 28, and a wrist joint 29. The shoulder joint 27 connects the upper arm 24 to the upper torso 20 so that it can rotate with two rotational degrees of freedom. The elbow joint 28 connects the forearm 25 to the upper arm 24 so that it can rotate with two rotational degrees of freedom. The wrist joint 29 connects the hand 26 to the forearm 25 so that it can rotate with three rotational degrees of freedom. The shoulder joint 27 is where the arm 10 connects to the shoulder frame 19. The line connecting the two shoulder joints 27 is parallel to the shoulder frame rotation axis. Note that it does not have to be strictly parallel, as long as it is approximately parallel. The shoulder frame rotation axis is also called the arm connection rotation axis.

[0051] In the arm 10, the shoulder joint 27, elbow joint 28, and wrist joint 29 are driven by links with the same number as the rotational degrees of freedom at the joints. The links are variable length links or fixed length links with one movable end. The shoulder joint 27 is driven by two variable length links. The elbow joint 28 is driven by two fixed length links with one movable end by a linear actuator. The wrist joint 29 is driven by three variable length links. The elbow joint may also be driven by a variable length link. Either or both of the shoulder joint and elbow joint may be driven with three rotational degrees of freedom.

[0052] The robot 1 has a shoulder main actuator 30 and a shoulder auxiliary actuator 31, each having a variable-length link. The shoulder main actuator 30 and shoulder auxiliary actuator 31 are used to change and maintain the rotation angle of the shoulder joint 27. The shoulder main actuator 30 has a shoulder main link 30L, which is a variable-length link, and a motor 30M that generates a force to change the length of the shoulder main link 30L. The shoulder auxiliary actuator 31 has a shoulder auxiliary link 31L, which is a variable-length link, and a motor 31M that generates a force to change the length of the shoulder auxiliary link 31L. The actuators may be of either a screw mechanism or hydraulic type.

[0053] One end of the shoulder main link 30L is connected to the front side of a shoulder link support frame 19A attached to the shoulder frame 19. One shoulder link support frame 19A is attached to each of the left and right sides of the underside of the shoulder frame 19. When viewed from the side, the shoulder link support frame 19A has the shape of a rectangle with no base, with the upper corners cut off at an angle. The shoulder link support frame 19A has a shape similar to a bent plate-like member of a certain width. A shoulder main link attachment part J1 is provided on the front side of the shoulder link support frame 19A, to which one end of the shoulder main link 30L is attached rotatably with two rotational degrees of freedom. A shoulder auxiliary link attachment part J2 is provided on the rear side of the shoulder link support frame 19A, to which one end of the shoulder auxiliary link 31L is attached rotatably with two rotational degrees of freedom.

[0054] The other end of the shoulder main link 30L is connected to the upper arm 24 so as to be rotatable with two rotational degrees of freedom. The other end of the shoulder auxiliary link 31L is connected to the shoulder main link 30L so as to be rotatable with two rotational degrees of freedom. The shoulder main link 30L and the shoulder auxiliary link 31L each have one rotational degree of freedom about an axis. One rotational degree of freedom about an axis means that the rotation angle around the axis can be different at both ends of the link. The other variable length links and fixed length links also have one rotational degree of freedom about their axes.

[0055] An upper arm link attachment part J3 to which a shoulder main link 30L is attached is provided on the upper arm 24. The distance between the upper arm link attachment part J3 and the shoulder joint 27 is determined in advance and does not change. A shoulder main link auxiliary link attachment part J4 to which a shoulder auxiliary link 31L is attached is provided on the shoulder main link 30L. The distance between the upper arm link attachment part J3 and the shoulder main link auxiliary link attachment part J4 is determined in advance and does not change.

[0056] By determining the lengths of the shoulder main link 30L and shoulder auxiliary link 31L, it is possible to determine the connection angle of the upper arm 24 relative to the shoulder joint 27. When the lengths of both the shoulder main link 30L and shoulder auxiliary link 31L are increased, the upper arm 24 moves upward. When the lengths of both the shoulder main link 30L and shoulder auxiliary link 31L are decreased, the upper arm 24 moves downward. When only the shoulder main link 30L is increased, the upper arm 24 moves backward. When only the shoulder auxiliary link 31L is increased, the upper arm 24 moves forward.

[0057] The arm 10 has an inner elbow link 32L, an outer elbow link 33L, an inner elbow actuator 32, and an outer elbow actuator 33 to change and maintain the rotation angle of the elbow joint 28. The inner side of the arm 10 is the side closer to the torso 11. The outer side of the arm 10 is the side farther from the torso 11. The inner elbow link 32L and the outer elbow link 33L are fixed-length links. The inner elbow actuator 32 and the outer elbow actuator 33 are linear actuators that move the moving member 32D and the moving member 33D, respectively. The other end of the inner elbow link 32L is connected to the moving member 32D. The other end of the outer elbow link 33L is connected to the moving member 33D. The inner elbow actuator 32 and the outer elbow actuator 33 are provided on the upper arm 24.

[0058] One end of the inner elbow link 32L is rotatably connected to the forearm 25 with two rotational degrees of freedom. A forearm link attachment part J5 is provided on the forearm 25, to which one end of the inner elbow link 32L is rotatably attached. The other end of the inner elbow link 32L is rotatably attached to a moving member 32D. The moving member 32D is provided with an inner upper arm link attachment part J6 to which the other end of the inner elbow link 32L is rotatably attached. The moving member 32D is moved by the inner elbow actuator 32.

[0059] One end of the outer elbow link 33L is rotatably attached to the inner elbow link 32L with two rotational degrees of freedom. The inner elbow link 32L is provided with an inner elbow link outer link attachment part J7 to which one end of the outer elbow link 33L is rotatably attached. The other end of the outer elbow link 33L is rotatably attached to a moving member 33D. The moving member 33D is provided with an upper arm outer link attachment part J8 to which the other end of the outer elbow link 32L is rotatably attached. The moving member 33D is moved by the outer elbow actuator 33.

[0060] Forearm link attachment J5 is attached to forearm 25 at a predetermined distance from elbow joint 28. Elbow inner link outer link attachment J7 is attached to elbow inner link 32L at a predetermined distance from forearm link attachment J5. Motor 32M generates a force to move the position of moving member 32D. Motor 33M generates a force to move the position of moving member 33D.

[0061] Once the positions of the movable members 32D and 33D are determined, the angle of the elbow joint 28 is determined. When the movable members 32D and 33D are moved toward the shoulder joint 27, the forearm 25 moves upward. When the movable members 32D and 33D are moved toward the elbow joint 28, the forearm 25 moves downward. When only the movable member 32D is moved toward the shoulder joint 27, the forearm 25 moves diagonally upward toward the center of the shoulder frame 19. When only the movable member 32D is moved toward the elbow joint 28, the forearm 25 moves diagonally downward toward the outside of the shoulder frame 19. When only the movable member 33D is moved toward the shoulder joint 27, the forearm 25 moves diagonally upward toward the outside of the shoulder frame 19. When only the movable member 33D is moved toward the elbow joint 28, the forearm 25 moves diagonally downward toward the center of the shoulder frame 19.

[0062] The arm 10 has a forearm front actuator 34, a forearm outer actuator 35, and a forearm inner actuator 36, each having a variable length link, to change and maintain the rotation angle of the wrist joint 29.

[0063] The three variable length links, the forearm front link 34L, the forearm outer link 35L, and the forearm inner link 36L, have one end rotatably connected to the forearm portion 25 with two degrees of freedom, and the other end rotatably connected to the hand portion 26 with two degrees of freedom.

[0064] The forearm 25 has protrusions in three directions at positions a predetermined distance from the wrist joint 29. In a plane perpendicular to the direction in which the forearm 25 extends, the angles between the protrusions are 90 degrees, 90 degrees, and 180 degrees. A forearm front link attachment part J9 is provided on a protrusion sandwiched between other protrusions at a 90-degree angle. A forearm outer link attachment part J10 is provided on a protrusion located on the forearm 25 outer side of the protrusion on which the forearm front link attachment part J9 is provided. A forearm inner link attachment part J11 is provided on a protrusion located on the inner side. The forearm front link attachment part J9 is provided in a position facing the rotation shaft holding yoke 13B in the standard state.

[0065] The plate-shaped hand 26 is provided with a hand front link attachment J12, an outer hand link attachment J13, and an inner hand link attachment J14 at positions equidistant from the wrist joint 29. The hand front link attachment J12, outer hand link attachment J13, and inner hand link attachment J14 are provided at positions where the line segments connecting the wrist joint 29 form an angle of 120 degrees with each other. In the standard state, the hand front link attachment J12 is provided at a position that exists on the same plane as the forearm 25 and forearm front link attachment J9.

[0066] One end of the forearm front link 34L is rotatably attached to the forearm front link attachment part J9. The other end of the forearm front link 34L is rotatably attached to the hand front link attachment part J12. One end of the forearm outer link 35L is rotatably attached to the forearm outer link attachment part J10. The other end of the forearm outer link 35L is rotatably attached to the hand outer link attachment part J13. One end of the forearm inner link 36L is rotatably attached to the forearm inner link attachment part J11. The other end of the forearm inner link 36L is rotatably attached to the hand inner link attachment part J14. The forearm front link attachment part J9, forearm outer link attachment part J10, and forearm inner link attachment part J11 are provided on the forearm 25. The hand front link attachment part J12, hand outer link attachment part J13, and hand inner link attachment part J14 are provided on the hand 26.

[0067] Determining the lengths of the forearm front link 34L, the forearm outer link 35L, and the forearm inner link 36L determines the angle of the wrist joint 29. The wrist joint 29 can tilt the hand 26 with two rotational degrees of freedom relative to the forearm 25, and can also rotate around the direction in which the forearm 25 extends.

[0068] The hand 26 has five fingers, similar in shape to a human hand. Each of the five fingers has three knuckles. It is sufficient for the hand to have at least three fingers. The structure of the arm 10 including the hand 25 is similar to that of the upper limb of the humanoid robot disclosed in Patent Document 1. The structure and control method of the hand 26 use well-known technology. Therefore, the hand will not be described in detail.

[0069] The structure of the foot input device 6 will be described with reference to Figure 18. Figure 18(A) shows a plan view of the foot input device 6, Figure 18(B) shows a front view, and Figure 18(C) shows a right side view. The foot input device 6 has a base plate 41, legs 42, and foot input units 431, 432, 433, and 434. The foot input units 431, 432, 433, and 434 are fixed to the upper surface of the base plate 41. The two legs 42 are connected to both sides of the base plate 41 and support the base plate 41. When the foot input device 6 is mounted on an electric wheelchair 5, the legs 42 come into contact with the electric wheelchair 5. The foot input units 43 are numbered as foot input units 431, 432, 433, and 434, starting from the side of the operator 90's left foot. Generally, when referring to the foot input unit 43, the symbol 43 is used without the subscript j (j is 1, 2, 3, or 4).

[0070] The structure of the foot input unit 43 will be described with reference to FIGS. 19 to 21. FIG. 19 is a perspective view of the foot input unit 43 used in the foot input device 6. FIG. 19(A) shows a perspective view of the foot input unit 43 including the foot rest. FIG. 19(B) shows a perspective view of the foot input unit 43 with the foot rest seen through. FIG. 20 is a diagram illustrating the structure of the foot input unit without the foot rest. FIG. 20(A) is a perspective view of the foot input unit. FIG. 20(B) is a front view of the foot input unit, viewed from the arrow C shown in FIG. 20(A). FIG. 20(C) is a right side view of the foot input unit, viewed from the arrow D shown in FIG. 20(A). FIG. 21 is a cross-sectional view of the foot input unit. FIG. 21(A) is a cross-sectional view taken along the line AA shown in FIG. 20(C). FIG. 21(B) is a cross-sectional view taken along the line BB shown in FIG. 20(B).

[0071] The XYZ coordinates of the foot input device 6 are defined as follows. The X axis is the direction in which the foot input units 431, 432, 433, and 434 are aligned. jThe direction from the first number to the larger number is the positive direction of the X axis. The Z axis is the height direction, and the direction of increasing height is the positive direction of the Z axis. The Y axis is a direction perpendicular to the X axis and the Y axis. When the operator 90 places his / her foot on the foot input unit 43, the direction toward the toes is the positive direction of the Y axis.

[0072] The foot input unit 43 has a three-axis gimbal structure. The foot input unit 43 has a foot rest 44, a cross member 45, a Y-axis holding member 46, an X-axis holding member 47, a vertical rotation axis 48, a vertical axis holding member 49, a front-to-back tilt angle measuring unit 50, a left-to-right tilt angle measuring unit 51, and a rotation angle measuring unit 52. The foot rest 44 is a plate-like member on which the operator 90 places his / her foot. The foot rest 44 has a recessed portion into which the operator 90's foot fits. The foot rest 44 may be provided with a strap that hooks onto the instep, like a sandal. The foot rest 44 does not have to be plate-like as long as the operator 90 can place his / her foot on it.

[0073] Cross member 45 is a member formed by combining two cylinders in a cross shape to form the X-axis and Y-axis, which are orthogonal rotation axes. Y-axis holding member 46 is a member that rotatably holds the Y-axis from above. Y-axis holding member 46 is connected to the underside of foot rest 44. X-axis holding member 47 is a member that rotatably holds the X-axis from below. Y-axis holding member 46 and X-axis holding member 47 have a rectangular parallelepiped outer shape. Y-axis holding member 46 has two opposing plates that rotatably hold the cylinder that forms the Y-axis, and a plate connecting the two plates. X-axis holding member 47 has two opposing plates that rotatably hold the cylinder that forms the X-axis, and a plate connecting the two plates. When viewed from the direction of the Z-axis, Y-axis holding member 46 and X-axis holding member 47 are perpendicular to each other.

[0074] The vertical rotation shaft 48 is connected perpendicularly to the underside of the X-axis holding member 47. The vertical rotation shaft 48 is a rotation shaft that intersects with the foot rest 44. The vertical shaft holding member 49 rotatably holds the vertical rotation shaft 48. The vertical shaft holding member 49 is a plate-shaped member located below the vertical rotation shaft 48. The lower end of the vertical rotation shaft 48 is rotatably inserted into a through hole provided in the vertical shaft holding member 49. A bearing is provided between the vertical rotation shaft 48 and the vertical shaft holding member 49 to ensure smooth rotation. The cross member 45, the Y-axis holding member 46, the X-axis holding member 47, the vertical rotation shaft 48, and the vertical shaft holding member 49 form a rotation support that supports the foot rest. The rotation support supports the foot rest rotatably with three rotational degrees of freedom. "Rotating with three rotational degrees of freedom" means that the foot rest can tilt forward and backward, tilt left and right, and rotate around a rotation axis that intersects with the foot rest.

[0075] The foot rest 44 is supported on the rotation support so that it can tilt in the front-to-back direction so that its front section is lower and its rear section is lower. The foot rest 44 is supported on the rotation support so that it can tilt in the left-to-right direction so that its left section is lower and its right section is lower. The foot rest 44 is supported on the rotation support so that it can rotate both left and right about the vertical rotation axis.

[0076] The vertical axis holding member 49 holds the vertical rotation axis 48 so that it can rotate vertically relative to the base plate 41. The front-to-rear tilt angle measuring unit 50 measures the front-to-rear tilt angle, which is the angle at which the foot rest portion 44 tilts in the front-to-rear direction due to rotation around the X axis. The left-to-right tilt angle measuring unit 51 measures the left-to-right tilt angle, which is the angle at which the foot rest portion 44 tilts in the left-to-right direction due to rotation around the Y axis. The rotation angle measuring unit 52 measures the foot rotation angle, which is the angle at which the foot rest portion 44 rotates around the vertical rotation axis 48.

[0077] The front-to-back tilt angle and left-to-right tilt angle are zero degrees when the foot rest 44 is horizontal (parallel to the base plate 41). The front-to-back tilt angle and left-to-right tilt angle can take positive or negative values. The foot rotation angle is zero degrees when the foot rest 44 faces forward. The foot rotation angle can take positive or negative values.

[0078] The longitudinal tilt angle measuring unit 50, the lateral tilt angle measuring unit 51, and the rotation angle measuring unit 52 are angle detecting units that detect the longitudinal tilt angle, the lateral tilt angle, and the foot rotation angle. Each of the longitudinal tilt angle measuring unit 50, the lateral tilt angle measuring unit 51, and the rotation angle measuring unit 52 is a potentiometer. The potentiometer generates a voltage proportional to the detected rotational displacement. The longitudinal tilt angle measuring unit 50, the lateral tilt angle measuring unit 51, and the rotation angle measuring unit 52 may use a triaxial gyro sensor. When a triaxial gyro sensor is used, the triaxial gyro sensor is installed on the back surface of the foot rest, for example.

[0079] The left / right tilt angle and foot rotation angle of the two central foot input units 432, 433 are not used for remote control of the robot 1. Stoppers are added to the foot input units 432, 433 to prevent them from tilting left / right and to prevent them from rotating around the vertical rotation axis 48. Note that the foot input units 432, 433 may be structured so that the foot placement sections 44 cannot tilt left / right and cannot rotate around the vertical rotation axis 48.

[0080] The longitudinal tilt angle measured by the longitudinal tilt angle measuring unit 50 is expressed as a variable δ EL When it is horizontal, δ EL = 0 degrees, and when the front side is lower, δ EL >0. The left and right tilt angle measured by the left and right tilt angle measuring unit 51 is a variable δ XEL When it is horizontal, δ XEL = 0 degrees, and when the right side is lower, δ XEL >0. The foot rotation angle measured by the rotation angle measurement unit 52 is expressed as a variable δ AZ The case where the foot rest 44 faces forward (Y-axis direction) is represented by δ AZ= 0 degrees, and clockwise rotation is δ AZ >0.

[0081] Fig. 22 is a diagram illustrating the relationship between the motion input by the foot input unit and the detected angle. EL 22(B) shows the state where δ > 0 is detected. XEL 22(C) shows the state where δ > 0 is detected. AZ >0 indicates the condition to be detected.

[0082] The forward / backward tilt angle, the left / right tilt angle, and the foot rotation angle measured by the foot input unit 431 are expressed as δ EL1 , δ XEL1 , δ AZ1 For the foot input units 432, 433, and 434, δ EL2 , δ XEL2 , δ AZ2 , δ EL3 , δ XEL3 , δ AZ3 , δ EL4 , δ XEL4 , δ AZ4 This is expressed as follows.

[0083] Foot Input Unit 43 j The longitudinal tilt angle δ measured by ELj , horizontal inclination angle δ XELj , foot rotation angle δ AZj is assigned to either the drive mechanism or the rotation axis of the robot 1 to cause the robot 1 to drive the drive mechanism or rotate the rotation axis.

[0084] The software configuration of the remote operation device 3 will be described with reference to FIG. 23. FIG. 23 is a block diagram illustrating the functional configuration of the robot remote operation system according to the first embodiment. The control and arithmetic device 60 is connected to the robot 1 via a communication line 83. The control and arithmetic device 60 and the robot 1 communicate with each other via the communication line 83. Control signals for controlling the robot 1 are sent from the control and arithmetic device 60 via the communication line 83. Images and audio captured by the on-site camera 4 are sent from the robot 1. The communication line 83 may be a wired line or a wireless line, and may be a public line or a dedicated line. A communication line appropriate for the purpose is used for the communication line 83. The distance between the robot 1 and the control and arithmetic device 60 is arbitrary. The distance may be thousands of kilometers or may be as short as one meter. The head-mounted display 2, the foot input device 6, and the instruction reading cameras 7A and 7B are connected to the control and arithmetic device 60 via a LAN 84. In this specification, "remote operation" means controlling (operating) a machine by remotely operating the machine. When remotely operating a machine, an operation instruction or a control signal is transmitted to the machine to be remotely operated. The actual distance between the robot 1 and the control arithmetic unit 60 does not have to be long. The foot input device 6 and the control arithmetic unit 60 may be connected without the LAN 10.

[0085] The robot 1 is mainly composed of a site camera 4, a skeleton section 71 such as a body support arm 12, a joint section 72 such as an arm connection section 14, a vehicle section 9, a motor 73, an actuator 74, a control section 75, and a communication section 76.

[0086] The skeleton 71 includes the torso support arm 12, the lower torso 21, the upper torso 20, the shoulder frame 19, the upper arm 24, the forearm 25, and the hand 26. The joints 72 include the arm connection part 14, the torso connection part 13, the torso cross rotation part 23, the shoulder frame rotation part 22, the shoulder joint part 27, the elbow joint part 28, and the wrist joint part 29.

[0087] The motor 73 generates power to rotate and stand still the arm connection part 14, the torso connection part 13, the torso cross rotation part 23, and the shoulder frame rotation part 22. The actuator 74 generates power to rotate and stand still the joint parts of the arm part 10. The actuator 74 is the shoulder main actuator 30, etc.

[0088] In a remotely controlled robot, the part that is remotely controlled is called the operated part. In the robot 1, the arm connection part 14, the torso connection part 13, the torso cross rotation part 23, the shoulder frame rotation part 22, the shoulder joint part 27, the elbow joint part 28, the wrist joint part 29, and the hand part 26 are the operated parts. A part of the robot that is remotely controlled by an operation instruction is called the operation target part. The operation instruction is input by an input unit or input device such as the foot input unit 43. The operation target part is at least a part of the operated part.

[0089] The control unit 75 controls the motor 73 and the actuator 74 based on control signals from the control arithmetic device 60. The control unit 75 has an internal storage unit 77. The storage unit 77 stores the control signals and the like. The communication unit 76 communicates bidirectionally with the control arithmetic device 60.

[0090] The control and arithmetic unit 60 is mainly composed of a communication unit 61, a structure data storage unit 62, a state data storage unit 63, an operation instruction generation unit 64, a foot input device interface unit 65, a voice processing unit 66, and a control signal generation unit 67. The foot input device interface unit will be referred to as the foot input device IF unit in the figures and in the following description. The communication unit 61 communicates with the robot 1 and the like. The structure data storage unit 62 stores data that does not change while the robot 1 is being remotely operated. The state data storage unit 63 stores data that changes, such as images captured by the on-site camera 4 and the instruction reading cameras 7A and 7B, and operation instruction data (described later). The structure data storage unit 62 stores instruction-action correspondence data 65P. The instruction-action correspondence data 65P is data that represents the correspondence between the angle detected by the foot input device 6 and the operation of the robot 1.

[0091] The operation instruction data generation unit 64 generates operation instruction data by performing image analysis on the images captured by the instruction reading cameras 7A and 7B. The generated operation instruction data is data instructing the arm unit 10 to perform an action. The foot input device IF unit 65 receives the forward / backward tilt angle and other data detected by the foot input device 6 and writes the data to the status data storage unit 63. The control signal generation unit 67 references the status data storage unit 63 and generates a control signal based on the operation instruction data and the forward / backward tilt angle and other data.

[0092] In terms of hardware, the structure data storage unit 62 and the state data storage unit 63 correspond to the memory unit 82. The communication unit 61, the operation instruction data generation unit 64, the foot input device IF unit 65, the voice processing unit 66, and the control signal generation unit 67 are realized by causing the CPU 81 to execute dedicated programs stored in the memory unit 82.

[0093] The operation instruction data generation unit 64 reads the arm posture of the operator 90 from the images captured by the instruction reading cameras 7A and 7B. The arm posture refers to the relative positions of feature points. The feature points are set on the torso, shoulders, elbows, wrists, etc. The operation instruction data generation unit 64 extracts the feature points from the two images and determines the three-dimensional positions of the feature points by using the distance between the feature points determined by the physique of the operator 90.

[0094] The operation instruction data generation unit 64 determines the connection angle of the joint 72 from the three-dimensional positions of the feature points and generates the operation instruction data. The operation instruction data is written to the state data storage unit 63. The structure data storage unit 62 stores data related to the physique of the operator 90, the positions and shooting directions of the instruction reading cameras 7A and 7B, etc. If the shooting directions of the instruction reading cameras 7A and 7B can be changed, the shooting directions are stored in the state data storage unit 63. The control signal generation unit 67 generates a control signal by referring to the structure data storage unit 62 and the state data storage unit 63.

[0095] If the on-site camera 4 is rotatable relative to the shoulder frame 19, the instruction reading cameras 7A and 7B capture an image including the head of the operator 90 and generate operation instruction data to point the on-site camera 4 in the direction the head is pointing. In this case, the on-site camera 4 is an operator capturing camera that captures an image of the operator 90 including the head. The operation instruction data generating unit 64 is an image analyzing unit that analyzes the operator image captured by the instruction reading cameras 7A and 7B and extracts the head pointing direction, which is the direction the head of the operator 90 is pointing. The control signal generating unit 67 is a camera control unit that generates a control signal to control the camera connection unit so that the on-site camera 4 is pointed in the head pointing direction.

[0096] The foot input device IF unit 65 takes in the longitudinal tilt angle and other data detected by the foot input device 6 at a predetermined cycle and writes the data to the state data storage unit 63. The control signal generation unit 67 generates a control signal from the data written by the foot input device IF unit 65 by referring to the structure data storage unit 62. The longitudinal tilt angle and other data detected by the foot input device 6 are input to the control signal generation unit 67. The control signal generation unit 67 generates a control signal based on the longitudinal tilt angle and other data stored in the state data storage unit 63.

[0097] The correspondence between the angle information detected by the foot input device 6 and the operation of each part of the robot 1 is as follows: The two central foot input units 432, 433 are used to remotely control the vehicle unit 9 to drive it. The two end foot input units 431, 434 are used to remotely control the arm connection unit 14, the torso connection unit 13, the shoulder frame rotation unit 22, and the torso cross rotation unit 23. The arm connection unit 14, the torso connection unit 14, the shoulder frame rotation unit 22, and the torso cross rotation unit 23 are referred to as the torso rotation drive unit. The foot input unit 431 inputs operation instructions to remotely control the arm connection unit 14 and the shoulder frame rotation unit 22. The foot input unit 434 inputs operation instructions to remotely control the torso connection unit 13 and the torso cross rotation unit 23. The shoulder frame rotation unit 22 changes one rotational degree of freedom of the posture change unit. The torso cross rotation unit 23 changes the other rotational degree of freedom of the posture change unit.

[0098] (A)δ EL1The fuselage inclination angle of the fuselage connection part 13 is changed by δ EL1 Therefore, the rotation angle around the EL2 axis, i.e., the fuselage tilt rotation axis, is θ EL2 Change δ EL1 If θ = 0, EL2 = 0, and the lower torso 21 and the torso support arm 12 face in the same direction. EL1 >0, then θ EL2 <0. θ EL1 <90 degrees and θ EL2 <0, the lower torso 21 is located below the torso support arm 12. EL1 <0, then θ EL2 >0. θ EL1 <90 degrees and θ EL2 If δ is greater than 0, the lower torso 21 is positioned above the torso support arm 12. EL1 and θ EL2 is proportional to δ EL1 and θ EL2 The proportional coefficient between the angles is determined appropriately. The proportional coefficients for other angles are also determined appropriately.

[0099] (I) δ AZ1 The rotation angle of the body connecting part 13 is changed by δ AZ1 Therefore, the rotation angle around the AZ2 axis, i.e., the body rotation axis, is θ AZ2 Change δ AZ1 If θ = 0, AZ2 =0. θ AZ2 When δ is 0, the front direction of the lower trunk 21 is the same as the front direction of the upper cylinder 13A of the trunk connection part 13 when viewed from the side where the upper trunk part 20 exists. AZ1 >0, then θ AZ2 >0. θ AZ2 If δ is greater than 0, the front direction of the lower trunk part 21 is located to the right of the front direction of the upper cylinder 13A of the trunk connection part 13. AZ1 <0, then θ AZ2 <0. θ AZ2 <0, the front direction of the lower trunk part 21 is located to the left of the front direction of the upper cylinder 13A of the trunk connection part 13. AZ1 and θAZ2 and are proportional.

[0100] (U)δ XEL1 The angle between the shoulder frame 19 and the upper torso 20 (shoulder frame rotation angle) is changed by δ XEL1 Therefore, the rotation angle around the EL3 axis, that is, the shoulder frame rotation axis, is θ EL3 Change δ XEL1 and θ EL3 is proportional to δ XEL1 If θ = 0, EL3 =0. θ EL3 = 0, the angle between the shoulder frame 19 and the upper torso 20 is the reference angle in the reference state. In the reference state, the arm 10 is facing vertically downward, and the reference angle between the shoulder frame 19 and the upper torso 20 is the angle that faces the arm 10 vertically downward. δ XEL1 >0, then θ EL3 >0. θ EL3 If δ is greater than 0, the angle between the shoulder frame 19 and the upper torso 20 is smaller than the reference angle. If the angle is smaller than the reference angle, the arm 10 is located in front of the upper torso 20. XEL1 <0, then θ EL3 <0. θ EL3 When the angle between the shoulder frame 19 and the upper torso 20 is larger than the reference angle, the arm 10 is located behind the upper torso 20.

[0101] (D)δ EL2 As a result, the left crawler moving part 15 L Remotely control the forward, stop or reverse of δ EL2 = 0, the crawler movement unit 15 L Axle 16 L The brakes are applied to the crawler 17 L does not rotate. δ EL2 > 0, then |δ EL2 |Crawler 17 at a speed according to L rotates in the forward direction. EL2 < 0, then |δ EL2 |Crawler 17 at a speed according toL rotates in the reverse direction. δ AZ2 and δ XEL2 is not used to remotely control the robot 1.

[0102] (O)δ EL3 This causes the right crawler moving part 15 R Remotely control the forward, stop or reverse of δ EL3 = 0, the right crawler moving part 15 R Axle 16 R The brakes are applied to the crawler 17 R does not rotate. δ EL3 > 0, then |δ EL3 |Crawler 17 at a speed according to R rotates in the forward direction. EL3 < 0, then |δ EL3 |Crawler 17 at a speed according to R rotates in the reverse direction. δ AZ3 and δ XEL3 is not used to remotely control the robot 1.

[0103] (Ka)δ EL4 δ EL4 Therefore, the rotation angle around the EL1 axis, i.e., the elevation rotation axis, is θ EL1 Change δ EL4 and 90-θ EL1 is proportional to δ EL4 If θ = 0, EL1 = 90 degrees. EL1 = 90 degrees, the fuselage support arm 12 is perpendicular to the upper surface of the vehicle section 9. EL4 >0, then θ EL1 <90 degrees, the torso support arm 12 tilts forward. EL4 <0, then θ EL1 >90 degrees, and the torso support arm 12 tilts backward.

[0104] (Ki)δ AZ4The azimuth angle of the fuselage support arm 12 is changed by δ AZ4 Therefore, the rotation angle around the AZ1 axis, i.e., the azimuthal rotation axis, is θ AZ1 Change δ AZ4 and θ AZ1 is proportional to δ AZ4 If θ = 0, AZ1 = 0, and the fuselage support arm 12 faces directly in front of the vehicle section 9. |θ AZ1 If |<90 degrees, the fuselage support arm 12 points forward of the vehicle section 9. δ AZ4 >0, then θ AZ1 >0, and the torso support arm 12 rotates to the right. AZ4 <0, then θ AZ1 <0, and the torso support arm 12 rotates to the left.

[0105] (K)δ XEL4 The rotation angle (fuselage crossing rotation angle) of the upper torso 20 relative to the lower torso 21 is changed at the fuselage crossing rotation section 23. XEL4 Therefore, the rotation angle around the XEL axis, i.e., the fuselage cross rotation axis, is θ XEL Change δ XEL4 and θ XEL is proportional to δ XEL4 If θ = 0, XEL =0. θ XEL When δ is 0, the upper torso 20 and the lower torso 21 extend on a straight line, and the shoulder frame 19 and the lower torso 21 are perpendicular to each other. XEL4 >0, then θ XEL >0. θ XEL When δ is greater than 0, the upper torso 20 is positioned to the right of the lower torso 21 when the torso 11 is viewed from the front. The right side of the shoulder frame 19 is lowered. XEL4 <0, then θ XEL <0. θ XEL If <0, when the torso 11 is viewed from the front, the upper torso 20 is located to the left of the lower torso 21. The left side of the shoulder frame 19 is lowered.

[0106] In this first embodiment, the foot input unit 431 is a trunk operation unit that operates the trunk connection unit 13 as an operation target. The foot input unit 431 also includes one rotational degree of freedom of the attitude change unit as an operation target. The foot input unit 432 operates the crawler movement unit 15. L The foot input unit 433 is a left traveling unit operation unit that operates the crawler moving unit 15. R The right traveling unit is an operation unit that operates the arm connecting unit 14. The foot input unit 434 also includes the other one rotational degree of freedom of the attitude changing unit as an operation target.

[0107] The correspondence between the angle detected by the foot input device 6 and the movement of the robot 1 described above is stored in the structure data storage unit 62 as instruction-movement correspondence data 65P. A proportionality coefficient is also stored in the instruction-movement correspondence data 65P. The control method of the robot 1 can be easily changed by changing the instruction-movement correspondence data 65P. FIG. 24 shows the instruction-movement correspondence data 65P in the first embodiment. The proportionality coefficient is determined depending on the angle range detected by the foot input unit 43 and the control range of the operation target part. The relationship between the angle detected by the foot input unit 43 and the controlled angle or speed may be approximated by a broken line, a quadratic function, or the like.

[0108] Crawler moving unit 15 using foot input device 6 L , 15 R A remote control method for the crawler travel unit 15 will be described. When moving the vehicle unit 9 forward, the operator 90 places his / her left foot on the foot input unit 432 and his / her right foot on the foot input unit 433. He / she steps with both feet so that the toes are lowered. The height of the toes of both feet should be lowered in the same way. By doing so, the crawler travel unit 15 L , 15 R The crawler moving unit 15 moves forward at the same speed, and the vehicle unit 9 moves forward. L , 15 R moves in the reverse direction at the same speed, and the vehicle section 9 moves backward.

[0109] To make the vehicle unit 9 rotate gently to the left, the right and left feet are stepped on with the toes lower, with the toe of the right foot being lower than the toe of the left foot. R However, the crawler moving part 15 L Since the crawler travel unit 15 moves forward faster than the crawler travel unit 15, the vehicle unit 9 rotates to the left while moving forward. R , 15 L The greater the speed difference, the faster it will be. Although the case of rotating left has been described, to rotate right, the amount of depression of the left foot should be increased.

[0110] When rotating the vehicle unit 9 to the left in place without moving forward or backward, the right foot steps forward with the toe lowered and the left foot steps forward with the heel lowered. R The crawler moving part 15 moves forward. L As a result, the vehicle unit 9 rotates left without moving forward or backward. The vehicle unit 9 can also rotate right without moving forward or backward.

[0111] The following describes a method for remotely controlling the torso rotation drive unit using the foot input device 6. With the vehicle unit 9 stopped or moving at a constant speed, the foot input unit 431 is operated with the left foot to remotely control the torso connection unit 13 and shoulder frame rotation unit 22. The foot input unit 434 is operated with the right foot to remotely control the arm connection unit 14 and torso cross rotation unit 23.

[0112] When the left foot is placed on the foot rest 44 of the foot input unit 431 and the left foot is stepped down with the toes lowered, the torso 11 tilts forward relative to the torso support arm 12. When the left foot is stepped down with the heel lowered, the torso 11 tilts backward relative to the torso support arm 12. When the toes of the left foot are rotated to the left, the torso 11 rotates to the left around the torso rotation axis relative to the torso support arm 12. When the toes are rotated to the right, the torso 11 rotates to the right relative to the torso support arm 12. When the left foot is tilted down so that the left side is lowered, the shoulder frame rotation unit 22 rotates upward relative to the upper torso 20. When the left foot is tilted down so that the right side is lowered, the shoulder frame rotation unit 22 rotates downward relative to the upper torso 20. The change in the forward / backward tilt angle and foot rotation angle of the left foot and the movement of the torso 11 relative to the torso support arm 12 are in a relationship (called a similarity relationship of movement) in which the torso 11 moves in the direction in which the left foot is moved, making it easy for the operator 90 to operate.

[0113] When the right foot is placed on the foot rest 44 of the foot input unit 434 and the user steps forward with the toes lowered, the torso support arm 12 tilts forward relative to the vehicle unit 9. When the right foot is stepped forward with the heel lowered, the torso support arm 12 tilts backward relative to the vehicle unit 9. When the toes of the right foot are rotated to the left, the torso support arm 12 rotates to the left relative to the vehicle unit 9. When the toes are rotated to the right, the torso support arm 12 rotates to the right relative to the vehicle unit 9. When the right foot is tilted so that the left side is lowered, the torso cross rotation unit 23 rotates so that the left arm 10 is lowered. When the right foot is tilted so that the right side is lowered, the torso cross rotation unit 23 rotates so that the right arm 10 is lowered. The change in the angle of inclination and rotation of the right foot in the forward and backward direction and the movement of the body support arm 12 relative to the vehicle body are in a similar relationship, making it easy for the operator 90 to operate.

[0114] The trunk 11 may be rotated by changing the left-right tilt angle of the left foot. Similarly, the trunk support arm 12 may be rotated by changing the right-left tilt angle of the right foot. The trunk support arm 12 may be operated with the left foot, and the trunk 11 may be operated with the right foot.

[0115] The voice processing unit 66 has a voice recognition unit 68 and a voice control unit 69. The voice recognition unit 68 extracts predetermined specific words and phrases from the voice of the operator 90. The voice of the operator 90 is input from the microphone 8. The voice control unit 69 generates operation instruction data corresponding to the extracted words and phrases. The operation instruction data generated by the voice control unit 69 is written to the status data storage unit 63. The control signal generation unit 67 generates a control signal corresponding to the operation instruction data by referring to the status data storage unit 63.

[0116] The specific words and phrases are, for example, stop, right, left, up, down, keep, release keep, etc. The correspondence between the words and the operation instruction data generated from the words and phrases is, for example, as follows: STOP generates operation instruction data to stop the movement of the robot 1. RIGHT, LEFT, UP, DOWN generates operation instruction data to move the hand 26 in the instructed direction of right, left, up, or down by a determined movement distance. KEEP generates operation instruction data to stop reading operation instructions from the instruction reading cameras 7A and 7B and to keep the arm 10 still. RELEASE KEEP generates operation instruction data to start reading operation instructions from the instruction reading cameras 7A and 7B.

[0117] Words indicating movement, such as right, left, up, and down, may be used together with words indicating an object to be moved. In this case, the words indicating an object to be moved are also included in the specific words that can be voice-recognized. Examples of words indicating an object to be moved include right hand, left hand, right elbow, and left elbow.

[0118] The voice recognition unit 68 may be able to recognize words and phrases different from those mentioned above, or may not recognize all of the words and phrases mentioned above. The voice control unit 69 may be any type of voice control unit as long as it can stop or operate the robot 1 in accordance with the words and phrases extracted by the voice recognition unit 68.

[0119] Although not shown, the electric wheelchair 5 is provided with a control stick or the like for controlling its movement. Before starting to operate the electric wheelchair 5, the operator 90 utters "keep." This causes the arm 10 to maintain its current state, and even if the operator 90 moves the arm, the arm 10 of the robot 1C will not move. In this state, the operator 90 controls the electric wheelchair 5 with the control stick or the like to move it to the desired position. After that, once the operator 90 has assumed a position to operate the arm 10, he utters "release keep." The operator 90 can resume remote control of the arm 10. The electric wheelchair 5 is an operator transportation unit that moves with the operator 90 on board.

[0120] The operation will be explained below. The operator 90 sits in the electric wheelchair 5 and starts remotely controlling the robot 1. When the operator 90 moves both arms, the instruction reading cameras 7A and 7B read the arm movements, and the two arms of the robot 1 move in accordance with the movement of the operator's 90 arms. While moving both arms, the operator 90 can use his feet to remotely control the vehicle part 9, arm connection part 14, torso connection part 13, shoulder frame rotation part 22, and torso cross rotation part 23 from the foot input device 6.

[0121] The vehicle unit 9 is remotely controlled using the foot input device 6 to move the torso unit 11 and the arm unit 10 to a position where the work will be performed. The torso rotation drive unit is remotely controlled using the foot input device 6 to place the torso unit 11 and the arm unit 10 in a position suitable for the work and to make them assume a posture suitable for the work. The torso rotation drive unit and the arm unit 10 are remotely controlled to remotely control the robot 1 to perform the work. With the robot 1 and remote control device 3, such remote operation can be performed by a single operator 90. Enabling remote operation of a robot by a single person has a significant effect on labor savings.

[0122] In a remote control system that does not have a foot input device 6, two operators 90 are required to remotely control the robot 1. For example, one operator remotely controls the arms and hands of the robot 1, and the other operator remotely controls the vehicle unit 9 and torso unit 11. When a remote control system that does not have a foot input device 6 is operated by one person, there are many operational restrictions, such as the inability to use the arms while the vehicle unit is moving.

[0123] In contrast, when the remote control device 3 is used, the robot 1 can be remotely controlled by a single operator with fewer constraints. Operations that previously required two operators can now be performed by a single operator. This results in benefits such as reduced manpower, labor savings, and increased freedom of operation. When two operators work together, it can be difficult to coordinate the timing of the two operators' operations, placing a heavy burden on the operator when remotely controlling the robot. The robot remote control system according to the present disclosure allows a single operator to remotely control the robot. Working alone allows the operator to work at their own pace, which is expected to improve work quality. Integrating the remote control system into a single system simplifies the system and reduces manufacturing costs.

[0124] In particular, when grasping an object and moving it with a crawler-equipped vehicle, a single operator can appropriately determine the timing of remote control of the robot and vehicle, which reduces the burden on the operator and enables efficient remote control in a variety of remote operation work environments.

[0125] The remote control system according to the present disclosure allows for advanced remote control based on the judgment of the operator, so that the robot can take actions appropriate to the situation even when an unexpected event occurs. In a variety of environments that cannot be handled by autonomous robots that apply artificial intelligence technology, the robot remote control system according to the present disclosure allows the operator to give highly flexible work instructions.

[0126] The operator 90 remotely controls the robot using his / her feet and hands while seated in the electric wheelchair 5. Depending on the situation, if it is assumed that smoother operation would be possible if the operator moved himself / herself, the operator can remotely control the robot while moving freely from place to place without leaving the input device. For example, the robot can be remotely controlled while correcting the positional relationship and distance between the operator and the robot. Furthermore, the operator can move to a location with better radio wave conditions in response to changes in radio wave conditions. This allows the robot to be remotely controlled while moving freely without being restricted to a limited area. Conventional remote control systems do not allow the operator to move freely around. The operator is only allowed to move within the detection range of a position sensor that detects the operator's movements.

[0127] The operator 90 wears the head-mounted display 2 and can remotely control the robot 1 while viewing images captured by the on-site camera 4. The images captured by the on-site camera 4 are the images that the operator 90 sees when he is at the location of the robot 1. The operator 90 can remotely control the robot 1 while visually grasping the situation at the site. The operator 90 can hear the audio from the site, allowing him to grasp the situation at the site more accurately.

[0128] The robot 1 can also be remotely controlled by voice, allowing the robot 1 to make minute movements that are difficult to input by foot or hand movements. Also, remote control by foot or hand movements can be paused by voice. In other words, since the robot can be remotely controlled by voice, it may be easier to make the robot perform operations as intended by the operator.

[0129] The robot remote control system according to the present disclosure can be applied to a wide range of applications, including the following: -Areas where human substitution is required for dangerous work that involves human life. Fields that require labor reduction, such as nursing care and agriculture. -Remote operation business field that aims to realize teleworking.

[0130] For example, it is expected to be used for the following tasks: Disposing of landmines, bombs, etc. -Dangerous work involving the risk of human life during terrorist attacks. -Working at a nuclear power plant where an accident has occurred. -Work in an environment where working with chemicals for long periods of time is not possible, such as painting work.

[0131] None of the tasks exemplified above can be performed by a robot alone. Even if the robot has artificial intelligence, it is difficult for the robot to perform these tasks alone. The content of these tasks cannot be determined in advance. Unpredictable situations arise, and flexible judgment is required. For such tasks, remote control using human judgment is necessary. It would be extremely beneficial to society if humans could remotely control robots, even for delicate tasks that require both hands. The robot remote control system disclosed herein enables humans to remotely control robots, even for delicate tasks that require both hands.

[0132] Remote control robot systems can also be used in the field of guarding important facilities, etc. They can be applied to 24-hour security at unmanned communication stations, etc. Remote control of robots by humans when necessary can improve the quality of work in surveillance and security, for example.

[0133] The correspondence between the actions input from the foot input device 6 and the movement of the robot 1 may be changed. For example, the vehicle section 9 may be remotely controlled by the foot input units 431 and 434 on both sides of the four units. The arm connection section 14 may be operated by the foot input unit 431, and the torso connection section 13 may be operated by the foot input unit 434. The torso cross rotation section 23 may be operated by the foot input unit 431, and the shoulder frame rotation section 22 may be operated by the foot input unit 434. The foot input unit 431 may be remotely controlled to change one rotational degree of freedom of the posture change section, and the foot input unit 434 may be remotely controlled to change one rotational degree of freedom of the posture change section. At least one rotational degree of freedom of the posture change section may be remotely controlled by a foot input unit different from the foot input units 431 and 434.

[0134] The foot input unit may be one that detects only one or two of the forward / backward tilt angle, left / right tilt angle, and foot rotation angle. A remote control device using a foot input unit may be used to remotely control an object other than a robot. In that case, angle information detected by the foot input unit can be input to a control device that controls the object to be controlled. The angle information detected by the foot input unit is at least one of the forward / backward tilt angle, left / right tilt angle, and foot rotation angle.

[0135] In a foot input unit that detects a forward-backward inclination angle and a left-right inclination angle, the rotation support section supports the foot rest section so that it can tilt in the forward-backward direction and in the left-right direction.In a foot input unit that detects a forward-backward inclination angle and a foot rotation angle, the rotation support section supports the foot rest section so that it can tilt in the forward-backward direction and can rotate about a foot cross rotation axis.In a foot input unit that detects a left-right inclination angle and a foot rotation angle, the rotation support section supports the foot rest section so that it can tilt in the left-right direction and can rotate about a foot cross rotation axis.

[0136] In a foot input unit that detects a forward / backward tilt angle, the rotation support section supports the foot rest section so that it can tilt in the forward / backward direction. In a foot input unit that detects a left / right tilt angle, the rotation support section supports the foot rest section so that it can tilt in the left / right direction. In a foot input unit that detects a foot rotation angle, the rotation support section supports the foot rest section so that it can rotate around a foot cross rotation axis.

[0137] A foot input unit capable of detecting forward / backward tilt angle, left / right tilt angle, and foot rotation angle may be used, and the rotation support may be locked to prevent tilting or rotation for angle information that is not detected. A foot input unit may be used that does not have a structure that allows tilting or rotation for angle information that is not detected, but has a structure that can detect angle information of one or two of forward / backward tilt angle, left / right tilt angle, and foot rotation angle. A foot input unit that can detect two angle information may be used, and the rotation support may be locked to prevent tilting or rotation for angle information that is not detected.

[0138] The number of foot input units may be three or less, or five or more. It is sufficient to provide the number of foot input units required for remote control. The number of foot input units required for remote control may be determined based on the number of parts that the operator remotely controls with his feet during the movement of the robot 1 and the number of parts that can be remotely controlled with one foot input unit. The foot input units do not have to be arranged in a single horizontal row; they may be arranged in two rows, or in a single row with the center moved forward or toward the back. Figure 25 shows modified arrangements of four foot input units. Figure 25(A) shows an arrangement of two units in a square shape. Figure 25(B) shows an arrangement where the two foot input units at both ends are moved forward. Figure 25(C) shows an arrangement where the two center foot input units are moved forward. The foot input units may be arranged in an arrangement other than that shown in Figure 25.

[0139] Although the torso connection section, arm connection section, vehicle section, torso cross rotation section, and shoulder frame rotation section of the robot 1 are remotely controlled by the foot input device, some of these may be excluded from the target of remote control by the foot input device. The foot input device may remotely control an operated section including at least one of the torso connection section, arm connection section, vehicle section, and posture change section. The posture change section includes the torso cross rotation section and shoulder frame rotation section. The foot input unit of the foot input device remotely controls an operated section, which is at least a part of the operated section. The foot input unit may also include an operated section switching section that allows the operator to change the operated section of the foot input unit. When a robot without a posture change section is remotely controlled by the foot input device, the operated section will include at least one of the torso connection section, arm connection section, and vehicle section.

[0140] The posture change unit may have only one of the torso cross rotation unit and the shoulder frame rotation unit. The robot does not have to have a posture change unit. If the robot does not have a posture change unit, the operated unit that is remotely controlled based on the angle signal detected by the foot input device will include at least one of the torso connection unit, the arm connection unit, and the vehicle unit. The robot may have at least two arms, a shoulder frame, a torso main body, and a shoulder frame rotation unit, but no vehicle unit. In a robot that does not have a vehicle unit, the member located below the torso main body and to which the torso main body is connected is called the torso base. At least one of the arms, shoulder frames, torso main body, torso cross rotation unit, and shoulder frame rotation unit may have a structure different from that shown in embodiment 1.

[0141] When the robot moves on an ordinary road, the vehicle unit may be an ordinary automobile that does not use crawlers, as long as the vehicle unit uses wheels and moves by rotating the wheels.

[0142] The remote control device may be mounted not only on an electric wheelchair but also on a wheelchair powered by a source other than electric power, or on a wheelchair driven by a person. It may also be mounted on a vehicle such as an open car instead of a wheelchair. A vehicle other than an electric wheelchair is also an operator transportation unit that transports an operator. The remote control device may also be mounted on a chair that does not have a means of transportation.

[0143] The remote control device does not have to have the function of remotely controlling the arms, but may have a foot input device so that the operator can remotely control the robot with their feet.

[0144] To remotely control the arm, an input device may be used that the operator wears on the arm, or the operator may input operational instructions for remotely controlling the arm in other ways. The above also applies to other embodiments.

[0145] Embodiment 2 In the second embodiment, the first embodiment is modified so that a sub-crawler whose angle with respect to the crawler can be changed is provided in front of the crawler, allowing the robot 1 to move over large steps. The structure of a robot 1A according to the second embodiment will be described with reference to Figs. 26 to 30. Figs. 26 to 30 are a perspective view, a front view, a right side view, a rear view, and a plan view of the entire robot 1A. Differences between Figs. 26 to 30 and Figs. 2 to 7 in the first embodiment will be described.

[0146] The vehicle unit 9A has one sub-crawler travel unit 37 on each of the outer sides and in front of the left and right crawler travel units 15. The sub-crawler travel unit 37 is a secondary traveling unit that stops and moves in conjunction with the adjacent crawler travel unit 15. The sub-crawler travel unit 37 has wheels 38, sub-crawlers 39, and a sub-crawler angle change unit 40. The wheels 38 are driven by at least two wheel axles. One wheel axle of the sub-crawler travel unit 37 is shared with the wheel 16 of the crawler travel unit 15. The remaining wheel axle drives only the wheel 38. The sub-crawler 39 is stretched across the wheels 38. Like the crawlers 17, the sub-crawler 39 is also in the shape of a ring made of connected metal plates. When the wheels 38 rotate, the sub-crawler 39 also rotates. The sub-crawler angle change unit 40 changes the vertical angle of the sub-crawler 39 relative to the crawlers 17.

[0147] Left sub-crawler moving part 37 L and crawler moving unit 15 L The wheels move in unison. L Wheels 16 L The right sub-crawler moving unit 37 stops and rotates in conjunction with the right sub-crawler moving unit 37. R and crawler moving unit 15 R The wheels move in unison. R Wheels 16 R The crawler moving unit 15 stops and rotates in conjunction with the L and sub-crawler moving unit 37 L and crawler moving unit 15 R and sub-crawler moving unit 37 R The sub crawler angle change unit 40 can be driven independently of each other. L and sub-crawler angle change unit 40 R can be driven independently of each other. L is a subcrawler 39 L Crawler 17 L The left sub-running section angle change unit changes the vertical angle of the sub-crawler 39. L Crawler 17 L The vertical angle of the sub crawler moving part 37L Crawler moving part 15 L The sub crawler angle change unit 40 R is a subcrawler 39 R Crawler 17 R The right sub-running section angle change unit changes the vertical angle of the sub-crawler 39. R Crawler 17 R The vertical angle of the sub crawler moving part 37 R Crawler moving part 15 R The vertical angle of the sub-crawler 39 L Crawler 17 L Angle to Subcrawler 39 R Crawler 17 R The angle to the can be different.

[0148] When the vehicle unit 9A climbs a large step, the sub-crawler 39 is raised relative to the crawler 17. This brings the sub-crawler 39 into contact with the upper surface of the step, causing the sub-crawler 39 to move forward on the step, and the crawler 17 to move forward on the lower side of the step, allowing the vehicle unit 9A to climb the step. When the vehicle unit 9A descends a large step, the sub-crawler 39 is lowered relative to the crawler 17. This brings the sub-crawler 39 into contact with the lower surface of the step, causing the sub-crawler 39 to move forward on the lower surface of the step, causing the crawler 17 to move forward on the step, allowing the vehicle unit 9A to descend the step. Note that a sub-crawler travel unit may also be provided on the rear side of the crawler 17 so that the vehicle unit 9A can move backward to climb up and down steps. The sub-crawler travel unit only needs to be provided at least on the front side of the crawler travel unit.

[0149] The software configuration of the remote operation device 3A included in the robot remote operation system 100A will be described with reference to Fig. 31. Fig. 31 is a block diagram illustrating the functional configuration of the robot remote operation system according to embodiment 2. Regarding Fig. 31, differences from Fig. 23 in the case of embodiment 1 will be described.

[0150] The robot 1A has a vehicle section 9A that also has a sub-crawler travel section 37. In the foot input units 432, 433 of the foot input device 6A, the forward / backward tilt angle and foot rotation angle are used for remote control of the robot 1A, but the left / right tilt angle is not used for remote control of the robot 1A. Stoppers are attached to the foot input units 432, 433 to prevent them from tilting left and right. The foot input units 432, 433 may also be structured so that they can tilt and rotate forward / backward but cannot tilt left and right.

[0151] The control and arithmetic device 60A has modified configuration data storage unit 62A, status data storage unit 63A, foot input device IF unit 65A, voice processing unit 66A, and control signal generation unit 67A. The configuration data storage unit 62A stores configuration data of the robot 1A including the sub-crawler driving unit 37, and command action correspondence data 65Q. The status data storage unit 63A also stores operation commands for the sub-crawler driving unit 37. The foot input device IF unit 65A stores δ input from the foot input units 432 and 433. AZ2 , δ AZ3 The control signal generating unit 67A also generates a control signal to the sub crawler driving unit 37. The voice control unit 69A included in the voice processing unit 66A also creates operation instruction data for the sub crawler driving unit 37.

[0152] The correspondence between the angle information detected by the foot input device 6A and the operation of each part of the robot 1A is as shown in Figure 32. Figure 32 shows the contents of the instruction operation correspondence data 65Q. The two central foot input units 432, 433 are remotely controlled to drive the vehicle part 9A. The method of controlling the robot 1A using the two foot input units 431, 434 at both ends is the same as in the first embodiment.

[0153] δ input by foot input units 432 and 433 EL2 , δ AZ2、 δ EL3 , δ AZ3 The robot 1A's behavior in response to this is as follows:

[0154] (D2)δ EL2 As a result, the left crawler moving part 15L and sub-crawler moving unit 37 L Remotely control the forward, stop or reverse of δ EL2 = 0, the crawler movement unit 15 L Axle 16 L and sub-crawler moving unit 37 L Axle 38 L The brakes are applied to the crawler 17 L and Subcrawler 39 L does not rotate. δ EL2 > 0, then |δ EL2 |Crawler 17 at a speed according to L and Subcrawler 39 L rotates in the forward direction. EL2 < 0, then |δ EL2 |Crawler 17 at a speed according to L and Subcrawler 39 L rotates in the reverse direction.

[0155] (Ke)δ AZ2 The left sub crawler angle change unit 40 L Remotely control δ AZ2 If =0, the subcrawler 39 L The underside of the crawler 17 L The sub-crawler angle change unit 40 is set to be flush with the bottom surface of the sub-crawler. L The crawler 17 is operated remotely. L and Subcrawler 39 L If part of the underside of the crawler 17 is out of plane, L the underside and sub-crawler 39 L The bottom surface of the right crawler 17 is on the same plane. R and Subcrawler 39 R The same is true for δ. AZ2 > 0, then |δ AZ2 At an angle according to the sub-crawler 39 L The underside of the crawler 17 L The sub crawler angle change unit 40 is positioned above the bottom surface of the L Remotely control δ AZ2 < 0, then |δAZ2 At an angle according to the sub-crawler 39 L The underside of the crawler 17 L The sub crawler angle change unit 40 is positioned below the bottom surface of the L Remotely control the following.

[0156] (O2)δ EL3 This causes the right crawler moving part 15 R and sub-crawler moving unit 37 R Remotely control the forward, stop or reverse of δ EL3 = 0, the crawler movement unit 15 R Axle 16 R and sub-crawler moving unit 37 R Axle 38 R The brakes are applied to the crawler 17 R and Subcrawler 39 R does not rotate. δ EL3 > 0, then |δ EL3 |Crawler 17 at a speed according to R and Subcrawler 39 R rotates in the forward direction. EL3 < 0, then |δ EL3 |Crawler 17 at a speed according to R and Subcrawler 39 R rotates in the reverse direction.

[0157] (ko)δ AZ3 As a result, the right sub crawler angle change unit 40 R Remotely control δ AZ3 If =0, the subcrawler 39 R The underside of the crawler 17 R The sub-crawler angle change unit 40 is set to be flush with the bottom surface of the sub-crawler. R Remotely control δ AZ3 > 0, then |δ AZ3 At an angle according to the sub-crawler 39 R The underside of the crawler 17 R The sub crawler angle change unit 40 is positioned above the bottom surface of the R Remotely control δ AZ3 < 0, then |δAZ3 At an angle according to the sub-crawler 39 R The underside of the crawler 17 R The sub crawler angle change unit 40 is positioned below the bottom surface of the R Remotely control the following.

[0158] In this second embodiment, the foot input unit 431 is a trunk operation unit that operates the trunk connection unit 13 as an operation target. The foot input unit 431 also includes one rotational degree of freedom of the attitude change unit as an operation target. The foot input unit 432 operates the crawler movement unit 15. L , sub-crawler moving unit 37 L and sub-crawler angle change unit 40 L The foot input unit 433 is a left traveling unit operation unit that operates the crawler moving unit 15. R , sub-crawler moving unit 37 R and sub-crawler angle change unit 40 R The right traveling unit is an operation unit that operates the arm connecting unit 14. The foot input unit 434 also includes the other one rotational degree of freedom of the attitude changing unit as an operation target.

[0159] The robot 1A can be remotely controlled by the remote control device 3A in the same way as in the first embodiment. Even if the robot 1A has the sub-crawler drive unit 37, it can be remotely controlled by one person. Since the robot 1A also has the sub-crawler drive unit 37, it can move even in places where there are steps that the robot 1A cannot overcome. The left and right sub-crawler angle change unit 40 L , 40 R Since the angle can be changed, the vehicle section 9A can move more appropriately depending on the unevenness of the ground.

[0160] The foot input unit 432, which is the left traveling unit operation unit, controls the crawler traveling unit 15 L and sub-crawler moving unit 37 L and the movement of the subcrawler 39 L Crawler 17 LThe foot input unit 433, which is the right traveling unit operation unit, can be used to remotely control the crawler traveling unit 15. R and sub-crawler moving unit 37 R and the movement of the subcrawler 39 R Crawler 17 R The left running unit operation unit is located to the left of the right running unit operation unit, so the left running unit operation unit can be operated with the left foot and the right running unit operation unit with the right foot. This makes it easy to operate the left and right crawler travel units 15 and sub-crawler travel unit 37.

[0161] Embodiment 3 In the third embodiment, the vehicle section 9A is remotely controlled by one foot input unit, and the shoulder frame rotation section and the trunk cross rotation section are also remotely controlled by one foot input unit. In the third embodiment, the robot 1A is the same as in the second embodiment and is the target of remote control.

[0162] The software configuration of the remote operation device 3B included in the robot remote operation system 100B will be described with reference to Fig. 33. Fig. 33 is a block diagram illustrating the functional configuration of the robot remote operation system according to embodiment 3. Regarding Fig. 33, differences from Fig. 31 in the case of embodiment 2 will be described.

[0163] The foot input unit 431 of the foot input device 6B remotely controls the torso connection part 13. The foot input unit 432 remotely controls the shoulder frame rotation part 22 and the torso cross rotation part 23. The foot input unit 433 remotely controls the vehicle part 9A. The foot input unit 434 remotely controls the arm connection part 14. The foot input units 431 and 434 use the forward / backward tilt angle and the foot rotation angle for remote control of the robot 1A, but do not use the left / right tilt angle for remote control. The foot input unit 432 uses the forward / backward tilt angle and the left / right tilt angle for remote control of the robot 1A, but does not use the foot rotation angle for remote control. The foot input units 431 and 434 are equipped with stoppers to prevent left / right tilt. The foot input unit 432 is equipped with a stopper to prevent rotation around the vertical rotation axis 48.

[0164] The correspondence between the angle information detected by the foot input device 6B and the operation of each part of the robot 1A is as follows: In the foot input unit 431, as in the first and second embodiments, the forward / backward tilt angle δ EL1 The body tilt angle of the body connection part 13 is remotely controlled by the AZ1 The rotation angle of the fuselage connecting portion 13 is remotely controlled by the XEL1 is not used.

[0165] The foot input unit 432 remotely controls the shoulder frame rotation unit 22 and the torso cross rotation unit 23 as described below. (E3)δ EL2 The shoulder frame rotation unit 22 is remotely controlled by δ EL2 Therefore, the shoulder frame rotation angle θ, which is the rotation angle around the EL3 axis, i.e., the shoulder frame rotation axis, EL3 Change δ EL2 and θ EL3 is proportional to δ EL2 If θ = 0, EL3 =0. θ EL3= 0, the angle between the shoulder frame 19 and the upper torso 20 is the reference angle in the reference state. In the reference state, the arm 10 is facing vertically downward, and the reference angle between the shoulder frame 19 and the upper torso 20 is the angle that faces the arm 10 vertically downward. δ EL2 >0, then θ EL3 >0. θ EL3 If δ is greater than 0, the angle between the shoulder frame 19 and the upper torso 20 is smaller than the reference angle. If the angle is smaller than the reference angle, the arm 10 is located in front of the upper torso 20. EL2 <0, then θ EL3 <0. θ EL3 When the angle between the shoulder frame 19 and the upper torso 20 is larger than the reference angle, the arm 10 is located behind the upper torso 20.

[0166] (Sa)δ XEL2 The fuselage cross rotation unit 23 is remotely controlled by δ XEL2 Therefore, the rotation angle around the XEL axis, i.e., the fuselage cross rotation axis, is the fuselage cross rotation angle θ XEL Change δ XEL2 and θ XEL is proportional to δ XEL2 If θ = 0, XEL =0. θ XEL When δ is 0, the upper torso 20 and the lower torso 21 extend in a straight line. XEL2 >0, then θ XEL >0. θ XEL When δ is greater than 0, the upper torso 20 is positioned to the right of the lower torso 21 when the torso 11 is viewed from the front. The right side of the shoulder frame 19 is lowered. XEL2 <0, then θ XEL <0. θ XEL If <0, when the torso 11 is viewed from the front, the upper torso 20 is located to the left of the lower torso 21. The left side of the shoulder frame 19 is lowered.

[0167] The vehicle unit 9A is remotely controlled by the foot input unit 433. Remote control of the vehicle unit 9A means remotely controlling the crawler travel unit 15 L , 15R , sub-crawler moving unit 37 L , 37 R and sub-crawler angle change unit 40 L , 40 R The object of operation of the foot input unit 433 is the crawler moving unit 15. L , 15 R , sub-crawler moving unit 37 L , 37 R and sub-crawler angle change unit 40 L , 40 R is.

[0168] (O3)δ EL3 The moving speed of the vehicle unit 9A is controlled by remote control. L , 15 R Average rotation speed of CR AV In addition, the sub-crawler moving unit 37 L crawler moving unit 15 L The same rotation speed as CR L Sub crawler moving unit 37 R crawler moving unit 15 R The same rotation speed as CR R It rotates by δ EL3 If =0, CR AV = 0. δ EL3 >, then CR AV >0 and |CR AV | is |δ EL3 The value depends on |. CR AV If δ is greater than 0, the vehicle section 9A moves forward. EL3 If <0, CR AV <0 and |CR AV | is |δ EL3 The value depends on |. CR AV If <0, the vehicle section 9A moves backward.

[0169] (Ko2)δ AZ3 The moving direction of the vehicle unit 9A is controlled by the crawler moving unit 15. L , 15 R Rotational speed difference CRDF Crawler moving unit 15 L , 15 R Rotational speed CR L , C.R. R becomes: CR L =CR AV +CR DF CR R =CR AV -CR DF δ AZ3 If =0, CR DF =0. CR DF If =0, CR L =CR R The vehicle section 9A moves forward or backward in a straight line. AZ3 If >0, CR DF >0 and |CR DF | is |δ AZ3 The value depends on |. CR DF If δ is >0, the vehicle section 9A turns right. AZ3 If <0, CR DF <0 and |CR DF | is |δ AZ3 The value depends on |. CR DF If <0, vehicle section 9A turns left. Sub-crawler moving unit 37 L The rotation speed of the crawler moving part 15 L The rotation speed is the same as that of the sub crawler moving unit 37. R The rotation speed of the crawler moving part 15 R The rotation speed is the same as that of the differential CR DF The sub-crawler moving unit 37 L Rotational speed of the sub-crawler moving part 37 R It is also the difference in rotation speed.

[0170] (Shi)δ XEL3 As a result, the sub crawler angle change unit 40 L , 40 R Sub-crawler moving unit 37 L Crawler moving part 15 Lthe angle relative to the sub-crawler moving part 37 R Crawler moving part 15 R The angle to δ is remotely controlled so that it is uniformly the same angle. XEL3 If =0, the subcrawler 39 L , 39 R The underside of the crawler 17 L , 17 R The sub-crawler angle change unit 40 is set to be flush with the bottom surface of the sub-crawler. L , 40 R Remotely control δ XEL3 > 0, then |δ XEL3 At an angle according to the sub-crawler 39 L , 39 R The underside of the crawler 17 L , 17 R The sub crawler angle change unit 40 is positioned above the bottom surface of the L , 40 R Remotely control δ XEL3 < 0, then |δ XEL3 At an angle according to the sub-crawler 39 L , 39 R The underside of the crawler 17 L , 17 R The sub crawler angle change unit 40 is positioned below the bottom surface of the L , 40 R Remotely control the following.

[0171] The foot input unit 433 and the other foot input units 43 are used to change the sub-crawler angle. L and sub-crawler angle change unit 40 R If the vehicle unit has a device for controlling the direction of movement, the vehicle unit may control the device for controlling the direction of movement based on the foot rotation angle or left / right tilt angle detected by foot input unit 433.

[0172] In the foot input unit 434, as in the first and second embodiments, δ EL4 The elevation angle of the arm connection part 14 is remotely controlled by δ. AZ4 The azimuth angle of the arm connection part 14 is remotely controlled by δ. XEL4is not used.

[0173] In this third embodiment, foot input unit 431 is a trunk operation unit that operates on trunk connection unit 13 as the operation target. Foot input unit 432 is a posture operation unit that operates on a posture change unit as the operation target. Foot input unit 433 is a vehicle operation unit that operates on vehicle unit 9A as the operation target. Foot input unit 434 is an arm operation unit that operates on arm connection unit 14 as the operation target. A vehicle operation unit that is a single foot input unit 43 that operates on a vehicle unit that does not use crawlers as the operation target may be provided.

[0174] The control calculation device 60B has modified configuration data storage unit 62B, foot input device IF unit 65B, and control signal generation unit 67B. The configuration data storage unit 62B stores instruction action correspondence data 65R. The foot input device IF unit 65B receives δ XEL1 , δ AZ2 , δ XEL4 , and the foot input units 432 and 433 measure δ XEL2 , δ XEL3 The control signal generation unit 67B references the instruction operation correspondence data 65R to generate control signals for controlling the body connection unit 13, the arm connection unit 14, the vehicle unit 9A, and the attitude change unit. The contents of the instruction operation correspondence data 65R are shown in FIG. 34.

[0175] Even with the remote control device 3B of the third embodiment, the operator 90 can remotely control the robot 1A by himself. The operator 90 can remotely control the vehicle unit 9A using only one foot. By tilting the foot forward or backward, the forward, stop, or backward movement of the vehicle unit 9A can be remotely controlled. By rotating the foot, the movement direction can be remotely controlled to rotate left or right. The radius of curvature of the rotation is determined by the ratio of the forward or backward tilt angle and the foot rotation angle. When the vehicle unit 9A is not moved forward or backward, the radius of curvature of the rotation is smallest. When the foot rotation angle is large, the rotation speed becomes fast. By tilting the foot placed on the foot rest 44 left or right, the vertical angle of the sub crawler 39 relative to the crawler 17 can be changed. The sub crawler 39 LCrawler 17 L Angle to Subcrawler 39 R Crawler 17 R The angle to is the same as the angle to

[0176] The remote control device 3B remotely controls the operation target parts by maintaining a similarity relationship between their movements, making remote control easy. When the operator 90 steps forward with his toes pointing downward, the shoulder frame rotation part rotates in a direction that makes the on-site camera 4 point downward. When the operator 90 steps forward with his heels pointing downward, the shoulder frame rotation part rotates in a direction that makes the on-site camera 4 point upward. When the foot is tilted so that the left side is downward, the upper torso and the left side of the shoulder frame lower. When the foot is tilted so that the right side is downward, the upper torso and the right side of the shoulder frame lower.

[0177] Embodiment 4 In the fourth embodiment, the second embodiment is modified so that an upper body input device worn by the operator is used to input operational instructions for remotely controlling the arms. The on-site camera 4 is rotatably connected to the shoulder frame 19. An operational instruction for changing the shooting direction of the on-site camera 4 is generated from an image of the operator's head captured by the instruction reading camera.

[0178] The structure of the robot 1C will be described with reference to Figures 35 and 36. Figure 35 is a perspective view of the robot 1C that is remotely controlled in the fourth embodiment. Figure 36 is a right side view of the robot 1C. The robot 1C has a camera connector 4C that rotatably connects the on-site camera 4 to the shoulder frame 19. The camera connector 4C connects the on-site camera 4 to the shoulder frame 19 so that the on-site camera 4 can rotate around the Z3 axis.

[0179] The software configuration of the remote control device 3C included in the robot remote control system 100C will be described with reference to Fig. 37. Fig. 37 is a block diagram illustrating the functional configuration of the robot remote control system according to embodiment 4. Regarding Fig. 37, differences from Fig. 31 in the case of embodiment 2 will be described.

[0180] The motor 73C of the robot 1C includes a motor that rotates the camera connector 4C.

[0181] The remote control device 3C has an upper body input device 53 worn by an operator 90. When the operator 90 wearing the upper body input device 53 moves his / her arm, each part of the upper body input device 53 moves in accordance with the movement of the operator's 90's arm. The upper body input device 53 measures changes in distance between multiple determined points on the upper body input device 53. Operational instructions for moving the arms 10 of the robot 1A are generated from the changes in distance between the multiple determined points. More specifically, the operational instructions for moving the arms 10 are operational instructions for determining the rotation angles of the shoulder joints 27, elbow joints 28, and wrist joints 29 of the right and left arms 10. The upper body input device 53 is connected to the LAN 10. The upper body input device 53 may also be connected to the control arithmetic unit 60C without going through the LAN 10.

[0182] The control and arithmetic device 60C has an upper body input device interface unit (referred to as an upper body input device IF unit in the drawings and in the following description) 70. The control and arithmetic device 60C also includes a structure data storage unit 62C, a state data storage unit 63C, an operation instruction data generation unit 64C, a voice processing unit 66C, and a control signal generation unit 67C. The upper body input device IF unit 70 takes in data measured by the upper body input device 53 at a predetermined period and writes it into the state data storage unit 63C. The operation instruction data generation unit 64C also references the data measured by the upper body input device 53 to generate a control signal.

[0183] The structural data storage unit 62C also stores structural data of the robot 1C including the camera connection unit 4C, structural data of the upper body input device 53, and operation instruction generation data 70P. The operation instruction generation data 70P is a constant used when generating operation instructions for moving the arm 10 of the robot 1C from data measured by the upper body input device 53. The status data storage unit 63C also stores data representing the status of the camera connection unit 4C and data measured by the upper body input device 53.

[0184] The operation instruction data generation unit 64C performs image analysis on the images captured by the instruction reading cameras 7A and 7B to generate operation instruction data for operating the camera connection unit 4C. The operation instruction data generation unit 64C extracts the direction in which the face (head) of the operator 90 is facing through the image analysis. Then, the operation instruction data generation unit 64C generates operation instruction data that causes the on-site camera 4 to face in the direction in which the face of the operator 90 is facing.

[0185] The operation instruction data generating unit 64C references the operation instruction generation data 70P and the state data storage unit 63C to generate operation instruction data for the arm 10. A method for generating operation instruction data for the arm 10 will be described later.

[0186] An audio control unit 69C included in the audio processing unit 66C also generates operation instruction data for the camera connection unit 4C in response to words such as "stop" and writes the data to the status data storage unit 63C. A control signal generation unit 67C generates a control signal for controlling the camera connection unit 4C from the operation instruction data for the camera connection unit 4C. The audio processing unit 66C may be configured not to remotely control the camera connection unit 4C by voice.

[0187] The control signal generating unit 67C generates a control signal for controlling the vehicle unit 9A and the trunk rotation drive unit based on the longitudinal tilt angle measured by the foot input device 6A, as in the case of embodiment 2. The control signal generating unit 67C generates a control signal for controlling the camera connection unit 4C and the arm unit 10 based on operation instruction data for the camera connection unit 4C and the arm unit 10.

[0188] The structure of the upper body input device 53 will be described with reference to FIGS. 38 and 39. FIG. 38 is a front view and a right side view of the remote control device of the fourth embodiment. FIG. 39 is a front view of the upper body input device 53. In FIG. 39, only the arm-mounted portion of the upper body input device 53, which is mounted on the left arm of the operator 90, is shown. The upper body input device 53 has a chair attachment unit 54, an elbow attachment unit 55, a hand attachment unit 56, a shoulder joint measurement unit 57, an elbow joint measurement unit 58, and a wrist joint measurement unit 59. The chair attachment unit 54 is a member for attaching the upper body input device 53 to the electric wheelchair 5. The chair attachment unit 54 has a shape corresponding to the chair to which it is attached. When changing the chair to which it is attached, only the chair attachment unit 54 needs to be changed. The elbow attachment unit 55 is a member for attaching the upper body input device 53 near the elbow of the operator 90. The hand attachment unit 56 is a member for attaching the upper body input device 53 to the hand of the operator 90. The hand attachment unit 56 is attached to the hand of the operator 90 at a location that is a sufficient distance from the wrist joint so that the connection angle of the wrist joint of the operator 90 can be measured.

[0189] The shoulder joint measurement unit 57 measures data for generating operation instructions for driving the shoulder joint unit 27 of the robot 1C. The elbow joint measurement unit 58 measures data for generating operation instructions for driving the elbow joint unit 28 of the robot 1C. The wrist joint measurement unit 59 measures data for generating operation instructions for driving the wrist joint unit 29 of the robot 1C. The shoulder joint measurement unit 57, elbow joint measurement unit 58, and wrist joint measurement unit 59 are connected in series to the chair mounting unit 54.

[0190] The shoulder joint measurement unit 57 has a torso structure 57A, an upper arm structure 57B, a shoulder measurement joint 57C, a shoulder main displacement meter 57D, and a shoulder auxiliary displacement meter 57E. The torso structure 57A is a member corresponding to the torso of the operator 90. The torso structure 57A is positioned close to the upper body of the operator 90. The upper arm structure 57B is a member corresponding to the upper arm of the operator 90. The shoulder measurement joint 57C rotatably connects the upper arm structure 57B to the torso structure 57A with the same degrees of rotational freedom as the shoulder joint unit 27. The same degrees of rotational freedom means that the number of rotational axes and the directions of the rotational axes relative to the members on both sides of the joint are all the same. The shoulder measurement joint 57C has two degrees of rotational freedom.

[0191] The shoulder main displacement meter 57D and the shoulder auxiliary displacement meter 57E are linear displacement meters that can measure length by changing the length between their two ends. The linear displacement meter measures and outputs the change in length from the reference state. One end of each of the shoulder main displacement meter 57D and the shoulder auxiliary displacement meter 57E is connected to the torso structure 57A, and the other end is connected to the upper arm structure 57B.

[0192] The torso structure 57A is a member having a portion that extends nearly vertically near the chair mounting portion 54 and a portion that extends nearly horizontally. A shoulder measurement joint 57C is provided at the end of the horizontally extending portion. A shoulder main displacement meter mounting portion K1 and an auxiliary shoulder displacement meter mounting portion K2 are provided on the vertically extending portion. One end of a shoulder main displacement meter 57D is attached to the main shoulder displacement meter mounting portion K1 so that it can rotate with three rotational degrees of freedom. One end of a shoulder auxiliary displacement meter 57E is attached to the auxiliary shoulder displacement meter mounting portion K2 so that it can rotate with three rotational degrees of freedom.

[0193] The upper arm structure 57B is a rod-shaped member. An upper arm main displacement meter mounting part K3 is provided on the upper arm structure 57B at a position a predetermined distance from the shoulder measurement joint 57C. The other end of the shoulder main displacement meter 57D is rotatably attached to the upper arm main displacement meter mounting part K3 with two rotational degrees of freedom. An upper arm auxiliary displacement meter mounting part K4 is provided on the shoulder main displacement meter 57D at a position a predetermined distance from the shoulder measurement joint 57C. The other end of the shoulder auxiliary displacement meter 57E is rotatably attached to the upper arm auxiliary displacement meter mounting part K4 with two rotational degrees of freedom.

[0194] The shoulder primary displacement sensor 57D has five rotational degrees of freedom, with one end connected with at least two rotational degrees of freedom. The shoulder primary displacement sensor 57D may have one rotational degree of freedom around its axis, with one end connected with two rotational degrees of freedom. The same applies to the shoulder auxiliary displacement sensor 57E and other linear displacement sensors.

[0195] The elbow joint measurement unit 58 has an upper arm structure 57B, a forearm structure 58A, an elbow measurement joint 58B, an inner elbow displacement meter 58C, and an outer elbow displacement meter 58D. The forearm structure 58A is a member that corresponds to the forearm of the operator 90. The elbow measurement joint 58B rotatably connects the forearm structure 58A to the upper arm structure 57B with the same degree of rotational freedom as the elbow joint unit 28. The elbow measurement joint 58B has two degrees of rotational freedom: one for rotation around the upper arm structure 57B, and one for changing the angle between the forearm structure 58B and the upper arm structure 57B.

[0196] The inner elbow displacement sensor 58C and the outer elbow displacement sensor 58D are also linear displacement sensors. Each of the inner elbow displacement sensor 58C and the outer elbow displacement sensor 58D has one end connected to the upper arm structure 57B and the other end connected to the forearm structure 58A.

[0197] The upper arm structure 57B has a rod-shaped portion which is the main part, and an orthogonal member which is perpendicular to the rod-shaped portion. The orthogonal member is provided at a position a predetermined distance from the elbow measurement joint 57C. An upper arm inner displacement meter mounting portion K6 is provided at the inner end of the orthogonal member. An upper arm outer displacement meter mounting portion K8 is provided at the outer end of the orthogonal member. One end of an elbow inner displacement meter 58C is rotatably attached to the upper arm inner displacement meter mounting portion K6 with two rotational degrees of freedom. One end of an elbow outer displacement meter 58D is rotatably attached to the upper arm outer displacement meter mounting portion K8 with two rotational degrees of freedom.

[0198] The forearm structure 58A is a rod-shaped member. The forearm structure 58A has a rod-shaped portion, which is the main portion, and an orthogonal member that is perpendicular to the rod-shaped portion. The orthogonal member is provided at a position a predetermined distance from the elbow measurement joint 57C. An inner forearm displacement meter mounting portion K5 is provided at the inner end of the orthogonal member. An outer forearm displacement meter mounting portion K7 is provided at the outer end of the orthogonal member. The other end of the inner elbow displacement meter 58C is attached to the inner forearm displacement meter mounting portion K5 so that it can rotate with two rotational degrees of freedom. The other end of the outer elbow displacement meter 58D is attached to the outer forearm displacement meter mounting portion K7 so that it can rotate with two rotational degrees of freedom.

[0199] The wrist joint measurement unit 59 has a forearm structure 58A, a hand structure 59A, a wrist measurement joint 59B, a wrist front displacement meter 59C, a wrist outer displacement meter 59D, and a wrist inner displacement meter 59E. The hand structure 59A is a plate-shaped member. The hand structure 59A corresponds to the part of the hand of the operator 90 near the wrist joint. The wrist measurement joint 59B rotatably connects the hand structure 59A to the forearm structure 58A with the same degrees of rotational freedom as the wrist joint unit 29. The wrist measurement joint 59B has three degrees of rotational freedom.

[0200] The front wrist displacement meter 59C, the outer wrist displacement meter 59D, and the inner wrist displacement meter 59E are also linear displacement meters. One end of each of the front wrist displacement meter 59C, the outer wrist displacement meter 59D, and the inner wrist displacement meter 59E is connected to the forearm structure 58A and the other end is connected to the hand structure 59A.

[0201] The forearm structure 58A has protrusions in three directions at positions a predetermined distance from the wrist measurement joint 59B. The angles between the protrusions are 90 degrees, 90 degrees, and 180 degrees. A forearm front displacement meter mounting part K9 is provided on a protrusion sandwiched between other protrusions at a 90-degree angle. A forearm outer displacement meter mounting part K10 is provided on a protrusion located on the outer side of the forearm structure 58A from the protrusion on which the forearm front displacement meter mounting part K9 is provided. The outer side means the side farther from the body of the operator 90. An forearm inner displacement meter mounting part K11 is provided on a protrusion located on the inner side.

[0202] The plate-shaped hand structure 59A is provided with a hand front displacement meter mounting part K12, an outer hand displacement meter mounting part K13, and an inner hand displacement meter mounting part K14 at positions equidistant from the wrist measurement joint 59B. The hand front displacement meter mounting part K12, the outer hand displacement meter mounting part K13, and the inner hand displacement meter mounting part K14 are provided at positions where the line segments connecting the wrist measurement joint 59B form an angle of 120 degrees with each other. The upper body input device 53 is worn by the operator 90 so that the wrist joint 29 of the robot 1A is in the reference state when the hand front displacement meter mounting part K12 is on the plane where the forearm structure 58A and the forearm front displacement meter mounting part K9 are present.

[0203] Two sets of upper arm structure 57B, forearm structure 58A and hand structure 59A are connected in series to torso structure 57A. One set of upper arm structure 57B, forearm structure 58A and hand structure 59A is attached to the right or left arm of operator 90 by elbow attachment 55 and hand attachment 56.

[0204] The positional relationships between the forearm front displacement meter mounting portion K9, the forearm outer displacement meter mounting portion K10, the forearm inner displacement meter mounting portion K11, the hand front displacement meter mounting portion K12, the hand outer displacement meter mounting portion K13, and the hand inner displacement meter mounting portion K14 are the same as the positional relationships between the forearm front link mounting portion J9, the forearm outer link mounting portion J10, the forearm inner link mounting portion J11, the hand front link mounting portion J12, the hand outer link mounting portion J13, and the hand inner link mounting portion J14.

[0205] The wrist front displacement meter 59C has one end rotatably attached to the forearm front displacement meter mounting part K9 with two rotational degrees of freedom, and the other end rotatably attached to the hand front displacement meter mounting part K12 with two rotational degrees of freedom. The wrist outer displacement meter 59D has one end rotatably attached to the forearm outer displacement meter mounting part K10 with two rotational degrees of freedom, and the other end rotatably attached to the hand outer displacement meter mounting part K13 with two rotational degrees of freedom. The wrist inner displacement meter 59E has one end rotatably attached to the forearm inner displacement meter mounting part K11 with two rotational degrees of freedom, and the other end rotatably attached to the hand inner displacement meter mounting part K14 with two rotational degrees of freedom.

[0206] The following describes how the operation instruction data generation unit 64C generates operation instruction data for the arm 10. The operation instruction data generation unit 64C creates operation instruction data for the shoulder main actuator 30 and shoulder auxiliary actuator 31 that drive the shoulder joint 27 based on link length displacements, which are values ​​of change in length measured by the shoulder main displacement meter 57D and the shoulder auxiliary displacement meter 57E, and parameters stored in operation instruction generation data 70P.

[0207] To explain the process of generating operation instruction data for the shoulder joint portion 27, the following variables are defined. ΔL M1 : Link length displacement measured by shoulder main displacement gauge 57D. ΔL M2 : Link length displacement measured by shoulder auxiliary displacement meter 57E. L A1 : The length of the shoulder main actuator 30 that serves as the operation instruction data. L A2 : The length of the shoulder assist actuator 31 that serves as the operation instruction data.

[0208] The parameters stored in the operation instruction generating data 70P are expressed by the following variables. L A10 : Length of shoulder main actuator 30 in the reference state. L A20 : Length of shoulder assist actuator 31 in the reference state. α 11 :ΔL M1 and L A1 The proportionality coefficient between α 12 :ΔL M2 and L A1 The proportionality coefficient between α 21 :ΔL M1 and L A2 The proportionality coefficient between α 22 :ΔL M2 and L A2 The proportionality coefficient between α 11The values ​​of these are determined taking into consideration the arrangement of the shoulder main actuator 30 and the shoulder auxiliary actuator 31, and the arrangement of the shoulder main displacement gauge 57D and the shoulder auxiliary displacement gauge 57E.

[0209] The operation instruction data generation unit 64C generates operation instruction data L A1 and operation instruction data L to the shoulder assist actuator 31. A2 is calculated using the following formula: L A1 =α 11 ΔL M1 +α 12 ΔL M2 +L A10 L A2 =α 21 ΔL M1 +α 22 ΔL M2 +L A20

[0210] To explain the process of generating operation instruction data for the elbow joint 28, the following variables are defined. ΔL M3 : Link length displacement measured by elbow medial displacement meter 58C. ΔL M4 : Link length displacement measured by elbow lateral displacement gauge 58D. L A3 : Position of moving member 32D in inner elbow actuator 32. L A4 : Position of moving member 33D in elbow outer actuator 33.

[0211] The parameters used to generate the operation instruction data for the elbow joint 28 are as follows: L A30 : Position of the moving member 32D of the inner elbow actuator 32 in the reference state. L A40 : Position of the moving member 33D of the elbow outer actuator 33 in the reference state. α 33 :ΔL M3 and L A3 The proportionality coefficient between α 34 :ΔLM4 and L A3 The proportionality coefficient between α 43 :ΔL M3 and L A4 The proportionality coefficient between α 44 :ΔL M4 and L A4 The proportionality coefficient between α 33 The values ​​of the above are determined taking into consideration the arrangement of the inner elbow actuator 32 and the outer elbow actuator 33 and the arrangement of the inner elbow actuator 32 and the outer elbow actuator 33.

[0212] The operation instruction data generator 64C generates operation instruction data L A3 and operation instruction data L for the elbow outer actuator 33 A3 is calculated using the following formula: L A3 =α 33 ΔL M3 +α 34 ΔL M4 +L A30 L A4 =α 43 ΔL M3 +α 44 ΔL M4 +L A40

[0213] To explain the process of generating operation instruction data for the wrist joint 29, the following variables are defined. ΔL M5 : Link length displacement measured by wrist front displacement meter 59C. ΔL M6 : Link length displacement measured by wrist outer displacement meter 59D. ΔL M7 : Link length displacement measured by the wrist inner displacement meter 59E. L A5 : Length of the front forearm actuator 34. L A6 : Length of outer forearm actuator 35. L A7 : Length of inner forearm actuator 36.

[0214] The parameters used to generate the operation instruction data for the wrist joint 29 are as follows: L A50 : Length of the forearm front actuator 34 in the reference state. L A60 : Length of outer forearm actuator 35 in the reference state. L A70 : Length of inner forearm actuator 36 in the reference state. α 55 :ΔL M5 and L A5 The proportionality coefficient between α 56 :ΔL M6 and L A5 The proportionality coefficient between α 57 :ΔL M7 and L A5 The proportionality coefficient between α 65 :ΔL M5 and L A6 The proportionality coefficient between α 66 :ΔL M6 and L A6 The proportionality coefficient between α 67 :ΔL M7 and L A6 The proportionality coefficient between α 75 :ΔL M5 and L A7 The proportionality coefficient between α 76 :ΔL M6 and L A7 The proportionality coefficient between α 77 :ΔL M7 and L A7 The proportionality coefficient between

[0215] α 55 These values ​​are determined taking into consideration the arrangement of the forearm front actuator 34, the forearm outer actuator 35, and the forearm inner actuator 36, and the arrangement of the wrist front displacement meter 59C, the wrist outer displacement meter 59D, and the wrist inner displacement meter 59E.

[0216] The operation instruction data generator 64C generates operation instruction data L A3 and operation instruction data L for the elbow outer actuator 33 A3 is calculated using the following formula: L A5 =α 55 ΔL M5 +α 56 ΔL M6 +α 57 ΔL M7 +L A50 L A6 =α 65 ΔL M5 +α 66 ΔL M6 +α 67 ΔL M7 +L A60 L A7 =α 75 ΔL M5 +α 76 ΔL M6 +α 77 ΔL M7 +L A70

[0217] Proportional coefficient α 11 By appropriately determining values ​​such as these, it is possible to calculate operation instruction data for each joint from the link length displacement measured by the linear displacement meter with a simple calculation. There is no need to calculate the angle of the joint, and the amount of calculation required can be reduced to calculate operation instruction data for each actuator that drives each joint.

[0218] The proportional coefficient does not have to be always the same, and different proportional coefficients may be used depending on the magnitude of the link length displacement. The quadratic term of the link length displacement may also be taken into consideration when calculating the operation instruction data. The operation instruction data may also be calculated using link length displacement measured by a linear displacement meter at another joint. For example, L, which is the operation instruction data for the inner elbow actuator 32, A3 To calculate this, ΔL measured by shoulder main displacement meter 57D is used. A1 may also be used.

[0219] The shoulder main displacement gauge 57D, shoulder auxiliary displacement gauge 57E, elbow inner displacement gauge 58C, elbow outer displacement gauge 58D, wrist front displacement gauge 59C, wrist outer displacement gauge 59D, and wrist inner displacement gauge 59E are measurement variable length links that measure link length displacement. The measurement variable length links have five rotational degrees of freedom. It is also possible to use a measurement variable length link that has one rotational degree of freedom around an axis, with one end and the other end attached with two rotational degrees of freedom.

[0220] The operation will be described. The operator 90 sits in the electric wheelchair 5 and wears the upper body input device 53. The operator 90 starts remote control of the robot 1. The operator 90 remotely controls the vehicle unit 9A and the trunk rotation drive unit using the foot input device 6A in the same manner as in the second embodiment.

[0221] When the operator 90 moves his / her arm, the shoulder main displacement meter 57D, shoulder auxiliary displacement meter 57E, elbow inner displacement meter 58C, elbow outer displacement meter 58D, wrist front displacement meter 59C, wrist outer displacement meter 59D, and wrist inner displacement meter 59E measure link length displacement. The operation instruction data generation unit 64C generates operation instruction data for the arm 10 based on the measured link length displacement and with reference to operation instruction generation data 70P. The control signal generation unit 67C generates a control signal for controlling the arm 10 based on the operation instruction data for the arm 10. Controlled by the control signal, the arm 10 of the robot 1 moves in the same way as the arm of the operator 90.

[0222] The control signal generating unit 67C is an arm control signal generating unit that generates a control signal to control the shoulder joint unit 27 from the link length displacement, which is the change in length measured by the measurement variable length link of the shoulder joint measuring unit 57, generates a control signal to control the elbow joint unit 28 from the link length displacement measured by the measurement variable length link of the elbow joint measuring unit 58, and generates a control signal to control the wrist joint unit 29 from the link length displacement measured by the measurement variable length link of the wrist joint measuring unit 59.

[0223] When the operator 90 changes the direction in which he or she is pointing his or her head, the instruction reading cameras 7A and 7B capture an image including the head of the operator 90. The images captured by the instruction reading cameras 7A and 7B are analyzed, and the operation instruction data generation unit 64C generates operation instruction data for the camera connection unit 4C. The control signal generation unit 67C generates a control signal for controlling the camera control unit 4C based on the operation instruction data for the camera connection unit 4C. Controlled by the control signal, the shooting direction of the on-site camera 4 is changed to the direction in which the head of the operator 90 is pointing.

[0224] The remote control device 3C of the fourth embodiment also allows the operator 90 to remotely control the robot 1A by himself, and the same effects as those of the second embodiment can be obtained.

[0225] The upper body input device may include a shoulder joint measurement unit that measures a shoulder joint angle that is the connection angle at the shoulder joint, an elbow joint measurement unit that measures an elbow joint angle that is the connection angle at the elbow joint, and a shoulder joint measurement unit that measures a shoulder joint angle that is the connection angle at the wrist joint. In that case, the control signal generation unit is an arm control signal generation unit that generates a control signal to control shoulder joint unit 27 based on the shoulder joint angle, generates a control signal to control elbow joint unit 28 based on the elbow joint angle, and generates a control signal to control wrist joint unit 29 based on the wrist joint angle.

[0226] Embodiment 5 Embodiment 5 is a modification of embodiment 1 in which a robot with modified vehicle section, arm section, torso section, torso support arm, torso connection section, arm connection section, and camera section is controlled. All sections other than the robot 1P and the on-site camera 4P are the same as in embodiment 1. Note that the remote control device 3P has been modified to accommodate the robot 1P. The robot 1P has a vehicle section 9P and a humanoid section 1HP mounted on the vehicle section 9P. The humanoid section 1HP is the section of the robot 1P on which the two arms 10P are located, including the arm connection section 14P. The humanoid section 1HP includes the two arms 10P. The position and posture of the humanoid section 1HP can be changed relative to the vehicle section 9P.

[0227] The structure of robot 1P will be described with reference to Figures 40 to 52. Figures 40 to 45 are a perspective view, front view, right side view, rear view, left side view, and plan view of the entire robot 1P. Figures 46 to 52 are a perspective view, front view, right side view, rear view, left side view, plan view, and bottom view of humanoid part 1HP. The state in which robot 1P assumes the postures shown in Figures 40 to 52 is called the reference state of robot 1P.

[0228] The robot 1P has a vehicle section 9P, a head section 4AP, two arms 10P, a body section 11P, a body support arm 12P, a body connection section 13P, and an arm connection section 14P. The vehicle section 9P has a crawler moving section 15 L , 15 R The vehicle section 9P has a crawler cover 9PA that covers the sides and front and rear surfaces of the vehicle section 9P. A battery storage section 9PB that stores a battery 18 is provided at the rear of the upper surface of the vehicle section 9P.

[0229] The humanoid part 1HP includes a head part 4AP, two arms 10P, a body part 11P, a body support arm 12P, a body connection part 13P, and an arm connection part 14P.

[0230] The arm 10P has a shape similar to that of a human arm. The structure of the arm 10P will be explained later. The two arms 10P are connected to the upper part of the torso 11P. The torso 11P and the two arms 10P have the same positional relationship and size as a human torso and arm. Therefore, the robot 1P can perform fine work similar to that of a human. A torso support arm 12P is connected to the underside of the torso 11P. By moving the torso support arm 12P, the position of the torso 11P relative to the vehicle part 9P can be changed.

[0231] The torso section 11P has an arm connection section 19P, an upper torso 20P, a lower torso 21P, and a torso cross rotation section 23P. Two arms 10P are connected to the arm connection section 19P. A torso support arm 12P is connected to the lower torso 21P. The upper torso 20P is located between the arm connection section 19P and the lower torso 21P. The torso cross rotation section 23P rotates the upper torso section 20P relative to the lower torso 21P. The arm connection section 19P is rotatably supported by the upper torso 20P.

[0232] The robot 1P is approximately 1.8 m high from the bottom of the vehicle section 9P to the top of the head section 4AP, the vehicle section 9P is approximately 1.4 m long in the front-to-rear direction, and the minimum width of the arm connection section 19P and arm section 10P is approximately 0.55 m. The weight of the humanoid section 1HP alone is approximately 150 kg, and the entire robot 1P is approximately 300 kg. With the arm section 10P extended horizontally, it can grasp an object weighing approximately 3 kg in one hand and approximately 6 kg in both hands. With the arm section 10P extended vertically downward, it can grasp an object weighing approximately 10 kg in one hand and approximately 20 kg in both hands. The torso support arm 12P can be moved while grasping an object.

[0233] The rotation axes of the robot 1P will be described with reference to Figure 53. The robot 1P has the following six rotation axes. The robot 1P differs from the robot 1 in that it has an AZ3 axis instead of an EL3 axis. AZ1 axis: Azimuth rotation axis at arm connection part 14P. EL1 axis: Elevation rotation axis at arm connection part 14P. EL2 axis: Fuselage tilt rotation axis at fuselage connection part 13P. AZ2 axis: Fuselage rotation axis at fuselage connection point 13P. XEL axis: Fuselage cross-rotation axis at fuselage cross-rotation point 23P AZ3 axis: A rotation axis that rotates the arm connection part 19P. It is called the arm connection part rotation axis.

[0234] The AZ2 axis and the XEL axis intersect on the same plane, and the AZ3 axis passes through the intersection of the AZ2 axis and the XEL axis. In other words, the three rotation axes of the torso 11P, the AZ2 axis, the XEL axis, and the AZ3 axis, intersect at one point. In the reference state, the upper torso 20P is located directly above the lower torso 21P, and the AZ2 axis and the AZ3 axis are located on the same straight line. The XEL axis is perpendicular to the plane on which the AZ2 axis exists and is also perpendicular to the plane on which the AZ3 axis exists. When the XEL axis rotates, the AZ2 axis and the AZ3 axis intersect. The AZ2 axis, the XEL axis, and the AZ3 axis do not have to intersect at one point.

[0235] Since the robot 1P has the AZ3 axis, the orientation of the XEL axis can be changed relative to the arm connection part 19P. In the standard state, rotating the XEL axis rotates the arm connection part 19P in the front-to-back direction. When the AZ3 axis is rotated 90 degrees, rotating the XEL axis rotates the arm connection part 19P so that either its left or right side becomes higher. When the AZ3 axis is rotated 45 degrees, rotating the XEL axis rotates the arm connection part 19P so that either its left or right side becomes higher, and it also rotates in the front-to-back direction. When the AZ1 axis and AZ3 axis are rotated in opposite directions by the same angle, the direction in which the arm connection part 19P rotates by rotating the XEL axis can be changed without changing the direction in which the arm connection part 19P faces on the torso part 11P.

[0236] The arrangement of the six rotation axes at arm connection part 14P and body connection part 13P in embodiment 5 is the same as the arrangement of rotation axes of a general industrial robot with one arm. Arm connection part 14P and body connection part 13P can be controlled in the same way as a general industrial robot.

[0237] In the fifth embodiment, a third XYZ coordinate system based on the arm connection part 19P is defined as follows. X3 axis: An axis parallel to a straight line passing through two points of the arm connection parts 19P to which the arms 10P are respectively connected. Y3 axis: An axis perpendicular to the X3 and Z3 axes. Z3 axis: An axis perpendicular to the X3 and Y3 axes, and in the same direction as the AZ3 axis. The X3Y3 plane, which is parallel to the X3 and Y3 axes, is perpendicular to the AZ3 axis and parallel to the XEL axis. When the arm connection part 19P rotates around the AZ3 axis, the angle between the XEL axis and the X3 axis changes.

[0238] The rotation angles around the six rotation axes of the robot 1P are the same as those of the robot 1. However, θ EL3 Instead of θ AZ3 is defined as follows: θ AZ3 : The angle of rotation around the AZ3 axis, i.e. the arm connection rotation axis.

[0239] θ AZ3 is the angle between the X3 axis and the XEL axis. AZ3 is called the arm connection rotation angle. When viewed from the positive side of the Z3 axis, if the point where the right arm 10P connects to the arm connection 19P is behind the XEL axis, then θ AZ3 >0.

[0240] As shown in Figure 47, the head 4AP is connected to the upper side of the arm connection part 19P. The head connection part 4APC connects the head 4AP to the arm connection part 19P so that it can rotate with three degrees of freedom of rotation. The head 4AP is plate-shaped. Two site cameras 4P are mounted on the front side of the head 4AP, approximately midway in the height direction, with a gap of a few centimeters between them. The distance to an object, etc. can be determined by calculating the parallax between the two site cameras 4P. In the reference state, the head 4AP faces in the direction of the Z3 axis. The site camera 4P faces in the direction of the Y3 axis. The head connection part 4APC connects the site camera 4P to the body part 11P so that the angle relative to the body part 11P can be changed. The site camera 4P is mounted on the body part 11P.

[0241] The head connection part 4APC can rotate the head 4AP around the X3 axis, for example, from -90 degrees to 90 degrees, around the Y3 axis, for example, from -30 degrees to 30 degrees, and around the Z3 axis, for example, from -90 degrees to 90 degrees. In the reference state, the rotation angles around the X3 axis, Y3 axis, and Z3 axis are all 0 degrees. When the head 4AP is facing upward, the angle around the X3 axis is positive. When the head 4AP is tilted to the left, the angle around the Y3 axis is positive. When the rotation around the Z3 axis is clockwise as viewed from above, the rotation angle around the Z3 axis is positive.

[0242] The arm connection part 19P has a disk-shaped torso connection part 19PA (shown in Figure 49), two arm rotation parts 19PB with a rectangular parallelepiped outer shape, and a thick, plate-shaped arm connection structure part 19PC. The torso connection part 19PA is rotatably supported on the upper torso part 20P. The arm connection structure part 19PC is connected vertically to the upper side of the torso connection part 19PA. The main surfaces on both sides of the arm connection structure part 19PC face left and right. Rectangular parallelepiped arm rotation parts 19PB are connected to the front parts of the main surfaces on both sides of the arm connection structure part 19PC. The arm rotation parts 19PB house a mechanism for rotating the arm part 10P. The disk-shaped torso connection part 19PA is connected to the rear part of the downward-facing side of the arm connection structure part 19PC.

[0243] The two arms 10P are located in front of the AZ3 axis that rotates the arm connection part 19P, so when the arm connection part 19P rotates, the arms 10P do not interfere with the rotation.

[0244] The upper torso part 20P has an arm connection part rotation part 20PA and a rotation axis connection yoke 20PB. The arm connection part rotation part 20PA is located below the torso connection part 19PA and rotatably supports the torso connection part 19PA. The arm connection part rotation part 20PA is cylindrical. The arm connection part rotation part 20PA rotates the torso connection part 19PA around the AZ3 axis. The AZ3 axis is an axis that intersects with the X3 axis. The X3 axis is an axis parallel to the line connecting two points on the arm connection part 19P where the two arms 10P are respectively connected. The arm connection part rotation part 20PA rotates the arm connection part 19P around the AZ3 axis relative to the upper torso part 20P.

[0245] The rotating shaft connection yoke 20PB is a member that connects the arm connection unit rotating part 20PA to the rotating shaft member 23PA of the body crossing rotating part 23P. The rotating shaft connection yoke 20PB has a shape that has two opposing plate-like portions through which the rotating shaft member 23PA passes and connects, and a plate-like portion that connects the upper parts of the two plates. The arm connection unit rotating part 20PA is connected to the upper side of the upper plate-like portion of the rotating shaft connection yoke 20PB. When the rotating shaft member 23PA rotates, the rotating shaft connection yoke 20PB rotates together with the rotating shaft member 23PA.

[0246] The lower body portion 21P has a rotating shaft holding yoke 21PA and a vertical cylindrical portion 21PB. The rotating shaft holding yoke 21PA rotatably holds the rotating shaft member 23PA. The rotating shaft holding yoke 21PA has a shape having two opposing plate-like portions and a plate-like portion connecting the lower portions of the two plates. The two opposing plate-like portions rotatably support the rotating shaft member 23PA. The vertical cylindrical portion 21PB is a cylindrical member connected to the lower side of the rotating shaft holding yoke 21PA.

[0247] The torso cross-rotation part 23P has a rotating shaft member 23PA, a rotating shaft gear 23PB, a motor 23PC, a drive gear 23PD, and a gear cover 23PE. The rotating shaft member 23PA is a member that constitutes the XEL axis. In the reference state, the XEL axis is parallel to the X1 axis and the X2 axis. The rotating shaft member 23PA is rotatably held by the rotating shaft holding yoke 21PA. The rotating shaft member 23PA is connected to a rotating shaft connection yoke 20PB of the upper torso part 20P. When the rotating shaft member 23PA rotates, the upper torso part 20P also rotates. The rotating shaft gear 23PB is a gear fixed to the rotating shaft member 23PA. The rotating shaft gear 23PB is located on the side of the rotating shaft member 23PA where the right arm part 10P is located. The motor 23PC generates power to rotate the rotating shaft gear 23PB. The motor 23PC is mounted on the inside of the rotating shaft holding yoke 21PA. The drive gear 23PD is a gear that rotates when the motor 23PC rotates. The drive gear 23PD meshes with the rotary shaft gear 23PB. When the drive gear 23PD rotates, the rotary shaft gear 23PB also rotates. The gear cover 23PE is a cover that covers the rotary shaft gear 23PB and the drive gear 23PD.

[0248] The torso support arm 12P has two side plates 12PA and a connecting plate 12PB that connects the side plates 12PA. A rotating shaft member 13PC of the torso connection part 13P is rotatably held at the upper ends of the two side plates 12PA. A rotating shaft member 14PC of the arm connection part 14P is connected to the lower ends of the two side plates 12PA. The torso support arm 12P positions the torso part 11P at a predetermined position relative to the vehicle part 9P. The torso support arm 12P corresponds to the legs of a human.

[0249] The torso connection part 13P connects the torso part 11P to the torso support arm 12P so that the torso part 11P can rotate with two rotational degrees of freedom. The torso connection part 13P connects the torso part 11P to the torso support arm 12P so that the torso part 11P can rotate around the AZ2 axis and the EL2 axis. The torso connection part 13P changes the angle of the torso part 11P relative to the torso support arm 12P. The torso connection part 13P corresponds to the waist in a human.

[0250] The body connection part 13P has a body rotation part 13PA, a rotary shaft connection yoke 13PB, a rotary shaft member 13PC, a rotary shaft gear 13PD, a motor 13PE, a drive gear 13PF, and a gear cover 13PG. The body rotation part 13PA has a cylindrical outer shape. The body rotation part 13PA supports the vertical column part 21PB so that it can rotate around the AZ2 axis. The vertical column part 21PB is the lowest cylindrical part of the lower body part 21P. Inside the body rotation part 13PA, there are a motor and gears for rotating the vertical column part 21PB. The rotary shaft connection yoke 13PB is connected to the underside of the body rotation part 13PA. The rotary shaft connection yoke 13PB has a shape with two opposing plate-shaped parts and a plate-shaped part connecting the upper parts of the two plates. The body rotation part 13PA is connected to the upper side of the upper plate-shaped part of the rotary shaft connection yoke 13PB. The two opposing plate-shaped portions of the rotary shaft connection yoke 13PB are connected to the rotary shaft member 13PC. The lower side of the rotary shaft connection yoke 13PB protrudes forward. In the standard state, the body rotation part 13PA is located behind the body support arm 12P. When the rotary shaft member 13PC rotates, the rotary shaft connection yoke 13PB and the body rotation part 13PA rotate together. A rotary shaft gear 13PD is connected to the rotary shaft member 13PC. The rotary shaft gear 13PD is located on the side of the rotary shaft member 13PC where the right arm 10P is located. A motor 13PE generates power to rotate the rotary shaft gear 13PD. The motor 13PD is placed above the connecting plate 12PB of the body support arm 12P. The drive gear 13PF is a gear driven by the motor 13PD. The drive gear 13PF meshes with the rotary shaft gear 13PD. When the drive gear 13PF rotates, the rotary shaft gear 13PD rotates, which in turn rotates the rotary shaft member 13PC and the member of the body connecting portion 13P on the body 11P side.

[0251] The arm connection part 14P connects the fuselage support arm 12P to the vehicle part 9P so that it can rotate with two degrees of freedom. The arm connection part 14P connects the fuselage support arm 12P to the vehicle part 9P so that it can rotate around the AZ1 axis and the EL1 axis. The AZ1 axis is a rotation axis parallel to the height direction of the vehicle part 9P. The EL1 axis is a rotation axis that changes the angle between the fuselage support arm 12P and the AZ1 axis. The arm connection part 14P has an arm rotation part 14PA, an arm base part 14PB, a rotation axis holding yoke 14PC, a rotation axis member 14PD, a rotation axis gear 14PE, a motor 14PF, a drive gear 14PG, and a gear cover 14PH. The arm rotation part 14PA has a cylindrical outer shape with a flange. The arm rotation part 14PA is installed in a recess provided on the top surface of the vehicle part 9P. The cylindrical part of the arm rotation part 14PA fits inside the vehicle part 9P. The flange of the arm rotation part 14PA protrudes above the bottom surface of the recess in the vehicle part 9P. The arm rotation part 14PA supports the arm base part 14PB located thereon so that it can rotate around the AZ1 axis. The arm rotation part 14PA houses a motor and gears for rotating the arm base part 14PB. The arm base part 14PB is a member having a roughly rectangular plate member connected to the top of a disk-shaped member. The disk-shaped member of the arm base part 14PB is rotatably supported by the arm rotation part 14PA.

[0252] The rotary shaft holding yoke 14PC is made of two opposing plates connected to the upper side of the arm base 14PB. The rotary shaft holding yoke 14PC rotatably holds the rotary shaft member 14PD. The rotary shaft gear 14PE is connected to the rotary shaft member 14PD. The rotary shaft gear 14PE is located on the side of the rotary shaft member 14PD where the right arm portion 10P is located. The motor 14PF generates power to rotate the rotary shaft gear 14PE. The motor 14PF is mounted on the arm base 14PB. The drive gear 14PG is driven by the rotation of the motor 14PF. The drive gear 14PG meshes with the rotary shaft gear 14PE. When the drive gear 14PG rotates, the rotary shaft gear 14PE and the rotary shaft member 14PD rotate. The gear cover 14PH is a cover that covers the rotary shaft gear 14PE and the drive gear 14P.

[0253] The arm connection part 14P can rotate around the AZ1 axis within a range of, for example, -160 degrees to 180 degrees. The arm connection part 14P can rotate around the EL1 axis within a range of, for example, -70 degrees to 95 degrees. Here, the rotation angle around the AZ1 axis is defined as 0 degrees when the direction in which the humanoid part 1HP faces is parallel to the direction in which the vehicle part 9P faces. The angle of the AZ1 axis is defined as positive when the rotation is clockwise when viewed from above. The rotation angle around the EL1 axis is defined as 0 degrees when the torso support arm 12P is perpendicular to the top surface of the vehicle part 9P. The angle of the EL1 axis is defined as positive when the torso support arm 12P tilts forward.

[0254] The torso connection section 13P can rotate around the EL2 axis within a range of, for example, -105 degrees to 150 degrees. The torso connection section 13P can rotate around the AZ2 axis within a range of, for example, -95 degrees to 95 degrees. Here, the rotation angle around the EL2 axis is defined as 0 degrees when the direction in which the torso support arm 12P extends and the direction of the AZ2 axis are parallel. The angle of the EL2 axis is defined as positive when the lower torso section 21P tilts forward relative to the torso support arm 12P. The rotation angle around the AZ2 axis is defined as 0 degrees when the direction in which the torso section 11P faces is parallel to the direction in which the torso support arm 12P faces. The angle of the AZ2 axis is defined as positive when the torso section 11P rotates clockwise when viewed from above.

[0255] The torso cross rotation section 23P can rotate around the XEL axis within a range of, for example, -95 degrees to 95 degrees. Here, the rotation angle around the XEL axis is set to 0 degrees when the AZ3 axis is parallel to the AZ2 axis. In the reference state, the angle of the XEL axis is 0 degrees. When the upper torso section 20P moves forward of the lower torso section 21P, the angle of the XEL axis is set to positive.

[0256] The arm connection rotation part 20PA can rotate around the AZ3 axis within a range of, for example, -185 degrees to 185 degrees. When the direction in which the arm connection part 19P faces is the same as the direction in which the upper torso 20P faces, the rotation angle around the AZ3 axis is considered to be 0 degrees. When the arm connection part 19P rotates clockwise when viewed from above, the angle around the AZ3 axis is considered to be positive.

[0257] Figures 54 to 58 are perspective views of the robot 1P in alternative postures 1 to 5. Alternative posture 1 shown in Figure 54 is a posture in which the humanoid part 1HP is attempting to grasp an object located near the front end of the vehicle part 9P, slightly higher than the top surface of the vehicle part 9P, with both hands 26P. Alternative posture 2 shown in Figure 55 is a posture obtained by rotating alternative posture 1 by 90 degrees around the AZ3 axis. In alternative postures 1 and 2, the torso support arm 12P is tilted backward, and the torso connection part 13P is approximately parallel to the top surface of the vehicle part 9P. The lower torso part 21P faces upward, and the upper torso part 20P and the arm connection part 19P face leftward in Figure 54. The upper arm 24P of the arm 10P faces diagonally downward and backward at an angle of approximately 15 degrees relative to the horizontal, the elbow joint 28P is at an angle of approximately 35 degrees, and the forearm 25P faces diagonally downward and forward. The five fingers of the hand 26P are extended.

[0258] Alternative posture 3 shown in Figure 56 is a posture in which the robot is attempting to grasp with both hands an object located approximately 1.5 m from the front end of vehicle unit 9P and slightly higher than the top surface of vehicle unit 9P. Torso support arm 12P faces diagonally upward and forward at an angle of approximately 30 degrees relative to the top surface of vehicle unit 9P. Torso connection unit 13P and torso unit 11P are at the same rotation angle as alternative posture 1. Arm unit 10P has upper arm 24P facing downward and elbow joint 28P at an angle of approximately 90 degrees. Forearm 25P and hand 26P face forward. Alternative posture 4 shown in Figure 57 is a posture obtained by rotating the AZ2 axis 90 degrees from alternative posture 3. In alternative posture 4, upper arm 24P faces horizontally.

[0259] Another posture 5 shown in Figure 58 is a posture in which the robot is trying to grasp with both hands an object located approximately 2.0 m away from the front end of vehicle unit 9P and slightly higher than the bottom end of vehicle unit 9P. Torso support arm 12P faces downward at an angle of approximately 10 degrees relative to the top surface of vehicle unit 9P, and torso connection unit 13P and torso unit 11P face downward at an angle of approximately 20 degrees. Arm unit 10P faces in a direction approximately parallel to the top surface of vehicle unit 9P. Torso support arm 12P, torso unit 11P, and arm unit 10P are connected in series.

[0260] As shown in Figures 54 to 58, the robot 1P can move its two arms 10P widely relative to the vehicle unit 9P, allowing it to orient the two arms 10P in a direction appropriate for the task. When an obstacle is present, the robot 1P can assume a posture that avoids the obstacle. In other words, the robot 1P has a high degree of freedom in approaching an object to be grasped or manipulated, allowing it to flexibly respond even when the task is difficult due to obstacles. Furthermore, the approach driving range can be expanded, allowing it to work in a wider space. The torso support arm 12P allows the arm connection unit 19P to be positioned anywhere within a predetermined range in three-dimensional space. Furthermore, the two arms 10P can be positioned anywhere within a predetermined range in three-dimensional space relative to the arm connection unit 19P.

[0261] 54 to 58, the hand 26P is not within the field of view of the camera unit 4P. By controlling the head connection unit 4APC, the camera unit 4P can be directed in the direction of the hand 26P.

[0262] The structure of arm 10P will be described with reference to Fig. 59 to Fig. 66. Fig. 59 is a perspective view of arm 10P. Fig. 60 is another perspective view of arm 10P. Figs. 61 to 66 are a front view, right side view, rear view, left side view, plan view, and bottom view of arm 10P.

[0263] The arm 10P has an arm base 24AP, an upper arm 24P, a forearm 25P, and a hand 26P connected in series. The arm base 24AP is rotatably supported by an arm connection part 19P. The upper arm 24P is rotatably connected to the arm base 24AP by a shoulder joint 27P with two rotational degrees of freedom. The forearm 25P is rotatably connected to the upper arm 24P by an elbow joint 28P with two rotational degrees of freedom. The hand 26P is rotatably connected to the forearm 25P by a wrist joint 29P with two rotational degrees of freedom.

[0264] The rotation axis of the arm 10P will be described with reference to Figure 67. Figure 67(A) is a left side view of the arm 10P, and Figure 67(B) is a front view of the arm 10P.

[0265] The arm 10P has the following seven rotation axes. AZ4 axis: A rotation axis that rotates the arm 10P relative to the arm connection part 19P. A rotation axis that passes through the arm base 24AP and rotates the arm base 24AP. The AZ4 axis is called the arm base rotation axis. EL4 axis: A rotation axis that changes the angle between the upper arm portion 24P and the arm base portion 24AP. The EL4 axis is perpendicular to the AZ4 axis. AZ5 axis: A rotation axis that passes through the upper arm 24P and rotates the upper arm 24P. The AZ5 axis is perpendicular to the EL4 axis. The AZ5 axis is called the upper arm rotation axis. EL5 axis: A rotation axis that changes the angle formed by the forearm 25P and the upper arm 24P. The EL5 axis is perpendicular to the AZ5 axis. AZ6 axis: A rotation axis that passes through the forearm 25P and rotates the forearm 25P. The AZ6 axis is perpendicular to the EL5 axis. The AZ6 axis is called the forearm rotation axis. EL6 axis: A rotation axis that rotates the angle between the hand 26P and the forearm 25P on a plane (front-back rotation plane) that includes the AZ6 axis and the XEL2 axis. The EL6 axis is perpendicular to the AZ6 axis and the XEL2 axis. XEL2 axis: A rotation axis that rotates the angle between the hand 26P and the forearm 25P on a plane (left-right rotation plane) that includes the AZ6 axis and the EL6 axis. The XEL2 axis is perpendicular to the AZ6 axis and the EL6 axis.

[0266] The AZ4 axis is a rotation axis that rotates the arm base 24AP relative to the arm connection part 19P. The EL4 axis and the AZ5 axis are rotation axes that change the connection angle between the arm base 24AP and the upper arm part 24P at the shoulder joint part 27P. The EL5 axis and the AZ6 axis are rotation axes that change the connection angle between the upper arm part 24P and the forearm part 25P at the elbow joint part 28P. The EL6 axis and the XEL2 axis are rotation axes that change the connection angle between the forearm part 25P and the hand part 26P at the wrist joint part 29P. The front-to-back rotation plane and the left-to-right rotation plane are two planes that are perpendicular to each other and pass through the forearm part 25P.

[0267] The arm base 24AP is cylindrical. The arm base 24AP is rotatably inserted into a hole provided in the arm rotation part 19PB. The motor 19D is inserted into the arm rotation part 19PB from the back side. A worm gear mechanism that transmits the rotational torque generated by the motor 19D to the arm base 24AP is housed inside the arm rotation part 19PB. A worm wheel (not shown) is provided at the end of the arm base 24AP. The worm wheel engages with a worm (not shown) that rotates with the rotation of the motor 19D. When the motor 19D and the worm rotate, the worm wheel, arm base 24AP, and arm 10P rotate. The arm 10P rotates in the front-to-rear direction of the humanoid part 1HP. A flange is provided at the end of the arm base 24AP on the shoulder joint part 27P side. The shoulder joint part 27P is connected to the flange of the arm base 24AP. The arm base 24AP rotates around the AZ4 axis, which passes through the center of the cylindrical arm base 24AP. A hole provided in the arm rotation unit 19PB and the arm base 24AP rotatably inserted into this hole form an arm base joint that rotatably connects the arm base 24AP to the torso unit 11P with at least one rotational degree of freedom.

[0268] The rotatable range of the arm base 24AP is, for example, from -35 degrees to 180 degrees. Here, the angle by which the arm base 24AP rotates around the AZ4 axis (abbreviated as the AZ4 axis angle) is defined as 0 degrees when the upper arm 24P faces downward, and as positive when the upper arm 24P faces forward. By rotating the arm base 24AP, the upper arm 24P can be raised forward and pointed straight up. In addition, the upper arm 24P can be rotated up to 35 degrees from straight down to backward.

[0269] The shoulder joint 27P connects the upper arm 24P to the arm base 24AP so that the upper arm 24P can rotate with two degrees of freedom. The shoulder joint 27P allows rotation around an upper arm rotation axis (AZ5 axis) that passes through the upper arm 24P, and rotation around a rotation axis (EL4 axis) that changes the angle between the upper arm 24P and the arm base 24AP. Rotation around the AZ5 axis rotates the forearm 25P, including the upper arm 24P. Rotating the upper arm 24P around the AZ5 axis requires a simpler structure than twisting and rotating the forearm 25P at the elbow joint 28P.

[0270] The shoulder joint 27P may be considered to connect the upper arm 24P to the upper arm base 24AP so that the upper arm 24P can rotate with one degree of freedom around the EL4 axis. The mechanism that enables the upper arm 24P to rotate around the upper arm rotation axis (AZ5 axis) may be considered to be provided in the upper arm 24P, rather than in the shoulder joint 27P. In this case, the shoulder joint 27P connects the upper arm 24P to the upper arm base 24AP so that the upper arm 24P can rotate with at least one degree of freedom. Furthermore, the upper arm 24P can rotate around the upper arm rotation axis that passes through the upper arm 24P.

[0271] The range of rotation around the EL4 axis of the shoulder joint 27P is, for example, from -10 degrees to 75 degrees. Here, the rotation angle of the EL4 axis of the shoulder joint 27P is defined as 0 degrees when the upper arm 24P is perpendicular to the arm base 24AP. The angle of the EL4 axis is defined as positive when the angle between the upper arm 24P and the arm base 24AP becomes small, that is, when the upper arm 24P rotates away from the torso 11P. In the standard state, the shoulder joint 24P can raise the upper arm 24P outward in the lateral direction up to 75 degrees, and can rotate up to 10 degrees in the direction in which the upper arm 24P approaches the torso 11P.

[0272] The rotatable range around the AZ5 axis is, for example, from -90 degrees to 20 degrees. Here, the rotation angle around the AZ5 axis is 0 degrees in the reference state, and the angle is negative when the upper arm 24P rotates toward the torso 11P. By rotating around the A5 axis that passes through the upper arm 24P, when the upper arm 24P is facing downward and the elbow joint 28P is bent 90 degrees, the forearm 25P can be rotated inward until it is parallel to the front surface of the arm connection part 19P, and can be rotated outward up to 20 degrees relative to the front direction of the arm connection part 19P.

[0273] The elbow joint 28P connects the forearm 25P to the upper arm 24P so that the forearm 25P can rotate with two rotational degrees of freedom. The elbow joint 28P allows rotation around a forearm rotation axis (AZ6 axis) that passes through the forearm 25P, and rotation around a rotation axis (EL5 axis) that changes the angle between the forearm 25P and the upper arm 24P. Rotation around the AZ6 axis rotates the hand 26P including the forearm 25P. Rotating the forearm 25P around the AZ6 axis requires a simpler structure than twisting and rotating the hand 26P using the wrist joint 29P.

[0274] The elbow joint 28P may be considered to connect the forearm 25P to the upper arm 24P so that the forearm 25P can rotate with one rotational degree of freedom around the EL5 axis. The mechanism that enables the forearm 25P to rotate around the forearm rotation axis (AZ6 axis) may be considered to be provided in the forearm 25P, rather than the elbow joint 28P. In this case, the elbow joint 28P connects the forearm 25P to the upper arm 24P so that the forearm 25P can rotate with at least one rotational degree of freedom. Furthermore, the forearm 25P can rotate around the forearm rotation axis that passes through the forearm 25P.

[0275] The rotatable range around the EL5 axis is, for example, from 10 degrees to 125 degrees. The rotation angle around the EL5 axis is defined as 0 degrees when the forearm 25P and the upper arm 24P are aligned on the same straight line. That is, the angle between the forearm 25P and a straight line extending from the upper arm 24P toward the forearm 25P beyond the elbow joint 28P is the rotation angle around the EL5 axis. The rotation angle around the EL5 axis is defined as positive when the forearm 25P is positioned in front of the upper arm 24P. The elbow joint 28P can be bent and straightened within a range where the angle between the forearm 25P and the upper arm 24P is from approximately 170 degrees to approximately 55 degrees.

[0276] The range of rotation around the AZ6 axis of the elbow joint 28P is, for example, from -100 degrees to 100 degrees. In the reference state, the front-to-back rotation plane is parallel to the X3 axis. The rotation angle around the AZ6 axis is set to 0 degrees in the reference state. When the front-to-back rotation plane is tilted outward, the angle of the AZ6 axis is set to positive.

[0277] The wrist joint 29P connects the hand 26P to the forearm 25P so that the hand 26P can rotate with two degrees of freedom. The wrist joint 29P is a two-axis gimbal. The wrist joint 29P can change the angle between the forearm 25P and the hand 26P in both the front-to-back rotational plane and the left-to-right rotational plane. The front-to-back rotational plane and the left-to-right rotational plane are both planes that include the forearm 25P and are perpendicular to each other. The EL6 axis is perpendicular to the front-to-back rotational plane. The EL6 axis is a rotation axis that allows the hand 26P to rotate in the front-to-back rotational plane. The XEL2 axis is perpendicular to the left-to-right rotational plane. The XEL2 axis is a rotation axis that allows the hand 26P to rotate in the left-to-right rotational plane. The front-to-back rotational plane is a first forearm plane that includes the AZ6 axis. The left-to-right rotational plane is a second forearm plane that includes the AZ6 axis and is perpendicular to the front-to-back rotational plane. The front-rear rotation plane and the left-right rotation plane do not have to be perpendicular to each other, but may intersect each other.

[0278] At the wrist joint 29P, the hand 26P can rotate, for example, from -45 degrees to 60 degrees in the front-to-back rotation plane, and from -60 degrees to 60 degrees in the left-to-right rotation plane. The rotation angles around the EL6 axis and the XEL2 axis are set to 0 degrees when the hand 26P and the forearm 25P are on the same straight line. The angle of the EL6 axis is set to positive when the hand 26P is on the front side in the front-to-back rotation plane. The angle of the XEL2 axis is set to positive when the hand 26P is on the outside in the left-to-right rotation plane.

[0279] The arm base joint may have two rotational degrees of freedom. The shoulder joint 27P may have one or three rotational degrees of freedom. The elbow joint 28P may have one or three rotational degrees of freedom. The wrist joint 29P may have one or three rotational degrees of freedom. The total of the rotational degrees of freedom of the arm base joint, the shoulder joint 27P, the elbow joint 28P, and the wrist joint 29P may be six or eight rotational degrees of freedom.

[0280] The shoulder joint 27P has a shoulder joint structure 27PA, a motor 27PB, a motor mounting portion 27PC, and a rotating shaft member 27PD. The rotating shaft member 27PD is a rod-shaped member parallel to the EL4 axis. The upper arm 24P is connected to the rotating shaft member 27PD. When the rotating shaft member 27PD rotates, the upper arm 24P rotates around the EL4 axis. A mechanism for rotating the upper arm 24P around the AZ5 axis is provided in the upper arm 24P.

[0281] The shoulder joint structure 27PA and the motor mounting part 27PC are members that rotatably hold the rotating shaft member 27PD. The rotating shaft member 27PD is perpendicular to the shoulder joint structure 27PA. The shoulder joint structure 27PA has a shape that includes a cylinder with a flange and a rectangular parallelepiped connected to the arm connection part 19P side. When the cylinder of the shoulder joint structure 27PA is viewed from the front, the flange portion has a shape of a circle with opposing portions cut out by a straight line. The motor mounting part 27PC also has a cylindrical shape with a flange. The flanges of the shoulder joint structure 27PA and the motor mounting part 27PC have the same shape. The flange of the cylinder of the shoulder joint structure 27PA and the flange of the motor mounting part 27PC are joined to each other. A motor 27PB is installed inside the motor mounting part 27PC. The motor 27PB generates power to rotate the rotating shaft member 27PD. The motor installation portion 27PC also houses a gear for transmitting the rotation torque of the motor 27PB to the rotation shaft member 27PD.

[0282] The upper arm portion 24P has a joint connection portion 24PA, an intermediate cylindrical portion 24PB, a cover 24PC, and a lower cylindrical portion 24PD. The joint connection portion 24PA is a member having a square rod-shaped portion that connects to the rotating shaft member 27PD of the shoulder joint portion 27P. The rotating shaft member 27PD and the joint connection portion 24PA are integrally formed. The joint connection portion 24PA has a cylindrical portion below the square rod-shaped portion. The cylindrical portion is rotatably inserted inside the intermediate cylindrical portion 24PB. When the intermediate cylindrical portion 24PB rotates relative to the joint connection portion 24PA, the upper arm portion 24P rotates around the AZ5 axis.

[0283] The joint connection part 24PA passes through an opening provided in the shoulder joint structure part 27PA. The opening provided in the shoulder joint structure part 27PA faces downward in the standard state. The square bar part of the joint connection part 24PA comes into contact with the opening, thereby restricting the rotation angle of the shoulder joint part 27P in the left-right direction. When the shoulder joint part 27P is rotated outward in the left-right direction from a state in which the upper arm part 27P faces downward, the shoulder joint part 27P can rotate until the upper arm part 27P reaches an angle close to horizontal.

[0284] An opening is provided on the rear side of the intermediate cylindrical portion 24PB. The opening on the rear side is provided for maintenance of the motor and other components inside the intermediate cylindrical portion 24PB. A lid 24PC closes the opening of the intermediate cylindrical portion 24PB. A motor and gears that rotate the intermediate cylindrical portion 24PB relative to the joint connection portion 24PA are housed inside the upper side of the intermediate cylindrical portion 24P. A motor 24PE (not shown) used in the elbow joint portion 28P is also housed inside the lower side of the intermediate cylindrical portion 24P. The rotation shaft of the motor 24PE protrudes to the outside from the lower side of the intermediate cylindrical portion 24P.

[0285] The lower cylinder 24PD is connected to the underside of the intermediate cylindrical portion 24PB. The lower cylinder 24PD is a cylinder with a smaller diameter than the intermediate cylindrical portion 24P. The joint connection portion 24PA, the intermediate cylindrical portion 24PB, and the lower cylinder 24PD are on a single straight line. The lower cylinder 24PD is connected to the rotation axis holding yoke 28PA of the elbow joint portion 28P.

[0286] Elbow joint 28P connects forearm 25P to upper arm 24P with two rotational degrees of freedom. Elbow joint 28P allows rotation around a forearm rotation axis (AZ6 axis) passing through forearm 25P and rotation that changes the angle between upper arm 24P and forearm 25P. Elbow joint 28P includes a rotational axis holding yoke 28PA, a rotational axis member 28PB, a worm wheel 28PC, a worm 28PD, a gear unit 28PE, a motor 28PF, a gear unit 28PG, a motor housing unit 28PH, and a gear cover 28PJ. Because a worm gear mechanism is used, the angle between forearm 25P and upper arm 24P at elbow joint 28P can be maintained even if the power supply is interrupted.

[0287] The rotating shaft member 28PB is a member that constitutes a rotating shaft (EL5 axis) that changes the angle between the forearm portion 25P and the upper arm portion 24P. The forearm portion 25P is connected to the rotating shaft member 28PB. The rotating shaft member 28PB extends in a direction perpendicular to the upper arm portion 24P. The rotating shaft holding yoke 28PA rotatably holds the rotating shaft member 28PB. The rotating shaft holding yoke 28PA has a shape that has two opposing plate-shaped portions through which the rotating shaft member 28PB passes and a plate-shaped portion that connects the upper parts of the two plates. The rotating shaft holding yoke 28PA connects to the lower cylinder 24PD at its upper plate-shaped portion.

[0288] As shown in FIG. 64, the worm wheel 28PC, the worm 28PD, and the gear portion 28PE constitute a mechanism for rotating the rotating shaft member 28PB using the motor 24PE housed inside the upper arm portion 24P. The worm wheel 28PC is attached to the rotating shaft member 28PB. Rotation of the worm wheel 28PC rotates the rotating shaft member 28PB. The worm wheel 28PC is located on the outer side of the elbow joint portion 28P in the left-right direction. The gear portion 28PE rotates due to rotation of the motor 24PE. The gear portion 28PE is installed parallel to the lower surface of the intermediate cylindrical portion 24PB. The gear portion 28PE has a gear that meshes with the rotating shaft of the motor 24PE and a gear that meshes with the worm 28PD. The worm 28PD is located in the direction in which the intermediate cylindrical portion 24PB extends. The worm 28PD meshes with the gear portion 28PE on the side closer to the intermediate cylindrical portion 24PB. The worm 28PD meshes with the worm wheel 28PC on the side farther from the intermediate cylindrical portion 24PB. The gear cover 28PJ is a cover that covers the worm wheel 28PC, the worm 28PD, and the gear portion 28PE.

[0289] When the motor 24PE rotates, the rotation of the motor 24PE is transmitted to the worm 28PD by the gear portion 28PE, causing the worm 28PD to rotate. When the worm 28PD rotates, the worm wheel 28PC and the rotating shaft member 28PB rotate, changing the angle between the forearm 25P and the upper arm 24P.

[0290] As shown in FIG. 63, the motor 28PF, gear unit 28PG, and motor housing unit 28PH are provided in the forearm 25P. The motor 28PF, gear unit 28PG, and motor housing unit 28PH constitute a mechanism for rotating the forearm 25P around a forearm rotation axis passing through the forearm 25P of the elbow joint 28P. The motor 28PF generates power to rotate the forearm 25P. The gear unit 28PG is a gear for rotating the forearm 25P by the rotation of the motor 28PF. The motor housing unit 28PH houses the motor 28PF. The gear unit 28PG has a cylindrical outer shape with a flange. The motor housing unit 28PH is connected to the wrist side of the gear unit 28PG. The motor housing unit 28PH is a member having two side surfaces that sandwich the motor 28PF and a bottom surface that connects the side surfaces. The gear unit 28PG is located between the motor 28PF and the forearm base 25PB (described below). Inside gear part 28PG, there are rotary shaft connection part 25PA (described later), a gear mechanism, and a rotary shaft of motor 28PF. The gear mechanism is a mechanism that rotates forearm base 25PB relative to rotary shaft connection part 25PA by rotation of motor 28PF.

[0291] The forearm portion 25P has a rotating shaft connection portion 25PA, a forearm base portion 25PB, a forearm bone portion 25PC, an actuator structure portion 25PD, a threaded rod holding portion 25PE, and a threaded rod holding portion 25PF. The rotating shaft connection portion 25PA is a member that rotates together with the rotating shaft member 28PB. The rotating shaft connection portion 25PA and the rotating shaft member 28PB are formed integrally. The rotating shaft connection portion 25PA has a shape similar to that of the joint connection portion 24PA. The rotating shaft connection portion 25PA has a cylindrical portion that connects to the rotating shaft member 28PB of the elbow joint portion 28P and a cylindrical portion that connects to the underside of the cylindrical portion. The forearm base portion 25PB has a cylindrical shape with a flange. The cylindrical portion of the rotating shaft connection portion 25PA is rotatably inserted into a circular opening on the top surface of the forearm base portion 25PB. Gear portion 28PG, where the flange of forearm base portion 25PB and the flange of gear portion 28PG are joined, is located closer to hand portion 26P than forearm base portion 25PB. When motor 28PF rotates, a gear mechanism provided inside gear portion 28PG causes forearm base portion 25PB to rotate relative to rotation shaft connection portion 25PA.

[0292] The forearm bone 25PC is a rectangular columnar member connected to the hand 26P side of the forearm base 25PB. A wrist joint 29P is provided at the tip of the forearm bone 25PC. A cylindrical gear 28PG is connected to the underside of the forearm base 25PB. The forearm bone 25PC passes through the gear 28PG and extends toward the wrist.

[0293] The actuator structure 25PD is a structural member for installing two actuators that change the connection angle of the wrist joint 29P. The actuator structure 25PD is fixed to the forearm bone 25PC. The surface to which the actuator structure 25PD is fixed faces the front of the forearm bone 25PC in the reference state. The actuator structure 25PD is a member having a T-shaped cross section of half of the wrist joint 29P, with the elbow joint 28P side consisting of only the vertical bar of the T. The vertical bar (vertical plate portion) of the T is connected to the outside and flange of the cylindrical gear portion 28PG. The threaded rod holder 25PE is attached to the end of the actuator structure 25PD on the hand 26P side, which has a T-shaped cross section. The threaded rod holder 25PF is connected to the end of the vertical plate portion of the actuator structure 25PD and the flange of the forearm base 25PB. Two threaded rods are rotatably held between the threaded rod holder 25PE and the threaded rod holder 25PF.

[0294] The wrist joint 29P connects the hand 26P to the forearm 25P with two rotational degrees of freedom. The wrist joint 29P changes the angle between the hand 26P and the forearm 25P in each of two orthogonal planes whose intersecting lines pass through the forearm 25P. The two orthogonal planes whose intersecting lines pass through the forearm 25P are the front-to-back rotation plane and the left-to-right rotation plane. The front-to-back rotation plane and the left-to-right rotation plane form a 45-degree angle with respect to the plane determined by the actuator structure 25PD. Figure 68 shows a cross-sectional view of the wrist joint 25P. Figure 68 is a cross-sectional view taken along the line AA shown in Figure 64.

[0295] The wrist joint 29P has a T-piece 29PA, a T-piece holding yoke 29PB, a T-piece holder 29PC, and a wrist base 29PD. The T-piece 29PA is a T-shaped piece that allows connection with two rotational degrees of freedom. The T-piece 29PA connects the forearm bone 25PC and the wrist base 29PD with two rotational degrees of freedom. The T-piece holding yoke 29PB is provided at the tip of the forearm bone 25PC. The T-piece holder 29PC is provided at the wrist base 29PD. The horizontal bar of the T of the T-piece 29PA serves as the EL6 axis, and the vertical bar of the T serves as the XEL2 axis. The T-piece holding yoke 29PB is a piece that has two opposing plates and a plate that connects the two plates on the forearm bone 25PC side. The T-piece holding yoke 29PB rotatably holds both ends of the horizontal bar of the T of the T-piece 29PA. The bearing 29PE (shown in FIG. 68) is located between the T-piece holding yoke 29PB and the T-piece 29PA, allowing them to rotate. The T-piece holding portion 29PC is a member that rotatably holds the vertical bar of the T of the T-piece 29PA. The bearing 29PF (shown in FIG. 68) is located between the T-piece holding portion 29PC and the T-piece 29PA, allowing them to rotate. The T-piece holding portion 29PC is a member having a cross section similar to an isosceles trapezoid. The T-piece 29PA is inserted into the side of the lower base of the trapezoid of the T-piece holding portion 29PC. The wrist base 29PD is a disc-shaped member. The T-piece holding portion 29PC is connected to the surface of the wrist base 29PD opposite to the side on which the hand 26P is located.

[0296] The other ends of the fixed length links of outer forearm actuator 35P and inner forearm actuator 36P are rotatably connected to T-member holding portion 29PC.

[0297] The outer forearm actuator 35P and the inner forearm actuator 36P change the rotation angle at the wrist joint 29P. The outer forearm actuator 35P and the inner forearm actuator 36P have similar shapes. The outer forearm actuator 35P and the inner forearm actuator 36P each have a moving member and a fixed-length link one end of which is connected to the moving member. The other ends of the two fixed-length links are connected to the wrist joint 29P. The wrist joint 29P is driven by two fixed-length links one end of which is moved by the moving member. The outer forearm actuator 35P and the inner forearm actuator 36P are provided on the forearm 25P.

[0298] The structure of the forearm outer actuator 35P will be described. The forearm outer actuator 35P includes a threaded rod 35PA, a moving member 35PB, a rail 35PC, a link 35PD, a motor mounting plate 35PE, a motor 35PF, a belt 35PG, a pulley 35PH, and a pulley 35PJ. Both ends of the threaded rod 35PA are rotatably held by the threaded rod holding portion 25PE and the threaded rod holding portion 25PF. The threaded rod holding portion 25PE and the threaded rod holding portion 25PF each have a rectangular parallelepiped-shaped member at the portion that holds the threaded rod 35PA. The moving member 35PB has a through hole with a female thread that engages with the male thread of the threaded rod 35PA. The rail 35PC is provided on the side of the vertical plate portion of the actuator structure portion 25PD, parallel to the threaded rod 35PA. The moving member 35PB has a portion that clamps the rail 35PC. Since the moving member 35PB sandwiches the rail 35PC, when the threaded rod 35PA rotates, the moving member 35PB moves along the threaded rod 35PA without rotating.

[0299] The motor mounting plate 35PE is provided on the threaded rod holding portion 25PE located on the hand portion 26P side. The motor mounting plate 35PE is provided approximately perpendicular to the direction in which the forearm portion 25P extends. The motor 35PF is attached to the motor mounting plate 35P perpendicular to the motor mounting plate 35PE and parallel to the threaded rod 35PA. The rotation axes of the threaded rod 35PA and the motor 35PF pass through openings provided in the motor mounting plate 35P. The belt 35PG, pulley 35PH, and pulley 35PJ transmit the rotation of the motor 35PF to the threaded rod 35PA. The pulley 35PH is attached to the threaded rod 35PA. The pulley 35PJ is attached to the rotation axis of the motor 35PF. The belt 35PG is looped around the pulleys 35PH and 35PJ. Pulley 35PH, pulley 35PJ, and belt 35PG are provided on the side of motor installation plate 35P where motor 35PF is not present. Because they are connected by belt 35PG, when the rotating shaft of motor 35PF rotates, threaded rod 35PA also rotates.

[0300] When viewed from the direction in which the threaded rod 35PA extends, the moving member 35PB has a shape similar to two rectangular parallelepipeds joined together, each sharing a common corner and intersecting at right angles, with the common corner removed by a concave arc surface. The thicknesses of the two rectangular portions of the moving member 35PB are the same. In other words, the moving member 35PB is a member shaped like two rectangular parallelepipeds connected by a connecting member. The connecting member is a member shaped with a concave arc-shaped side and two orthogonal flat surfaces. The threaded rod 35PA passes through one rectangular parallelepiped of the moving member 35PB. The other rectangular parallelepiped sandwiches the rail 35PC. One end of the link 35PD is rotatably connected to the rectangular parallelepiped on the side sandwiching the rail 35PC with two degrees of freedom. The length of the link 35PD is constant and does not change. The link 35PD has one degree of freedom of rotation, allowing it to twist.

[0301] The location where one end of the link 35PD is rotatably connected to the moving member 35PB is called the forearm outer link mounting part J10P. The forearm outer link mounting part J10P has a structure similar to the upper arm outer link mounting part J8 provided on the moving member 3D in embodiment 1. The forearm outer link mounting part J10P is a two-axis gimbal. At the forearm outer link mounting part J10P, a yoke rotatably provided on the moving member 35PB rotatably holds an axis member provided at one end of the link 35PD. The yoke of the forearm outer link mounting part J10P is provided perpendicular to the vertical plate part of the actuator structure 25PD.

[0302] The other end of link 35PD is rotatably connected to hand portion 26P (strictly speaking, T-member holding portion 29PC) with two degrees of freedom of rotation. The point where one end of link 35PD is connected to hand portion 26P is called the outer hand link attachment portion J13P. The outer hand link attachment portion J13P has a similar structure to the outer forearm link attachment portion J10P.

[0303] The inner forearm actuator 36P includes a threaded rod 36PA, a moving member 36PB, a rail 36PC, a link 36PD, a motor mounting plate 36PE, a motor 36PF, a belt 36PG, a pulley 36PH, and a pulley 36PJ. One end of the link 36PD is connected to the moving member 36PD by the inner forearm link attachment J11P so as to be rotatable with two rotational degrees of freedom. The other end of the link 36PD is connected to the moving member 36PD by the inner hand link attachment J14P so as to be rotatable with two rotational degrees of freedom.

[0304] The inner forearm actuator 36P has a structure similar to that of the outer forearm actuator 35P, and a detailed description of the structure of the inner forearm actuator 36P will be omitted.

[0305] Motors 35PF, 28PF, and 36PF are arranged in parallel on the back side of forearm 25P, thereby making it possible to reduce the width and thickness of forearm 25P.

[0306] The arm 10P uses a hybrid drive system that combines a gear-driven joint with a link-driven joint. At the shoulder joint, which has two rotational degrees of freedom, one rotational degree of freedom passes through the upper arm, rotating the upper arm. At the elbow joint, which has two rotational degrees of freedom, one rotational degree of freedom passes through the forearm, rotating the forearm. This allows the arm 10P to be compact, and the drive range to be equal to or greater than that of a human. The hybrid drive system is capable of generating the necessary power and is quiet. It also makes it possible to drive the joints with high precision.

[0307] The structure of hand portion 26P will be described with reference to Figures 69 to 76. Figure 69 is a perspective view of hand portion 26P. Figure 70 is a perspective view of hand portion 26P seen from another direction. Figures 71 to 76 are a front view, right side view, rear view, left side view, plan view, and bottom view of hand portion 26P. Figures 69 to 76 show the state in which thumb portion 93 has been rotated toward the palm.

[0308] The hand 26P has five fingers, just like a human hand. The hand 26P includes a wrist attachment 91, a hand base 92, a thumb 93, a first finger 94, a second finger 95, a third finger 96, and a fourth finger 97. The wrist attachment 91 connects the hand 26P to the wrist joint 29P. The hand base 92 corresponds to the palm. Five fingers extend from the hand base 92. The thumb 93 corresponds to the thumb, the first finger 94 corresponds to the index finger, and the fourth finger 97 corresponds to the little finger. The first finger 94, the second finger 95, the third finger 96, and the fourth finger 97 extend parallel to one another. The direction from the hand base 92 toward the tips of the fingers, such as the first finger 94, is called the fingertip direction. The direction in which the first finger 94, the second finger 95, the third finger 96, and the fourth finger 97 are aligned is called the hand width direction. The first finger portion 94, the second finger portion 95, the third finger portion 96, and the fourth finger portion 97 are each referred to as a normal finger portion. The hand portion 26P has four normal fingers and one thumb portion. The four normal fingers are lined up and point in approximately the same direction.

[0309] The thumb 93 can rotate around a rotation axis parallel to the fingertip direction. The first finger 94, second finger 95, third finger 96, and fourth finger 97 can bend around knuckles having rotation axes parallel to the hand width direction. The hand width direction is parallel to the front-to-back rotation plane of the wrist joint 29P. The fingertip direction opens outward at an angle of approximately 17 degrees relative to the front-to-back rotation plane.

[0310] The wrist attachment part 91 is a bent plate material. The wrist attachment part 91 has an attachment plate part 91A and a hand connection part 91B. The attachment plate part 91A on the wrist joint part 29P side connects to the wrist base part 29PD. There is another member between the wrist base part 29PD and the attachment plate part 91A. The member between the wrist base part 29PD and the attachment plate part 91A does not have to be there. The hand connection part 91B connects to the back side of the hand of the hand base part 92. Note that the side where the fingers bend is usually called the palm side, and the opposite side is called the back side of the hand. For the hand part 26P, the palm side is the front side, and the back side of the hand is the back side.

[0311] The hand base 92 has a hand base frame 92A, a palm base 92B, a thumb base frame 92C, and a convex flat surface 92D. The hand base 92 corresponds to the palm of the hand. The hand base frame 92A houses motors and other components for rotating the knuckles of the four normal fingers. The hand base frame 92A has a roughly rectangular outer shape. The hand base frame 92A has four openings on the back of the hand and one opening on each side. The hand base frame 92A has a step on the fingertip side. The portion where the second finger 95 connects is farthest from the wrist attachment portion 91, and the portions where the third finger 96 and fourth finger 97 connect are gradually closer. The portion where the first finger 94 connects and the portion where the third finger 95 connects are approximately the same distance from the wrist attachment portion 91.

[0312] A palm pad portion 92B is located on the palm side of the hand base frame 92A. The palm pad portion 92B has a shape that includes recesses to make it easier to grip objects with the hand 26P. The palm pad portion 92B is made of resin and has a moderate degree of elasticity. The palm pad portion 92B is also located at the base of the normal fingers and on the palm side of the thumb base frame 92C. The thumb base frame 92C houses mechanisms for rotating the thumb 93. The thumb base frame 92C is connected to the wrist side of the hand base frame 92A. The thumb base frame 92C is thicker than the hand base frame 92A. There is a step between the thumb base frame 92C and the hand base frame 92A on the palm side. The palm pad portion 92B has a curved shape that smoothly connects this step.

[0313] The palm portion 92B is provided with one convex flat portion 92D at the base of each of the first finger portion 94, the second finger portion 95, and the third finger portion 96, slightly toward the wrist. The convex flat portion 92D protrudes approximately 3 mm from the surrounding palm portion 92B. The convex flat portion 92D has a generally rectangular planar shape with a width of approximately 5 mm and a length of approximately 15 mm, and protrudes from the surrounding area. The convex flat portion 92D is provided at a position where the fingertips of the first finger portion 94, the second finger portion 95, and the third finger portion 96 will come into contact when the finger is bent. The convex flat portion 92D allows the user to grip thin paper or the like between the fingertips and the palm portion 92B.

[0314] The thumb base frame 92C is thicker than the hand base frame 92A around the bases of the third finger 96 and the fourth finger 97. The thumb base frame 92C is thinner than the hand base frame 92A around the bases of the first finger 94 and the second finger 95. The thinner portions of the thumb base frame 92C are also shorter in length in the fingertip direction. The thumb base 93A of the thumb 93 is rotatably connected between the thumb base frame 92C and the hand base frame 92A. The thumb base 93A can rotate in the hand width direction. A motor and worm gear mechanism for rotating the thumb base 93A are housed inside the thumb base frame 92C.

[0315] The thumb 93 has a thumb base 93A, a thumb rotation joint 93D, a second phalanx 93B, a claw 93C, a second finger joint 93E, and a motor 93G. When viewed from the fingertip direction, the thumb base 93A is a substantially pentagonal shape with one corner of a rectangle cut off. The thickness of the thumb base 93A is constant, and the thumb base 93A has the external shape of a substantially pentagonal prism. The thumb rotation joint 93D rotatably connects the thumb base 93A to the thumb base frame 92C. The thumb 93 can rotate from a position approximately in the same plane as the four extended normal fingers to a position facing the hand base 92.

[0316] The second phalanx 93B is connected to the thumb base 93A on the palm side of the thumb base 93A and on the side farther from the thumb base frame 92C. The second finger joint 93E rotatably connects the second phalanx 93B to the thumb base 93A. The motor 93G generates power to rotate the second finger joint 93E. The power generated by the motor 93G is transmitted via a worm gear mechanism to rotate the second finger joint 93E.

[0317] The first finger portion 94, the second finger portion 95, the third finger portion 96, and the fourth finger portion 97 have similar structures. In the figures, the first finger portion 94 or the fourth finger portion 97 is designated by a reference number, whichever is easier. Here, the structure of the first finger portion 94 will be described. The first finger portion 94 includes a first phalanx portion 94A, a second phalanx portion 94B, a claw portion 94C, a first finger joint portion 94D, a second finger joint portion 94E, a motor 94G, an idler gear 94H, and an idler gear 94J. The second phalanx portion 94B has a length equivalent to two phalanges from the tip of a human finger. The ventral surface of the second phalanx portion 94B is shaped such that the two phalanges are connected at a slight angle.

[0318] The first finger 94 has a worm housing 94F, a first phalanx 94A, and a second phalanx 94B connected in series from the side closest to the hand base 92. The worm housing 94F is connected to the hand base 92 in the direction of the fingertip. A first finger joint 94D is located between the worm housing 94F and the first phalanx 94A. The first finger joint 94D rotatably connects the first phalanx 94A to the worm housing 94F. A second finger joint 94E is located between the first phalanx 94A and the second phalanx 94B. The second finger joint 94E rotatably connects the second phalanx 94B to the first phalanx 94A. The first finger joint 94D and the second finger joint 94E rotate in the same direction in unison. This allows two finger joints per normal finger to bend and straighten using one motor. The ratio of the rotation angle of the second finger joint 94E to the rotation angle of the first finger joint 94D is, for example, 50%.

[0319] When the first finger joint 94D and the second finger joint 94E are bent, the tip of the second finger joint 94B comes into contact with the convex flat surface 92D located near the base of the first finger 94. The tips of the second finger 95 and the third finger 96 also come into contact with the convex flat surface 92D located near the base of the finger. Therefore, it is possible to hold thin paper or the like between the tip of at least one of the first finger 94, the second finger 95, and the third finger 96 and the convex flat surface 92D. When the first finger 94 is fully extended, the first finger joint 94D opens to approximately 170 degrees, and the second finger joint 94E opens to approximately 175 degrees.

[0320] The worm storage section 94F has a rectangular shape when viewed from the wrist joint 29P side. The worm storage section 94F extends toward the fingertip and reaches further toward the fingertip than the first finger joint 94D. The first finger section 94A has a roughly rectangular parallelepiped shape. The worm storage section 94F is located on the back of the hand side and the wrist joint 29P side of the base of the first finger section 94A. The second finger section 94B has a roughly rectangular parallelepiped shape with a slanted surface on the fingertip side. Tiny lattice-shaped protrusions are provided on the fingertip direction and the hand width direction at the fingertips of the second finger section 94B. A claw section 94C is provided on the back of the hand side of the fingertips of the second finger section 94B.

[0321] The motor 94G generates power to rotate the first finger joint 94D and the second finger joint 94E. The motor 94G is located inside the hand base frame 92A. A worm gear mechanism for transmitting the power generated by the motor 94G to the first finger joint 94D is located inside the worm storage section 94F. The first finger joint 94A is provided with two idler gears, 94H and 94J. The idler gear 94H and the idler gear 94J transmit the rotation of a gear provided on the rotation shaft of the first finger joint 94D to a gear provided on the rotation shaft of the second finger joint 94E. The hand 26P is provided with two motors in the thumb 93 and one motor in each of the four normal fingers.

[0322] In the hand 26P, the thumb 93, first finger 94, second finger 95, third finger 96, and fourth finger 97 can be bent and straightened independently. The thumb 93 can be rotated from a position on the side of the hand base 92 to a position facing the hand base 92. When the thumb 93 is positioned on the side of the hand base 92 and the five fingers and hand base 92 are facing horizontally upward, a large object can be placed on it. When the thumb 93 is positioned facing the base 92, an object can be grasped between the hand base 92 or the normal fingers and the thumb 93.

[0323] In the hand 26P, all mechanisms for driving the finger joints are provided inside the hand 26P. This allows the hand 26P to be removed for maintenance or repair. In the hand 26P, a worm gear mechanism is used in the finger joints and thumb rotary joint. Therefore, even if the power supply is cut off, the finger joints and thumb rotary joint can maintain the angle they were at when the power supply was cut off. Therefore, even if the robot 1P is holding an object when a power outage occurs, the robot 1P will not let go of the object.

[0324] The software configuration of the remote operation device 3P will be described with reference to Fig. 77. Fig. 77 is a block diagram illustrating the functional configuration of a robot remote operation system according to embodiment 5. In order to remotely control the robot 1P, the control arithmetic device 60P has modified a structure data storage unit 62P, a state data storage unit 63P, and an operation instruction data generation unit 64P.

[0325] The robot 1P is mainly composed of a site camera 4P, a skeleton 71P such as a body support arm 12P, joints 72P such as an arm connection part 14P, a vehicle part 9P, a motor 73P, an actuator 74P, a control part 75P, and a communication part .

[0326] The skeleton 71P includes a torso support arm 12P, a lower torso 21P, an upper torso 20P, an arm connection 19P, an upper arm 24P, a forearm 25P, and a hand 26P. The joints 72P include an arm connection 14P, a torso connection 13P, a torso cross rotation part 23P, an arm connection rotation part 20PA, a shoulder joint 27P, an elbow joint 28P, and a wrist joint 29P.

[0327] The operated parts of the robot 1P are the arm connection part 14P, the body connection part 13P, the body cross rotation part 23P, the arm connection rotation part 20PA, the shoulder joint part 27P, the elbow joint part 28P, the wrist joint part 29P, and the hand part 26P.

[0328] The motor 73P generates power to rotate the arm connection part 14P, the trunk connection part 13P, the trunk cross rotation part 23P, the arm connection rotation part 20PA, the joint parts of the arm part 10P other than the wrist joint part 29P, and the finger joint parts of the hand part 26P. The actuator 74P is an outer forearm actuator 35P and an inner forearm actuator 36P, and rotates and stops the wrist joint part 29P.

[0329] The control unit 75P controls the motor 73P and the actuator 74P based on a control signal from the control arithmetic device 60P.

[0330] The structure data storage unit 62P stores structure data that represents the structure of the robot 1P. The structure data storage unit 62P stores instruction action correspondence data 65PP. The instruction action correspondence data 65PP is data that represents the correspondence between the angle detected by the foot input device 6 and the action of the robot 1P. The status data storage unit 63P stores status data that represents the status of the robot 1P. The operation instruction data generation unit 64P generates operation instruction data that controls the operated part of the robot 1P.

[0331] 78 shows the instruction action correspondence data 65PP in the fifth embodiment. In the instruction action correspondence data 65PP, δ XEL1 When the vehicle part 9P is not moving, δ AZ3 The rotation angle around the AZ3 axis is θ AZ3 Whether or not the vehicle section 9P is not moving is determined by the state of a certain switch operated by the operator 90.

[0332] In this fifth embodiment, the foot input unit 431 is a trunk operation unit that operates the trunk connection part 13P as an operation target part. L The foot input unit 433 is a left traveling unit operation unit that operates the crawler moving unit 15. R The right traveling unit is an operation unit that operates the arm connecting unit 14. The foot input unit 434 also includes the arm connecting unit rotation unit 20PA of the posture change unit as an operation target. The foot input unit 434 is an arm operation unit that operates the arm connecting unit 14. The foot input unit 434 also includes the trunk cross rotation unit 23P of the posture change unit as an operation target.

[0333] According to the robot remote control system of the fifth embodiment, the robot 1P can be remotely controlled by one operator 90, as in the first embodiment.

[0334] In the instruction operation correspondence data, θ AZ3 δ XEL1 It may be made to correspond to θ AZ3 δ AZ2 It may be made to correspond to θAZ2 and θ AZ3 The operation of rotating and by the same angle in the opposite direction is called δ AZ2 or δ AZ3 The instruction action correspondence data may be defined in any way as long as it can operate the vehicle unit 9P, arm support unit 14P, body support unit 13P, and body unit 11P of the robot 1P. The vehicle unit may have sub-crawlers.

[0335] The arm 10P may be remotely controlled by an upper body input device such as that used in the robot remote control system according to the fourth embodiment. The upper body input device may include a shoulder joint measurement unit that measures the shoulder joint angle, which is the connection angle between the arm base joint and the shoulder joint, an elbow joint measurement unit that measures the elbow joint angle, which is the connection angle between the elbow joint and the upper arm rotation axis, a wrist joint measurement unit that measures the wrist joint angle, which is the connection angle between the wrist joint and the forearm rotation axis, and an arm control signal generation unit. The shoulder measurement joint of the shoulder joint measurement unit rotatably connects the upper arm structure to the torso structure with the same degree of rotational freedom as the arm base joint and the shoulder joint. The elbow measurement joint of the elbow joint measurement unit connects the forearm structure to the upper arm structure with the same degree of rotational freedom as the elbow joint and the upper arm rotation axis. The wrist measurement joint of the wrist joint measurement unit connects the hand structure to the forearm structure with the same degree of rotational freedom as the wrist joint and the forearm rotation axis. The arm control signal generation unit generates a control signal to control the arm base joint and the shoulder joint based on the shoulder joint angle, generates a control signal to control rotation around the upper arm rotation axis and the elbow joint based on the elbow joint angle, and generates a control signal to control rotation around the forearm rotation axis and the wrist joint based on the wrist joint angle.

[0336] The control signal generation unit, which is the arm control signal generation unit, may generate a control signal to control the arm base joint unit and shoulder joint unit 27P based on the shoulder joint angle, generate a control signal to control rotation around the upper arm rotation axis and elbow joint unit 28P based on the elbow joint angle, and generate a control signal to control rotation around the forearm rotation axis and wrist joint unit 29P based on the wrist joint angle.

[0337] The embodiments can be freely combined, modified, or some of the components can be omitted, or embodiments in which some of the components have been omitted or modified can be freely combined. [Explanation of symbols]

[0338] 100, 100A, 100B, 100C, 100P Robot Remote Control System 1, 1A, 1C, 1P Crawler mobile robot (robot) 1HP Humanoid Division 2. Head-mounted display 3, 3A, 3B, 3C, 3P remote control device 4, 4P On-site camera (camera unit) 4C Camera connection 4AP head 4APC head connection part 5. Electric wheelchair (operator's mobility unit) 6 Foot Input Device 7A, 7B instruction reading camera 8. Mike 9, 9A, 9P Vehicle Section 9PA Crawler Cover 9PB battery compartment 10, 10P arm 11, 11P body part 12, 12P fuselage support arm 12A Upper limbus 12B Arm part 12C lower limbus 12D rolling part 12PA side plate 12PB connection plate 13, 13P fuselage connection part 13A Upper Cylinder 13B Rotational axis holding yoke 13C Rotating shaft member 13PA Rotating fuselage 13PB Rotary shaft connecting yoke 13PC Rotating shaft member 13PD Rotating shaft gear 13PE motor 13PF drive gear 13PG Gear Cover 14, 14P arm connection part 14A Base 14B Rotational axis holding yoke 14C Rotating shaft member 14D drive motor 14E drive belt 14G rolling recess 14PA Arm rotation part 14PB arm base 14PC Rotational Axis Holding Yoke 14PD Rotating shaft member 14PE Rotating shaft gear 14PF motor 14PG drive gear 14PH gear cover 15, 15 L , 15 R Crawler moving part (traveling part) 16 wheels 17, 17 L , 17 R Crawler 18 Battery 19 Shoulder frame (arm connection part) 19A Shoulder link support frame 19P Arm connection part 19PA Body connection part 19PB arm rotation part 19PC Arm connection structure 19PD motor 19PE worm wheel 19PF Worm 20, 20P upper body 20A Upper limbus 20B Horizontal Cylinder 20C Body connecting frame 20PA Arm connection part rotation part 20PB Rotary shaft connecting yoke 21, 21P Lower body 21A Front limbus 21B Vertical Cylinder 21PA Rotational axis holding yoke 21PB vertical cylinder 22 Shoulder frame rotation part 23, 23P fuselage cross-rotation section 23PA Rotating shaft member 23PB Rotating shaft gear 23PC motor 23PD drive gear 23PE Gear Cover 24, 24P Upper arm 24PA joint connection part 24PB intermediate cylinder 24PC Lid 24PD Lower Cylinder 24PE motor 24AP Arm base 25, 25P forearm 25PA Rotating shaft connection part 25PB forearm base 25PC Forearm bone 25PD Actuator structure 25PE threaded rod holder 25PF threaded rod holder 26, 26P hand part 27, 27P Shoulder joint 27PA Shoulder joint structure 27PB motor 27PC motor installation section 27PD Rotating shaft member 27PE opening 28, 28P Elbow joint 28PA Rotational Axis Holding Yoke 28PB Rotating shaft member 28PC worm wheel 28PD Warm 28PE gear part 28PF motor 28PG gear part 28PJ Gear Cover 29, 29P Wrist joint 29PA T-shaped member 29PB T-shaped member holding yoke 29PC T-shaped member holding part 29PD Wrist base 29PE bearing 29PF bearing 30 Shoulder main actuator 30L shoulder main link 30M motor 31 Shoulder assist actuator 31L Shoulder support link 31M motor 32 Inner elbow actuator 32D Moving parts 32L inner elbow link 32M motor 33 Elbow lateral actuator 33D moving parts 33L Elbow outer link 33M motor 34 Front forearm actuator 34L Forearm front link 34M motor 35, 35P Outer forearm actuator 35L outer forearm link 35M motor 35PA threaded rod 35PB moving parts 35pc rail 35PD Link 35PE motor installation plate 35PF motor 35PG belt 35PH pulley 35PJ pulley 36, 36P Inner forearm actuator 36L inner forearm link 36M motor 36PA threaded rod 36PB moving parts 36pc rail 36PD Link 36PE motor installation plate 36PF motor 36PG belt 36PH pulley 36PJ pulley 37, 37 L , 37 R Sub-crawler moving section (auxiliary running section) 38 wheels 39, 39 L , 39 R Subcrawler 40 Sub-crawler angle change unit 40 L Sub-crawler angle change unit (left sub-travel unit angle change unit) 40 R Sub-crawler angle change unit (right sub-travel unit angle change unit) 41 Base plate 42 Legs 43, 431, 432, 433, 434 foot input unit (input unit) 44 Foot rest 45 Cross member 46 Y-axis holding member 47 X-axis holding member 48 Vertical Rotation Axis 49 Vertical shaft holding member 50 Front and rear tilt angle measurement unit 51 Left and right tilt angle measurement unit 52 Rotation angle measurement unit 53 Upper body input device 54 Chair mounting part 55 Elbow attachment part 56 Hand attachment part 57 Shoulder joint measurement section 57A Fuselage Structure 57B Upper arm structure 57C Shoulder Measurement Joint 57D Shoulder Main Displacement Meter 57E Shoulder Auxiliary Displacement Meter 58 Elbow joint measurement unit 58A Forearm Structure 58B Elbow measurement joint 58C Medial Elbow Displacement Meter 58D Lateral Elbow Displacement Meter 59 Wrist joint measurement unit 59A Hand structure 59B Wrist measurement joint 59C Frontal Wrist Displacement Meter 59D Lateral Wrist Displacement Meter 59E Inner Wrist Displacement Meter 60, 60A, 60B, 60C, 60P Control and arithmetic unit 61 Communications Department 62, 62A, 62B, 62C, 62P Structure data storage unit 63, 63A, 63C, 63P Status data storage section 64, 64C, 64P Operation instruction data generation section 65, 65A, 65B Foot input device interface unit (foot input device IF unit) 65P, 65Q, 65PP instruction operation compatible data 66, 66A, 66C Audio Processing Unit 67, 67A, 67B, 67C, 67P Control signal generation unit 68 Voice Recognition Unit 69, 69A, 69C Audio control section 70 Upper body input device interface unit (upper body input device IF unit) 70P Data for generating operation instructions 71, 71P Skeleton 72, 72P joints 73, 73C, 73P motors 74, 74P actuator 75, 75P control unit 76 Communications Department 77, 77P storage section 81 CPU 82 Memory section 83 Communication Lines 84 LAN 90 Operator 91 Wrist attachment part 91A Mounting plate 91B Hand Connector 92 Hand base 92A Hand Base Frame 92B Palmar part 92C Thumb Base Frame 92D Convex plane part 92E motor 92F gear mechanism 93 Thumb 93A Thumb base 93D Thumb rotation joint 94 1st finger 95 2nd finger 96 Third finger 97 4th finger 94A, 95A, 96A, 97A 1st phalanx 93B, 94B, 95B, 96B, 97B 2nd phalanx 93C, 94C, 95C, 96C, 97C Claw 94D, 95D, 96D, 97D First finger joint 93E, 94E, 95E, 96E, 97E Second finger joint 94F, 95F, 96F, 97F worm storage area 94G, 95G, 96G, 97G motors 94H, 95H, 96H, 97H Idler gear 94J, 95J, 96J, 97J idler gear J1 shoulder main link attachment part J2 shoulder support link attachment part J3 Upper arm link attachment part J4 Shoulder main link auxiliary link attachment part J5 Forearm link attachment J6 Upper arm inner link attachment part J7 Elbow inner link outer link attachment part J8 Upper arm outer link attachment part J9 Front forearm link attachment J10, J10P outer forearm link attachment J11, J11P inner forearm link attachment J12 Front link mounting part J13, J13P Outer link mounting part J13PA Rotating Yoke J13PB bearing J13PC bearing J14, J14P Inner link mounting part J14PA Rotating Yoke J14PB bearing J14PC bearing K1 Shoulder main displacement gauge mounting part K2 shoulder auxiliary displacement gauge mounting part K3 Upper arm main displacement gauge mounting part K4 Upper arm auxiliary displacement meter attachment part K5 Forearm medial displacement gauge attachment K6 Upper arm inner displacement meter attachment part K7 Forearm lateral displacement gauge attachment K8 Upper arm lateral displacement gauge attachment part K9 Frontal forearm displacement gauge attachment K10 Forearm Lateral Displacement Meter Mounting Part K11 Forearm medial displacement gauge attachment K12 Front hand displacement gauge mounting part K13 Displacement gauge mounting part on the outside of the hand K14 Inner hand displacement gauge mounting part

Claims

1. Two arms and a body portion to which the arm portion is rotatably connected; a vehicle unit that moves by rotating wheels; a fuselage support arm, one end of which is connected to the vehicle section, that supports the fuselage section so that its position relative to the vehicle section can be changed; an arm connection portion provided on the vehicle portion and connecting the fuselage support arm to the vehicle portion so as to be rotatable with at least two rotational degrees of freedom, including rotation about an azimuth rotation axis intersecting the vehicle portion and rotation about an elevation rotation axis intersecting the azimuth rotation axis and the fuselage support arm; a fuselage connection section connecting the fuselage section to the fuselage support arm so as to be rotatable with at least two rotational degrees of freedom, including rotation about a fuselage rotation axis passing through the fuselage section and rotation about a fuselage tilt rotation axis generally parallel to the elevation rotation axis; a posture change unit that changes the posture of the trunk unit relative to the trunk support arm, the torso section has arm connection sections to which the two arms are connected, an upper torso section to which the arm connection sections are connected, and a lower torso section to which the torso support arm is connected, The attitude change unit is a fuselage crossing rotation unit that rotates the upper torso relative to the lower torso around a fuselage crossing rotation axis that intersects with the fuselage rotation axis; an arm connection portion rotation unit that rotates the arm connection portions relative to the upper torso around an arm connection portion rotation axis that intersects with the torso cross rotation axis and intersects with a straight line that passes through points where the two arms are connected to the arm connection portions.

2. the fuselage rotation axis and the fuselage cross rotation axis intersect on the same plane, The robot according to claim 1 , wherein the arm connection rotation axis passes through an intersection of the trunk rotation axis and the trunk cross rotation axis.

3. 3. The robot according to claim 1, wherein the vehicle unit has a running unit including at least two of the wheels arranged front and rear, one on each side, and a ring-shaped crawler stretched across the wheels and rotated by rotation of the wheels.

4. The vehicle section includes: a sub-traveling section including at least two wheels arranged in front and behind, each of which is provided at least on the front side of the left and right traveling sections, and a ring-shaped sub-crawler stretched across the wheels and rotated by the rotation of the wheels, the wheels stopping and rotating in conjunction with the adjacent traveling section; a left auxiliary run angle change unit that changes the angle of the left auxiliary run with respect to the left run in the up-down direction; 4. The robot according to claim 3, further comprising a right auxiliary run angle change unit that changes the angle of the right auxiliary run relative to the right run in the up-down direction.

5. The vehicle section includes: a travel unit having at least two of the wheels disposed front and rear, respectively, on the left and right sides, and a ring-shaped crawler stretched across the wheels and rotated by the rotation of the wheels; a sub-traveling section including at least two wheels arranged in front and behind, each of which is provided at least on the front side of the left and right traveling sections, and a ring-shaped sub-crawler stretched across the wheels and rotated by the rotation of the wheels, the wheels stopping and rotating in conjunction with the adjacent traveling section; a left auxiliary run angle change unit that changes the angle of the left auxiliary run with respect to the left run in the up-down direction; 2. The robot according to claim 1, further comprising a right auxiliary run angle change unit that changes the angle of the right auxiliary run relative to the right run in the up-down direction.

6. 6. The robot according to claim 1, wherein the arm comprises an upper arm, a forearm, and a hand connected in series, a shoulder joint that connects the upper arm to the torso so as to be rotatable with at least two rotational degrees of freedom, an elbow joint that connects the forearm to the upper arm so as to be rotatable with at least two rotational degrees of freedom, and a wrist joint that connects the hand to the forearm so as to be rotatable with at least two rotational degrees of freedom.

7. 7. The robot according to claim 6, wherein each of the shoulder joint, the elbow joint, and the wrist joint is driven by a number of variable-length links equal to the number of degrees of rotational freedom at the joint, or a fixed-length link with one movable end.

8. 8. The robot according to claim 7, wherein the shoulder joint has two rotational degrees of freedom, the elbow joint has two rotational degrees of freedom, and the wrist joint has three rotational degrees of freedom.

9. the arm comprises an arm base, an upper arm, a forearm, and a hand connected in series; an arm base joint that connects the arm base to the body so as to be rotatable with at least one rotational degree of freedom; a shoulder joint that connects the upper arm to the arm base so as to be rotatable with at least one rotational degree of freedom; an elbow joint that connects the forearm to the upper arm so as to be rotatable with at least one rotational degree of freedom; and a wrist joint that connects the hand to the forearm so as to be rotatable with at least two rotational degrees of freedom; the upper arm is rotatable around an upper arm rotation axis passing through the upper arm, The robot according to claim 1 , wherein the forearm is rotatable around a forearm rotation axis passing through the forearm.

10. the arm base joint has one rotational degree of freedom for rotating the arm base around an arm base rotation axis passing through the arm base, the shoulder joint portion has one rotational degree of freedom for changing the angle formed between the arm base portion and the upper arm portion, the elbow joint has one rotational degree of freedom for changing the angle formed between the upper arm and the forearm, 10. The robot according to claim 9, wherein the wrist joint changes an angle between the hand and the forearm in a first forearm plane that is a plane including the forearm rotation axis, and changes an angle between the hand and the forearm in a second forearm plane that is a plane that includes the forearm rotation axis and intersects with the first forearm plane.

11. 11. The robot according to claim 10, wherein the wrist joint is driven by two fixed-length links each having one end connected to a moving member that is moved by an actuator provided on the forearm.

12. A body portion, two arms comprising an arm base, an upper arm, a forearm, and a hand; an arm base joint that connects the arm base to the trunk so as to be rotatable with at least one rotational degree of freedom; a shoulder joint that connects the upper arm to the arm base so as to be rotatable with at least one rotational degree of freedom; an elbow joint that connects the forearm to the upper arm so as to be rotatable with at least one rotational degree of freedom; and a wrist joint that connects the hand to the forearm so as to be rotatable with at least two rotational degrees of freedom, wherein the upper arm is rotatable around an upper arm rotation axis that passes through the upper arm, and the forearm is rotatable around a forearm rotation axis that passes through the forearm; a posture change unit, the torso section has arm connection sections to which the two arm sections are connected, an upper torso section to which the arm connection sections are connected, a lower torso section to be connected to the underside of the upper torso section, and a torso base section to be connected to the underside of the lower torso section, the posture changing unit includes a torso rotation unit that rotates the lower torso relative to the torso base around a torso rotation axis that passes through the lower torso, a torso cross rotation unit that rotates the upper torso relative to the lower torso around a torso cross rotation axis that intersects the torso rotation axis, and an arm connection portion rotation unit that rotates the arm connection portion relative to the upper torso around an arm connection portion rotation axis that intersects the torso cross rotation axis and intersects a line that passes through points where the two arms are connected to the arm connection portions,

13. a camera unit mounted on the body; The robot according to claim 1 , further comprising: a camera connection section that connects the camera section to the body section so that the angle of the camera section relative to the body section can be changed.

14. a foot rest on which an operator places their feet; a rotation support part that supports the foot rest part so as to be tiltable in the front-rear direction of the foot rest part and rotatable about a foot crossing rotation axis that crosses the foot rest part; an angle detection unit that detects a front-to-rear tilt angle, which is a tilt angle in the front-to-rear direction of the foot placement unit, and a foot rotation angle, which is a rotation angle around the foot crossing rotation axis; an input unit in which the longitudinal tilt angle and the foot rotation angle are input to a control signal generation unit that generates a control signal to control an operation target unit that is at least a part of an operated unit including at least one of the torso connection unit, the arm connection unit, and the vehicle unit possessed by the robot described in any one of claims 1 to 11, and the control signal generation unit generates the control signal based on the longitudinal tilt angle and the foot rotation angle.

15. a foot rest on which an operator places their feet; a rotation support part that supports the foot rest part so as to be tiltable in the front-rear direction of the foot rest part, so as to be tiltable in the left-right direction of the foot rest part, and so as to be rotatable around a foot crossing rotation axis that crosses the foot rest part; an angle detection unit that detects a front-to-rear inclination angle, which is an inclination angle in the front-to-rear direction of the foot rest, a left-to-right inclination angle, which is an inclination angle in the left-to-right direction of the foot rest, and a foot rotation angle, which is a rotation angle around the foot crossing rotation axis; an input unit in which the forward / backward tilt angle, the left / right tilt angle, and the foot rotation angle are input to a control signal generation unit that generates a control signal to control an operation target unit that is at least a part of an operated unit including at least one of the torso connection unit, the arm connection unit, and the vehicle unit possessed by the robot described in any one of claims 1 to 11, and the control signal generation unit generates the control signal based on the forward / backward tilt angle, the left / right tilt angle, and the foot rotation angle.

16. a foot rest on which an operator places their feet; a rotation support part that supports the foot rest part so that the foot rest part can be tilted in the left-right direction and can be rotated around a foot crossing rotation axis that crosses the foot rest part; an angle detection unit that detects a left-right tilt angle, which is a tilt angle in the left-right direction of the foot placement unit, and a foot rotation angle, which is a rotation angle around the foot crossing rotation axis; an input unit in which the left-right tilt angle and the foot rotation angle are input to a control signal generation unit that generates a control signal to control an operation target unit that is at least a part of an operated unit including at least one of the torso connection unit, the arm connection unit, and the vehicle unit of the robot described in any one of claims 1 to 11, and the control signal generation unit generates the control signal based on the left-right tilt angle and the foot rotation angle.

17. a foot rest on which an operator places their feet; a rotation support part that supports the foot rest part so as to be tiltable in the front-rear direction and in the left-right direction of the foot rest part; an angle detection unit that detects a front-to-back tilt angle, which is a tilt angle in the front-to-back direction of the foot rest, and a left-to-right tilt angle, which is a tilt angle in the left-to-right direction of the foot rest, an input unit in which the longitudinal tilt angle and the lateral tilt angle are input to a control signal generation unit that generates a control signal to control an operation target unit that is at least a part of an operated unit including at least one of the torso connection unit, the arm connection unit, and the vehicle unit of the robot described in any one of claims 1 to 11, and the control signal generation unit generates the control signal based on the longitudinal tilt angle and the lateral tilt angle.

18. a foot rest on which an operator places their feet; a rotation support part that supports the foot rest part so as to be tiltable in the front-rear direction of the foot rest part; an angle detection unit that detects a front-to-rear tilt angle, which is a tilt angle in the front-to-rear direction of the foot rest unit; an input unit in which the longitudinal tilt angle is input to a control signal generation unit that generates a control signal to control an operation target unit that is at least a part of an operated unit including at least one of the torso connection unit, the arm connection unit, and the vehicle unit possessed by the robot according to any one of claims 1 to 11, and the control signal generation unit generates the control signal based on the longitudinal tilt angle.

19. a foot rest on which an operator places their feet; a rotation support portion that supports the foot rest portion so as to be rotatable about a foot intersecting rotation axis that intersects with the foot rest portion; an angle detection unit that detects a foot rotation angle that is a rotation angle around the foot crossing rotation axis, An input unit, wherein the foot rotation angle is input to a control signal generating unit that generates a control signal to control an operation target unit that is at least a part of an operated unit including at least one of the torso connection unit, the arm connection unit, and the vehicle unit possessed by the robot according to any one of claims 1 to 11, and the control signal generating unit generates the control signal based on the foot rotation angle.

20. a foot rest on which an operator places their feet; a rotation support part that supports the foot rest part so that the foot rest part can be tilted in the left-right direction; an angle detection unit that detects a left-right inclination angle, which is a left-right inclination angle of the foot rest unit; an input unit in which the left and right tilt angle is input to a control signal generation unit that generates a control signal to control an operation target unit that is at least a part of an operated unit including at least one of the torso connection unit, the arm connection unit, and the vehicle unit of the robot according to any one of claims 1 to 11, and the control signal generation unit generates the control signal based on the left and right tilt angle.

21. The robot is the robot according to any one of claims 1, 2, and 5, 21. The input unit according to claim 14, wherein the operated part includes at least one of the body connection part, the arm connection part, the vehicle part, and the posture change part of the robot.

22. an input unit according to any one of claims 14 to 21; a control signal generating unit that generates a control signal for controlling the operation target unit of the robot.

23. 23. The remote control device according to claim 22, further comprising an operation object switching unit that enables the operator to switch between the plurality of operation object units of the robot and the control signal generating unit to control the selected operation object unit.

24. an arm operation unit that is the input unit according to claim 14 or 15, wherein the arm connection portion is the operation target portion; a trunk operation unit that is the input unit according to claim 14 or 15, wherein the trunk connection portion is the operation target portion; generating the control signal for rotating the fuselage support arm about the elevation rotation axis based on the fore-aft tilt angle measured by the arm operation unit; and generating the control signal for rotating the torso support arm about the azimuth rotation axis based on the foot rotation angle measured by the arm operation unit; and generating the control signal for rotating the trunk section around the trunk tilt rotation axis based on the longitudinal tilt angle measured by the trunk operation unit; and a control signal generating unit configured to generate the control signal for rotating the torso section around the torso rotation axis based on the foot rotation angle measured by the torso operation unit.

25. The robot is a robot according to claim 5 , The input unit according to claim 21 when dependent on claim 15, wherein the arm operation unit has one rotational degree of freedom of the arm connection portion and the attitude change portion as the operation target portion, The input unit according to claim 21 when dependent on claim 15, wherein the trunk operation unit sets the trunk connection section and the attitude change section with another one rotational degree of freedom as the operation target section, the control signal generation unit generates the control signal for changing one rotational degree of freedom of the attitude change unit based on the left-right tilt angle measured by the arm operation unit; and 25. The remote control device according to claim 24, wherein the control signal for changing the other one rotational degree of freedom of the attitude change section is generated based on the left / right tilt angle measured by the trunk operation unit.

26. a posture manipulation unit that is the input unit according to claim 21 when dependent on claim 15 or claim 17, wherein the posture change unit included in the robot according to claim 5 is the manipulation target; generating the control signal for rotating the arm connection part around the arm connection part rotation axis based on the forward / backward tilt angle measured by the posture operation unit; and a control signal generation unit that generates the control signal for rotating the arm connection part around the trunk cross rotation axis based on the left and right tilt angle measured by the attitude control unit.

27. a vehicle operation unit that is the input unit according to claim 14 or 15, wherein the vehicle part is the operation target part; generating the control signal for controlling the forward, stop, or reverse movement of the vehicle part based on the longitudinal tilt angle measured by the vehicle operation unit; and a control signal generating unit that generates the control signal for controlling the direction of movement of the vehicle part based on the foot rotation angle measured by the vehicle operation unit.

28. a left traveling unit operation unit that is the input unit according to any one of claims 14, 15, 17, and 18, which sets the left traveling unit of the robot according to any one of claims 3 to 5 as the operation target unit; a right traveling unit operation unit that is the input unit according to any one of claims 14, 15, 17, and 18, in which the right traveling unit is the operation target unit; generating the control signal for moving the left traveling unit forward, stopping, or moving backward based on the longitudinal tilt angle measured by the left traveling unit operation unit; and and a control signal generating unit that generates the control signal for moving the right traveling unit forward, stopping, or moving backward based on the forward / backward tilt angle measured by the right traveling unit operating unit.

29. a left running unit operation unit that is the input unit according to claim 14 or claim 15, which operates the left auxiliary running unit angle change unit, the left running unit, and the auxiliary running unit of the robot according to claim 4 or claim 5 as the operation target units; a right run operation unit that is an input unit according to claim 14 or 15, wherein the right auxiliary run angle change unit, the right run unit, and the auxiliary run unit are the operation target units; generating the control signal for moving the left traveling section and the auxiliary traveling section forward, stopping, or moving backward based on the longitudinal tilt angle measured by the left traveling section operation unit; and The control signal for controlling the left auxiliary traveling section angle change section is generated based on the foot rotation angle measured by the left traveling section operation unit; and Generate the control signal for moving the right traveling section and the right auxiliary traveling section forward, stop, or reverse based on the longitudinal tilt angle measured by the right traveling section operation unit; and a control signal generating unit that generates the control signal for controlling the right auxiliary traveling unit angle changing unit based on the foot rotation angle measured by the right traveling unit operation unit.

30. a vehicle operation unit that is the input unit according to claim 14 or claim 15, which sets the left and right traveling units of the robot according to claim 3 to claim 5 as the operation target units; generating the control signals for moving the left and right traveling units forward, stopping, or moving backward based on the longitudinal tilt angle measured by the vehicle operation unit; and A remote control device comprising: a control signal generation unit that generates the control signal that changes the difference between the rotation speed of the left running unit and the rotation speed of the right running unit based on the foot rotation angle measured by the vehicle operation unit.

31. a vehicle operation unit that is the input unit according to claim 15, which sets the left auxiliary traveling unit angle change unit, the right auxiliary traveling unit angle change unit, the left and right traveling units, and the auxiliary traveling units that the robot according to claim 4 or claim 5 has as the operation target units; generating the control signals for moving the left and right traveling sections and the auxiliary traveling section forward, stopping, or moving backward based on the longitudinal tilt angle measured by the vehicle operation unit; and generating the control signal for changing the difference between the rotation speed of the left running unit and the auxiliary running unit and the rotation speed of the right running unit and the auxiliary running unit based on the foot rotation angle measured by the vehicle operation unit; and and a control signal generation unit that generates the control signal for uniformly changing the angles of the left auxiliary traveling section angle change unit and the right auxiliary traveling section angle change unit based on the left and right tilt angles measured by the vehicle operation unit.

32. 30. The remote control device according to claim 28 or 29, wherein the left traveling section operation unit is disposed to the left of the right traveling section operation unit.

33. The robot is a robot according to claim 13 when dependent on any one of claims 1 to 11, an operator photographing camera that photographs the operator including the head of the operator; an image analysis unit that analyzes the operator image captured by the operator capturing camera to extract a head pointing direction, which is the direction in which the head is facing; and a camera control unit that generates a control signal that controls the camera connection unit so that the camera unit faces the extracted head pointing direction.

34. The robot is the robot according to any one of claims 6 to 8, a fuselage structure disposed adjacent to the operator's upper body; two sets of upper arm structures, forearm structures, and hand structures connected in series to the torso structure, the upper arm structures, forearm structures, and hand structures being attached to the two arms of the operator, respectively; a shoulder measurement joint that rotatably connects the upper arm structure to the trunk structure with the same degree of rotational freedom as the shoulder joint, an elbow measurement joint that rotatably connects the forearm structure to the upper arm structure with the same degree of rotational freedom as the elbow joint, and a wrist measurement joint that rotatably connects the hand structure to the forearm structure with the same degree of rotational freedom as the wrist joint; a shoulder joint measurement unit that measures a shoulder joint angle that is a connection angle at the shoulder measurement joint, an elbow joint measurement unit that measures an elbow joint angle that is a connection angle at the elbow measurement joint, and a wrist joint measurement unit that measures a wrist joint angle that is a connection angle at the wrist measurement joint; and an arm control signal generation unit that generates a control signal to control the shoulder joint section based on the shoulder joint angle, that generates a control signal to control the elbow joint section based on the elbow joint angle, and that generates a control signal to control the wrist joint section based on the wrist joint angle.

35. The robot is a robot according to claim 9, a fuselage structure disposed adjacent to the operator's upper body; two sets of upper arm structures, forearm structures, and hand structures connected in series to the torso structure, the upper arm structures, forearm structures, and hand structures being attached to the two arms of the operator, respectively; a shoulder measurement joint that connects the upper arm structure to the trunk structure so as to be rotatable with the same degree of rotational freedom as the arm base joint and the shoulder joint, an elbow measurement joint that connects the forearm structure to the upper arm structure so as to be rotatable with the same degree of rotational freedom as the elbow joint and the upper arm rotation axis, and a wrist measurement joint that connects the hand structure to the forearm structure so as to be rotatable with the same degree of rotational freedom as the wrist joint and the forearm rotation axis; a shoulder joint measurement unit that measures a shoulder joint angle that is a connection angle at the shoulder measurement joint, an elbow joint measurement unit that measures an elbow joint angle that is a connection angle at the elbow measurement joint, and a wrist joint measurement unit that measures a wrist joint angle that is a connection angle at the wrist measurement joint; and an arm control signal generation unit that generates a control signal to control the arm base joint unit and the shoulder joint unit based on the shoulder joint angle, generates a control signal to control rotation about the upper arm rotation axis and the elbow joint unit based on the elbow joint angle, and generates a control signal to control rotation about the forearm rotation axis and the wrist joint unit based on the wrist joint angle.

36. The robot is the robot according to claim 7 or 8, a fuselage structure disposed adjacent to the operator's upper body; two sets of upper arm structures, forearm structures, and hand structures connected in series to the torso structure, the upper arm structures, forearm structures, and hand structures being attached to the two arms of the operator, respectively; a shoulder measurement joint that rotatably connects the upper arm structure to the trunk structure with the same degree of rotational freedom as the shoulder joint, an elbow measurement joint that rotatably connects the forearm structure to the upper arm structure with the same degree of rotational freedom as the elbow joint, and a wrist measurement joint that rotatably connects the hand structure to the forearm structure with the same degree of rotational freedom as the wrist joint; a shoulder joint measurement unit having at least five rotational degrees of freedom, one end of which is connected to the trunk structure with at least two rotational degrees of freedom and the other end of which is connected to the upper arm structure with at least two rotational degrees of freedom, the measurement variable length links being changeable in length between both ends and capable of measuring the length and a link length displacement which is a value of the change in the length, the number of which is the same as the number of variable length links that drive the shoulder joint unit; an elbow joint measurement unit having the same number of measurement variable length links as the number of variable length links that drive the elbow joint unit, each of which has one end connected to the upper arm structure with at least two degrees of freedom of rotation and the other end connected to the forearm structure with at least two degrees of freedom of rotation, and at least five degrees of freedom of rotation; a wrist joint measurement unit having the same number of measurement variable length links as the number of variable length links that drive the wrist joint unit, the measurement variable length links having one end connected to the forearm structure with at least two rotational degrees of freedom and the other end connected to the hand structure with at least two rotational degrees of freedom, and at least five rotational degrees of freedom; 34. The remote operation device according to claim 24, further comprising: an arm control signal generation unit that generates a control signal to control the shoulder joint unit from the link length displacement measured by the measurement variable length link of the shoulder joint measurement unit; generates a control signal to control the elbow joint unit from the link length displacement measured by the measurement variable length link of the elbow joint measurement unit; and generates a control signal to control the wrist joint unit from the link length displacement measured by the measurement variable length link of the wrist joint measurement unit.

37. a microphone arranged at a position where the voice uttered by the operator can be input; a speech recognition unit that extracts predetermined words and phrases from the speech input from the microphone; 37. The remote control device according to claim 22, further comprising: a voice control unit that stops or operates the robot in accordance with the phrase extracted by the voice recognition unit.

38. The remote control device according to any one of claims 22 to 37, further comprising an operator moving section that carries and moves the operator.

39. 39. The remote control device according to claim 38, wherein the operator movement unit is an electric wheelchair.

40. The robot according to any one of claims 1 to 11, A robot remote control system comprising: a remote control device according to any one of claims 22 to 39 that controls the robot and is connected to the robot via a communication line.

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