Robot, and its control method and control program

Abstract

To make an opening angle of a door smaller without moving a moving base body to a front surface side of the door.SOLUTION: A robot comprises a moving base body, an arm part that is extended from the moving base body and is driven to enable a posture thereof to change, a tool, provided at a tip of the arm part, which is hung on a door or holds the door, and a controller that controls driving of the arm part. The door has a front surface that is a surface opposing to the moving base body in a closed state and a rear surface which is a back surface of the front surface. The controller drives the moving base body and / or the arm part, in a state where the moving base body is at the rear surface side of the opened door, makes the tool to be hung on the door or hold the door, drives the moving base body and / or the arm part, and moves the tool hung on the door or holding the door in a direction in which the door is closed.SELECTED DRAWING: Figure 6

Description

Technical Field

[0005]

[0001] This invention relates to a robot, as well as a method and program for controlling the robot.

Background Art

[0002] With the progress of robot technology, it has been considered to utilize mobile robots in various environments. Depending on the environment, there are cases where a robot needs to open and close a door, and robots capable of opening and closing a door have been proposed (Non-Patent Document 1).

[0003] The robot (mobile manipulator) disclosed in Non-Patent Document 1 is configured to be able to execute a phase of opening a door and a phase of closing a door. In the phase of closing the door, the robot closes the door by getting around to the front side of the door and pushing the door from the front side. Here, the front side of the door means the surface that faces the robot when the door is in a closed state among the two surfaces of the door, and the back side means the back of the front side.

Prior Art Documents

Non-Patent Documents

[0004]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in environments where the robot's traversal range is limited, such as narrow passageways, if there is an open door that obstructs passage, it may be difficult to maneuver the robot's mobile base around the front side of the door. In this case, the robot disclosed in Non-Patent Document 1 cannot push the door from the front, and therefore cannot reduce the door's opening angle.

[0006] Even if it were possible to move the robot's mobile base around to the front side of the door, the movement of the mobile base would still be necessary, which would add time to the process of reducing the door's opening angle.

[0007] The present invention was made to solve the above-mentioned technical problems, and its objective is to reduce the opening angle of the door without moving the movable base to the front side of the door. [Means for solving the problem]

[0008] The technical challenges described above can be solved by a robot or the like having the following configuration.

[0009] In other words, the robot according to the present invention comprises a mobile base, an arm extending from the mobile base and driven to change its orientation, a tool provided at the tip of the arm that hooks onto a door or holds the door, and a controller that controls the driving of the arm, wherein the door has a front surface that faces the mobile base when closed and a back surface on its rear, and the controller drives the mobile base and / or the arm to hook the tool onto the door or cause the tool to hold the door when the mobile base is positioned on the back surface side of the open door, and drives the mobile base and / or the arm to move the tool that is hooked onto the door or holding the door in the direction of closing the door.

[0010] With this configuration, the door rotates in the closing direction, following the tool. Therefore, the opening angle of the door can be reduced without moving the moving base to the front side of the door.

[0011] The controller may drive the arm by impedance control, which sets a virtual mechanical impedance between the tool and the door and controls the position of the tool and the force applied from the tool to the door, when moving the tool in the direction of closing the door.

[0012] With this configuration, the tool moves along the door's trajectory without having to calculate the arc trajectory based on the door's width and opening angle. Therefore, the processing in the controller can be simplified while reducing the door's opening angle.

[0013] In the impedance control, the controller may drive the arm to press the tool against the door in a radial direction centered on the rotation axis of the door.

[0014] With this configuration, the tool is pressed against the door in a radial direction around the door's axis of rotation, even when the door rotates. Therefore, the tool can be moved along the door's trajectory for a longer distance without having to precisely set the tool's target trajectory, and the door's opening angle can be easily reduced.

[0015] In the impedance control, the controller may set the target trajectory of the tool to pass on the side of the door's rotation axis that is closer to the tool than the tool itself.

[0016] With this configuration, the distance the tool travels along the door's trajectory is longer than when the target trajectory passes through the tool. Therefore, the tool can be moved further along the door's trajectory without precisely setting the target trajectory of the tool, and the door's opening angle can be easily reduced.

[0017] The controller may acquire information about the surrounding environment, recognize the position and orientation of the door based on the acquired information, and drive the mobile base or the arm based on the recognized position and orientation of the door to hook the tool onto the door or have the tool hold the door.

[0018] With this configuration, the tool can be hooked onto or the door held in place even if the door's position and orientation are unknown. Therefore, the door's opening angle can be reduced.

[0019] The controller may acquire information about the surrounding environment, recognize the position of the door based on the acquired information, and drive the mobile base or the arm based on the recognized position of the door and a predetermined orientation of the tool to hook the tool onto the door or cause the tool to hold the door.

[0020] With this configuration, the tool can be hooked onto or the door held in place even if the door's position and orientation are unknown. Therefore, the door's opening angle can be reduced.

[0021] The controller may move the moving base when moving the tool in the direction of closing the door.

[0022] With this configuration, the moving base moves out of the door's passage area as the door rotates. Therefore, interference between the moving base and the door can be prevented, and the door's opening angle can be made smaller.

[0023] Viewed from another aspect, the present invention is a control method for a robot comprising a moving base, an arm extending from the moving base and driven to be capable of changing its posture, and a tool provided at the tip of the arm and hooked on or holding a door, wherein the door has a front surface which is a surface facing the moving base in the closed state and a back surface on the back thereof, and the control method includes driving the moving base and / or the arm in a state where the moving base is located on the back surface side of the opened door to hook the tool on the door or hold the door by the tool, and driving the moving base and / or the arm to move the tool hooked on or holding the door in a direction to close the door.

[0024] Viewed from another aspect, the present invention is a control program for a robot comprising a moving base, an arm extending from the moving base and driven to be capable of changing its posture, and a tool provided at the tip of the arm and hooked on or holding a door, wherein the door has a front surface which is a surface facing the moving base in the closed state and a back surface on the back thereof, and the control program includes driving the moving base and / or the arm in a state where the moving base is located on the back surface side of the opened door to hook the tool on the door or hold the door by the tool, and driving the moving base and / or the arm to move the tool hooked on or holding the door in a direction to close the door.

[0025] According to such a configuration, the door rotates in a closing direction following the tool. Therefore, the opening angle of the door can be reduced without moving the moving base to the front surface side of the door.

Effects of the Invention

[0026] According to the present invention, the door rotates in a closing direction following the tool. Therefore, the opening angle of the door can be reduced without moving the moving base to the front surface side of the door.

Brief Description of the Drawings

[0027] [Figure 1] (a) is a side view of a robot according to an embodiment of the present invention, and (b) is a top view of the robot. [Figure 2] Figure 1 is a plan view showing an example of an environment in which the robot shown is utilized. [Figure 3] Figure 1 is a block diagram of the robot. [Figure 4] This diagram illustrates the recognition of the door's position and orientation. (a) is a plan view showing the area around the door, and (b) is a view of the door from the back side. [Figure 5] This is a flowchart of the door closing operation process according to the first embodiment of the present invention. [Figure 6] This is a detailed flowchart of the door-pulling operation process. [Figure 7] (a) and (b) are diagrams illustrating the door-pulling operation by the robot, and are shown in correspondence with Figure 2. [Figure 8] (a) is a diagram illustrating the trajectory of the edge of the door, and (b) is a diagram illustrating the trajectory of the tool in the first embodiment of the present invention. [Figure 9] This diagram shows the plan view shown in Figure 7(a), with the trajectory of the door's edge also indicated. [Figure 10] This is a detailed flowchart of the door-pushing action process. [Figure 11] (a) and (b) are diagrams illustrating the door-pushing operation by the robot, and are shown in correspondence with Figure 2. [Figure 12] This diagram illustrates the trajectory of the tool in the second embodiment of the present invention and corresponds to Figure 8. [Figure 13] (a) and (b) are diagrams illustrating the tool trajectory in a modified example of the second embodiment of the present invention, and are shown in correspondence with Figure 8. [Figure 14] This diagram illustrates the trajectory of the tool in the third embodiment of the present invention and corresponds to Figure 8. [Figure 15]This diagram illustrates the tool trajectory in the fourth embodiment of the present invention and corresponds to Figure 8. [Figure 16] This is a detailed flowchart of the door pulling operation process in the fifth embodiment of the present invention. [Figure 17] (a) and (b) are diagrams illustrating the operation of hooking the tool onto the edge of a door in a fifth embodiment of the present invention, and are shown in correspondence with Figure 4. [Figure 18] This is a detailed flowchart of the door pulling operation process in the sixth embodiment of the present invention. [Figure 19] (a) and (b) are diagrams illustrating the operation of hooking the tool onto the edge of a door in the sixth embodiment of the present invention, and are shown in correspondence with Figure 4. [Figure 20] This is a flowchart of the door closing operation process according to the eighth embodiment of the present invention. [Figure 21] This diagram shows a modified example of the tool's attachment point, corresponding to Figure 4. [Modes for carrying out the invention]

[0028] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0029] (1. First Embodiment) First, as a first embodiment, an example of applying the present invention to a robot will be described. Figures 1 to 3 are diagrams illustrating an example configuration of robot 100 according to the first embodiment. Robot 100 is envisioned for use in environments with doors.

[0030] Figure 1 is a diagram illustrating the configuration of the robot 100, where Figure 1(a) is a side view mainly showing an example of the robot 100's appearance, and Figure 1(b) is a top view mainly showing an example of the robot 100's appearance. As shown in the figure, the robot 100 has a roughly humanoid shape and comprises a mobile carriage 11, legs 12 supported on the mobile carriage 11, a torso 13 supported on the legs 12, and a head 40 and arms 50 supported on the torso 13.

[0031] The mobile platform 11 is configured to move on the surface (floor) on which the robot 100 is placed. Specifically, the mobile platform 11 is equipped with a plurality of drive wheels (not shown). When the plurality of drive wheels rotate, the mobile platform 11 moves. The mobile platform is, for example, an omnidirectional mobile platform configured to move in all directions, and the drive wheels are, for example, omni-wheels.

[0032] In the following, "upper" and "lower" refer to the vertically upper and vertically lower sides, respectively, based on the state in which the mobile trolley 11 is positioned on a horizontal plane.

[0033] The leg section 12, in the substantially humanoid robot 100, is configured to correspond to human legs and extends upward from the mobile platform 11. The torso section 13, in the substantially humanoid robot 100, is configured to correspond to human torso and is positioned above the leg section 12, and is mounted on the leg section 12 so as to be rotatable around an axis A1 that extends substantially vertically.

[0034] In the following, the mobile trolley 11, the leg section 12, and the torso section 13 will also be referred to as the "mobile base 10".

[0035] The head 40, in the nearly humanoid robot 100, is positioned above the torso 13 as a component corresponding to a human head, and is pivotably and rotatably mounted on the torso 13. The head 40 has a front view that can be recognized as a face by a human.

[0036] The head 40 is equipped with an image generation means 41 that captures images of the area around the robot 100 and generates captured images. The image generation means 41 can be, for example, a monochrome camera, a color camera, an IR camera, a 3D camera, or an RGBD camera.

[0037] The arm 50, in the nearly humanoid robot 100, extends from the torso 13 as a component corresponding to a human arm and is capable of changing its posture. Specifically, the arm 50 comprises a first joint 51 provided on the torso 13, a first link 52 extending from the first joint 51, a second joint 53 provided at the tip of the first link 52, a second link 54 extending from the second joint 53, and a third joint 55 provided at the tip of the second link 54. The third joint 55 is also referred to as the "tip of the arm 50."

[0038] The first joint 51 is rotatable relative to the torso 13 around a substantially horizontal axis A2. When the first joint 51 rotates, the first link 52, second joint 53, second link 54, and third joint 55 rotate around axis A2. Figures 1(a) and (b) show the first link 52 held in a substantially horizontal position.

[0039] The first link section 52 is pivotable relative to the torso section 13 around a substantially vertical axis A3 passing through the first joint section 51 when held in a substantially horizontal position (as shown in Figure 1). The second link section 54 is pivotable relative to the first link section 52 around a substantially vertical axis A4 passing through the second joint section 53 when the first link section 52 is held in a substantially horizontal position (as shown in Figure 1). In other words, the arm section 50 is capable of changing its posture.

[0040] When using such a robot 100 in an environment with doors, the robot 100 may be prevented from passing through by open doors. Figure 2 is a plan view showing an example of an environment with doors.

[0041] In the environment shown in Figure 2, a pair of walls 1a and 1b are spaced apart from each other, and a passageway 1 is formed between the walls 1a and 1b. A door 2 is mounted on one wall 1a so as to be rotatable around a rotation axis AD that extends approximately vertically. When the door 2 is open, the distance between the door 2 and the other wall 1b is narrower than the mobile carriage 11 of the robot 100, and the door 2 obstructs the passage of the robot 100.

[0042] In the state shown in Figure 2, the robot 100 cannot be moved to the front surface 2a side of door 2. Therefore, the robot 100 is configured to reduce the opening angle α of door 2 from the back surface 2b side of door 2. Here, the front surface 2a of door 2 refers to the surface of the door 2 that faces the robot 100 when the door is closed, out of the two large surface areas (2a, 2b) of door 2, and the back surface 2b refers to the back surface of the front surface 2a.

[0043] As shown in Figures 1 and 2, the robot 100 further includes a tool 60 provided on the third joint 55 of the arm 50. The tool 60 is pivotable relative to the second link 54 about a substantially vertical axis A5 passing through the third joint 55 when the first link 52 is held substantially horizontally (as shown in Figure 1).

[0044] The tool 60 is formed in a roughly L-shape and can be hooked onto the edge of the door 2. By moving the tool 60 so that the corner portion 61 is close to the edge of the door 2, the tool 60 can be hooked onto the edge of the door 2.

[0045] Figure 3 is a block diagram of robot 100. As shown in Figure 3, robot 100 comprises a trolley drive means 71, a torso drive means 73, a head drive means 74, an arm drive means 75, a tool drive means 76, and a controller 80.

[0046] The trolley drive means 71 rotates the drive wheels (not shown) on the mobile trolley 11. The trolley drive means 71 is, for example, one or more motors mounted on the mobile trolley 11. The body drive means 73 rotates the body 13 relative to the legs 12. The body drive means 73 is, for example, one or more motors mounted on the legs 12. The head drive means 74 swings and rotates the head 40 relative to the body 13. The head drive means 74 is, for example, one or more motors mounted on the body 13.

[0047] The arm driving means 75 changes the posture of the arm 50. The arm driving means 75 includes, for example, one or more motors mounted on the torso 13 that rotate the first joint 51 relative to the torso 13, one or more motors mounted on the first joint 51 that swing the first link 52 relative to the torso 13, and one or more motors mounted on the second joint 53 that swing the second link 54 relative to the first link 52.

[0048] The tool driving means 76 causes the tool 60 to swing relative to the second link portion 54 of the arm portion 50. The tool driving means 76 is, for example, one or more motors mounted on the third joint portion 55 of the arm portion 50.

[0049] The controller 80 controls the driving of the trolley driving means 71, the torso driving means 73, the head driving means 74, the arm driving means 75, and the tool driving means 76. The controller 80 has functional units such as a surrounding environment recognition unit 81, an operation determination unit 82, and a signal output unit 83.

[0050] The controller 80 is an information processing device configured by connecting, for example, a central processing unit (CPU) as a processor, read-only memory (ROM) and random access memory (RAM) as storage media, and an input / output interface (I / O interface) via a bus. The ROM stores a program (control program) for executing the functions of the surrounding environment recognition unit 81, the operation determination unit 82, and the signal output unit 83. In other words, the controller 80 is configured to realize the functions of each functional unit, such as the surrounding environment recognition unit 81, the operation determination unit 82, and the signal output unit 83, by executing the program stored in the ROM.

[0051] The above-described configuration of the processor and storage medium constituting the controller 80 is merely an example, and may include, in addition to or instead of these, a GPU, flash memory, hard disk, storage, etc. Furthermore, the functions of each of the above-described functional units do not necessarily have to be realized solely by the controller 80; they may be configured to be realized by multiple controllers, each appropriately selected for each functional unit, either individually or in cooperation with each other.

[0052] The functions of each functional unit of the controller 80 are described below.

[0053] The surrounding environment recognition unit 81 recognizes the surrounding environment of the robot 100. Specifically, the surrounding environment recognition unit 81 acquires information from the captured image generated by the image generation means 41 as information about the surrounding environment of the robot 100, and recognizes the surrounding environment of the robot 100 based on the acquired information. The information from the captured image includes, for example, brightness information, RGB values, and a 3D point cloud. If the door 2 (see Figure 2) is visible in the captured image generated by the image generation means 41, the surrounding environment recognition unit 81 recognizes that the door 2 is in the vicinity of the robot 100, and also recognizes the position and orientation of the door 2.

[0054] Figure 4 is a diagram illustrating the recognition of the position and orientation of door 2. Figure 4(a) is a plan view showing the area around door 2, and Figure 4(b) is a view of door 2 from the back side 2b. As is clear from the figure, in this embodiment, a marker 2c is used to recognize the position and orientation of door 2. The marker 2c is, for example, an ArUco marker and a Pitag marker. The marker 2c is installed on the back side 2b of door 2. The surrounding environment recognition unit 81 recognizes the position and orientation of door 2 based on the marker 2c captured in the image generated by the image generation means 41.

[0055] Alternatively, the position and orientation of door 2 may be recognized by calculating the position and orientation of a representative point from the information of the captured image of door 2 and the feature quantities of the representative point on door 2. Template matching and Point Set Registration can be used to calculate the position and orientation of the representative point.

[0056] Furthermore, since most doors 2 are flat, plane detection can be performed using 3D point cloud information, and the center of the flat portion can be calculated as the position of door 2. The orientation of door 2 can then be calculated from the normal direction of the plane. Since most doors 2 have a rectangular back surface 2b, the position and orientation of door 2 can also be calculated by performing rectangle recognition or similar methods. Deep learning methods such as SSD (Single Shot Multibox Detector) and YoLo (You Only Look Once) can also be used to train various door images and detect the position and orientation of door 2.

[0057] Returning to Figure 3, the motion determination unit 82 determines the operation of the mobile cart 11, torso 13, head 40, arms 50, and tool 60 based on the surrounding environment of the robot 100 recognized by the surrounding environment recognition unit 81. Specifically, if the surrounding environment recognition unit 81 recognizes that the door 2 is in the vicinity of the robot 100, the motion determination unit 82 determines whether the mobile base 10 is positioned on the back side 2b of the open door 2, based on the recognized position and orientation of the door 2. If the motion determination unit 82 determines that the mobile base 10 is positioned on the back side 2b of the open door 2, it decides to operate the mobile cart 11, torso 13, head 40, arms 50, and tool 60 to pull the door 2 to reduce the opening angle α of the door 2, and then push the door 2 to close the door 2.

[0058] The signal output unit 83 outputs control signals to drive the trolley drive unit 71, the torso drive unit 73, the head drive unit 74, the arm drive unit 75, and the tool drive unit 76, based on the operation determined by the operation determination unit 82. When the trolley drive unit 71, the torso drive unit 73, the head drive unit 74, the arm drive unit 75, and the tool drive unit 76 are driven in accordance with the control signals, the mobile trolley 11, the torso 13, the head 40, the arm 50, and the tool 60 perform the operation determined by the operation determination unit 82.

[0059] Figure 5 is a flowchart of the process for closing door 2 (hereinafter also referred to as the "door closing process"). As is clear from the figure, when the door closing process starts, the controller 80 performs a surrounding environment recognition process to recognize the surrounding environment of the robot 100 (S11). After the surrounding environment recognition process (S11), the controller 80 determines whether or not door 2 is in the vicinity of the robot 100 (S12). If door 2 is in the vicinity of the robot 100 (S12YES), the controller 80 performs a door position and orientation recognition process to recognize the position and orientation of door 2 (S13). If door 2 is not in the vicinity of the robot 100 (S12NO), the door closing process ends.

[0060] In the door position and orientation recognition process (S13), the controller 80 recognizes the position and orientation of the door 2 based on the marker 2c captured in the image generated by the image generation means 41.

[0061] After the door position and orientation recognition process (S13), the controller 80 performs a process to determine whether the mobile base 10 is positioned on the back side 2b of the open door 2, based on the recognized position and orientation of the door 2 (S14). If the mobile base 10 is positioned on the back side 2b of the open door 2 (S14YES), a door pulling operation is performed to pull the door 2 and reduce the opening angle α of the door 2 (S15). If the mobile trolley 11 is not positioned on the back side 2b of the open door 2 (S14NO), the door closing operation is terminated.

[0062] Figure 6 is a detailed flowchart of the door pulling operation process (S15). Figure 7 is a diagram illustrating the door pulling operation by the robot 100, and is shown in correspondence with Figure 2. As is clear from Figure 6, when the door pulling operation process starts, the controller 80 performs a process to acquire information on the tool target position and orientation for hooking the tool 60 onto the edge of the door 2 (S51). The tool target position and orientation information is pre-expressed by the user in the coordinate system of the marker 2c and is stored in a memory unit (not shown). In Figure 4, the tool target position and orientation is indicated by a dashed line. The operation determination unit 82 reads and acquires the tool target position and orientation information expressed in the coordinate system of the marker 2c from the memory unit.

[0063] The tool target position and orientation information is not limited to a form pre-represented by the user in the coordinate system of marker 2c. For example, the orientation of the edge (butt surface) of door 2 may be estimated based on the recognized position and orientation of door 2 and the door thickness obtained through general door thickness or user input, and the tool target position and orientation information may be obtained.

[0064] After the tool target position and orientation information acquisition process (S51), the controller 80 moves the tool 60 and hooks the tool 60 onto the edge of the door 2 (S52). Specifically, the controller 80 drives the mobile trolley 11, the body 13, the arm 50 and the tool 60 so that the tool 60 moves to the tool target position and its orientation becomes the tool target orientation. As a result, the tool 60 is hooked onto the door 2, as shown in Figure 7(a).

[0065] Returning to Figure 6, after the tool hooking process (S52), the controller 80 performs a process to move the tool 60 in the direction that closes the door 2 (S53). Specifically, the controller 80 drives the mobile carriage 11, the torso drive means 73, the arm 50, and the tool 60 so that the tool 60 moves in the direction that closes the door 2. As a result, as shown in Figure 7(b), the tool 60 moves in the direction that closes the door 2. Since the tool 60 is hooked onto the door 2, the door 2 rotates in the closing direction following the tool 60. Therefore, the opening angle α of the door 2 can be reduced without moving the mobile base 10 to the side of the front surface 2a of the door 2.

[0066] Figure 8(a) is a diagram illustrating the trajectory of the edge of door 2, and Figure 8(b) is a diagram illustrating the trajectory of tool 60 moving in the direction of closing door 2. When door 2 is closed, the trajectory of the edge of door 2 is an arc centered on the axis of rotation AD, as shown by the dashed line in Figure 8(a). In order to rotate door 2 in the direction of closing using tool 60, it is necessary to move tool 60 so that its trajectory is an arc centered on the axis of rotation AD.

[0067] Therefore, in this embodiment, an arc trajectory is calculated based on the width of the door 2 and the opening angle α, and the calculated arc trajectory is set as the target trajectory of the tool 60, and the tool 60 is moved. As a result, the tool 60 moves along the trajectory of the edge of the door 2, as shown by the thick dashed arrow in Figure 8(b). Thus, the tool 60 can be moved while hooked onto the edge of the door 2, and the opening angle α of the door 2 can be reduced.

[0068] The information regarding the width of door 2 may be obtained by reading it from a memory unit (not shown) or by recognizing marker 2c. The information regarding the opening angle α can be obtained by recognizing marker 2c.

[0069] Figure 9 is a diagram that shows the plan view shown in Figure 7(a) with the trajectory of the edge of door 2 added. As is clear from this figure, the movable base 10 is in the area through which door 2 passes. Therefore, if the tool 60 is moved by driving only the arm 50 without moving the movable base 10, the movable base 10 and door 2 will interfere with each other.

[0070] For these reasons, it is preferable to move the mobile trolley 11 in the process of moving the tool 60 in the direction of closing the door 2 (S53). In this case, as shown in Figure 7(b), the mobile base 10 moves out of the passage area of ​​the door 2 as the door 2 rotates. Therefore, interference between the mobile base 10 and the door 2 can be prevented, and the opening angle α of the door 2 can be made smaller.

[0071] Returning to Figure 8, when the tool 60 is moved to the endpoint E of the target trajectory according to the set target trajectory, the process of moving the tool 60 in the direction of closing door 2 (S53) is completed. With this, the door pulling operation is completed.

[0072] Returning to Figure 5, once the door pulling operation process (S15) is completed, the door pushing operation process is performed to push door 2 and close door 2 (S16).

[0073] Figure 10 is a detailed flowchart of the door pushing operation process (S16). Figure 11 is a diagram illustrating the door pushing operation by the robot 100, and is shown in correspondence with Figure 2. As is clear from Figure 10, when the door pushing operation process starts, the controller 80 performs a process to acquire information on the target position and orientation of the arm so that the tip of the arm 50 can contact the front surface 2a of the door 2 (S61). The information on the target position and orientation of the arm is pre-represented in the coordinate system of the marker 2c and is stored in a memory unit (not shown). The controller 80 reads and acquires the information on the target position and orientation of the arm, represented in the coordinate system of the marker 2c, from the memory unit.

[0074] After the arm target position and orientation information acquisition process (S61), the tip of the arm 50 is brought into contact with the front surface 2a of the door 2 (S62). Specifically, the controller 80 drives the mobile trolley 11, torso 13, arm 50, and tool 60 so that the arm 50 moves to the arm target position and the arm 50 assumes the arm target orientation. As a result, the tip of the arm 50 comes into contact with the front surface 2a of the door 2, as shown in Figure 11(a).

[0075] Returning to Figure 10, after the process of bringing the tip of the arm 50 into contact with the front surface 2a of the door 2 (S62), the controller 80 performs a process of moving the tip of the arm 50 in the direction of closing the door 2 (S63). Specifically, the controller 80 drives the mobile carriage 11, the torso drive means 73, the arm 50 and the tool 60 so that the tip of the arm 50 moves in the direction of closing the door 2. As a result, as shown in Figure 11(b), the tip of the arm 50 moves in the direction of closing the door 2. Since the tip of the arm 50 is in contact with the front surface 2a of the door 2, the door 2 is pushed by the tip of the arm 50 and rotates until it reaches the door frame 3. Thus, the door 2 can be closed.

[0076] Returning to Figure 10, once the process of moving the tip of the arm 50 in the direction of closing the door 2 (S63) is completed, the door pushing operation process (S16) is terminated.

[0077] In the example shown in Figure 11, the door 2 is pushed without moving the movable base 10 to the front surface 2a of the door 2. If it is possible to move the movable base 10 to the front surface 2a of the door 2 after the door pulling operation process (S15), the movable base 10 may be moved to the front surface 2a of the door 2 and then the door 2 may be pushed.

[0078] In the door pushing operation, the door 2 may be pushed by driving only one of the mobile trolley 11, the torso 13, and the arm 50, or by driving two or all of the mobile trolley 11, torso 13, and arm 50. In other words, it is sufficient to push the door 2 by driving at least one of the mobile trolley 11, torso 13, and arm 50.

[0079] Returning to Figure 5, once the door pushing operation (S16) is completed, the operation to close door 2 is finished.

[0080] (2. Second Embodiment) Next, a second embodiment of the present invention will be described. In the following description, the same reference numerals will be used for components identical to those in the first embodiment.

[0081] In the first embodiment described above, during the tool movement process in the closing direction (S53 in Figure 6), an arc trajectory is calculated based on the width of the door 2 and the opening angle α, and the calculated arc trajectory is set as the target trajectory of the tool 60. Therefore, information on the width of the door 2 and the opening angle α is required, and the process of setting the target trajectory may become complicated.

[0082] Therefore, in this embodiment, the controller 80 drives the arm 50 by impedance control, which sets a virtual mechanical impedance (inertia, damping coefficient, stiffness, etc.) between the tool 60 and the door 2 and controls the position of the tool 60 and the force applied from the tool 60 to the door 2.

[0083] Impedance control is a control method that allows for smooth movement of the arm 50, for example. Specifically, when no external force is applied to the arm 50, the arm 50 is driven so that the tool 60 moves along a target trajectory. When an external force is applied to the arm 50, the arm 50 is driven to reduce the external force, even if it causes the tool 60 to deviate from the target trajectory. The trajectory of the arm 50 driven by impedance control will be explained with reference to Figure 12.

[0084] Figure 12 shows the trajectory of the arm 50 driven by impedance control, and is shown in correspondence with Figure 8. Figure 12 shows an example in which a straight trajectory (see thick dashed arrow) extending from the edge of the door 2 in the direction in which the door 2 closes is set as the target trajectory of the tool 60. When the arm 50 is driven by impedance control along such a target trajectory, the tool 60 moves while receiving a reaction force from the door 2 until it reaches the point where the target trajectory of the tool 60 intersects with the trajectory of the edge of the door 2. In other words, the tool 60 moves along the trajectory of the edge of the door 2, as shown by the thick dashed arrow in Figure 12.

[0085] Thus, in the tool movement process in the closing direction (S53 in Figure 6), by driving the arm 50 by impedance control, the tool 60 can be moved along the trajectory of the edge of the door 2 without having to calculate an arc trajectory based on the width of the door 2 and the opening angle α. Therefore, the opening angle α of the door 2 can be reduced while simplifying the processing in the operation determination unit 82.

[0086] In the example shown in Figure 12, the target trajectory of the tool 60 is set to be approximately parallel to the door frame 3, but the target trajectory of the tool 60 does not have to be parallel to the door frame 3. For example, as shown in Figure 13(a), the target trajectory of the tool 60 may be set to be inclined with respect to the door frame 3 so as to approach the door frame 3. Also, as shown in Figure 13(b), the target trajectory of the tool 60 may be set to be inclined with respect to the door frame 3 so as to move away from the door frame 3.

[0087] (3. Third Embodiment) Next, a third embodiment of the present invention will be described. In the following description, components identical to those in the first and second embodiments will be given the same reference numerals.

[0088] In the second embodiment described above, during the tool movement process in the closing direction (S53 in Figure 6), a straight trajectory extending from the edge of the door 2 in the direction in which the door 2 closes (see thick dashed arrow) is set as the target trajectory of the tool 60 (see Figures 12 and 13). If the target trajectory of the tool 60 is set at an inclination with respect to the door frame 3 so as to move away from the door frame 3 as shown in Figure 13(b), the distance the tool 60 travels along the trajectory of the edge of the door 2 becomes shorter. As a result, there is a risk that the opening angle α of the door 2 cannot be sufficiently reduced in a single door-pulling operation. In order to sufficiently reduce the opening angle α of the door 2 in a single door-pulling operation, it is necessary to set the target trajectory of the tool 60 with precision and move the tool 60 for a longer distance along the trajectory of the edge of the door 2, which requires advanced technology.

[0089] Therefore, in this embodiment, as shown by the thick dashed arrow in Figure 14, the arm 50 is driven by impedance control to apply a force F from the tool 60 to the door 2 toward the rotation axis AD of the door 2. As a result, even when the door 2 rotates, the tool 60 is pressed against the door 2 toward the rotation axis AD of the door 2. Consequently, the tool 60 can be moved along the trajectory of the edge of the door 2 for a longer distance without having to precisely set the target trajectory of the tool 60, and the opening angle α of the door 2 can be easily reduced.

[0090] (4. Fourth Embodiment) Next, a fourth embodiment of the present invention will be described. In the following description, the same reference numerals will be used for components identical to those in the first and second embodiments.

[0091] Figure 15 is a diagram illustrating the target trajectory of the tool 60 in this embodiment. As shown in Figure 15, the controller 80 in this embodiment, similar to the second embodiment, sets the linear trajectory extending from the door 2 in the direction in which the door 2 closes as the target trajectory of the tool 60 and drives the arm 50 by impedance control. However, in the second embodiment (see Figures 12 and 13(a) and (b)), the target trajectory extends through the edge of the door 2, i.e., the tool 60, whereas in this embodiment, as shown in Figure 15, the target trajectory extends closer to the rotation axis AD of the door 2 than to the edge of the door 2, i.e., the tool 60. Therefore, the distance traveled by the tool 60 along the trajectory of the edge of the door 2 is longer compared to the case where the target trajectory passes through the edge of the door 2, i.e., the tool 60. Consequently, the tool 60 can be moved for a longer distance along the trajectory of the edge of the door 2 without having to precisely set the target trajectory of the tool 60, and the opening angle α of the door 2 can be easily reduced.

[0092] (5. Fifth Embodiment) Next, a fifth embodiment of the present invention will be described. In the following description, components identical to those in the first embodiment will be given the same reference numerals.

[0093] In the door-pulling operation process in the first embodiment described above (S15 in Figure 5 and the flowchart shown in Figure 6), information on the tool target position and orientation is acquired, the tool 60 is moved to the tool target position, and the orientation of the tool 60 is set to the tool target orientation, thereby hooking the tool 60 onto the edge of the door 2. In this embodiment, impedance control is used to hook the tool 60 onto the edge of the door 2.

[0094] Figure 16 is a detailed flowchart of the door pulling operation process (S15 in Figure 5) in this embodiment. Figure 17 is a diagram illustrating the process of hooking the tool 60 onto the edge of the door 2, and is shown in correspondence with Figure 4. As is clear from Figure 16, when the door pulling operation process starts, the operation determination unit 82 performs a process to acquire information on the tool preparation position for hooking the tool 60 onto the edge of the door 2 (S551).

[0095] As shown in Figures 17(a) and (b), the tool preparation position is a position located radially away from the edge of door 2, centered on the rotation axis AD of door 2 when viewed vertically. The tool preparation position information is pre-represented by the user in the coordinate system of marker 2c and stored in a memory unit (not shown). The controller 80 reads and acquires the tool preparation position information, represented in the coordinate system of marker 2c, from the memory unit.

[0096] Returning to Figure 16, after the tool preparation position information acquisition process (S551), the tool 60 is moved and the process of hooking the tool 60 onto the edge of the door 2 is performed (S552). Specifically, the controller 80 moves the tool 60 to the tool preparation position. Then, the arm 50 is driven by impedance control with the trajectory of the tool 60 as the target trajectory of the tool 60, which passes through the tool 60 and toward the rotation axis AD of the door 2. As a result, the tool 60 moves toward the edge of the door 2 and makes contact with the edge of the door 2. After that, the movement of the tool 60 stops, and the process of hooking the tool 60 onto the edge of the door 2 (S552) is completed.

[0097] Whether or not the tool 60 has contacted the edge of the door 2 is determined based on the external force applied to the tool 60. Specifically, when the external force applied to the tool 60 is less than a threshold, it is determined that the tool 60 has not contacted the edge of the door 2, and when it reaches the threshold, it is determined that the tool 60 has contacted the edge of the door 2. For detecting the external force, for example, a force sensor and a torque sensor can be used.

[0098] After the process of hooking the tool 60 onto the door 2 (S552), the tool 60 is moved in the direction that closes the door 2 (S553). The process of moving the tool 60 in the direction that closes the door 2 (S553) is almost the same as the process in the first to fourth embodiments, so the details are omitted.

[0099] (6. Sixth Embodiment) Next, a sixth embodiment of the present invention will be described. In the following description, the same reference numerals will be used for components identical to those in the first embodiment.

[0100] In the door pulling operation process in the first embodiment described above (S15 in Figure 5 and the flowchart shown in Figure 6), information on the tool target position and orientation, expressed in the coordinate system of marker 2c, is acquired, and the tool 60 is hooked onto the edge of door 2.

[0101] In this embodiment, the vicinity of the edge of the door 2 is recognized as a representative point 2d in the coordinate system of the door frame 3, and the tool target position is calculated based on the representative point 2d. For example, a seal provided near the edge of the door 2 can be used as the representative point 2d.

[0102] Figure 18 is a detailed flowchart of the door pulling operation process (S15 in Figure 5) in this embodiment. Figure 19 is a diagram illustrating the process of hooking the tool 60 onto the edge of the door 2, and is shown in correspondence with Figure 4. As is clear from Figure 18, when the door pulling operation process starts, the controller 80 performs a process to calculate the tool target position for hooking the tool 60 onto the edge of the door 2 (S651).

[0103] As shown in Figures 19(a) and (b), the tool target position is a position away from the representative point 2d in the direction away from the edge of the door 2 when viewed vertically. The information of the tool target position relative to the representative point 2d is pre-represented by the user in the coordinate system of the door frame 3 and is stored in a memory unit (not shown). The controller 80 reads and acquires the information of the tool target position relative to the representative point 2d from the memory unit, and calculates the tool target position relative to the moving base 10 based on the acquired tool target position information and the recognized position information of the representative point 2d.

[0104] After the tool target position calculation process (S651), the controller 80 performs a process to acquire information on the tool target orientation for hooking the tool 60 onto the edge of the door 2 (S652). The target orientation information for the tool 60 is pre-represented by the user in the coordinate system of the door frame 3 and is stored in a memory unit (not shown). The controller 80 reads and acquires the tool target orientation information represented in the coordinate system of the door frame 3 from the memory unit.

[0105] After the tool target orientation information acquisition process (S652), the tool 60 is moved and hooked onto the edge of the door 2 (S653), and then the tool 60 is moved in the direction of closing the door 2 (S654). The tool hooking process (S653) and the tool movement process in the closing direction (S654) are almost the same as the processes in the first to fourth embodiments, so their details are omitted.

[0106] In this embodiment, as in the fifth embodiment, impedance control may be used to hook the tool 60 onto the edge of the door 2. That is, instead of calculating the target position of the tool, a tool preparation position for hooking the tool 60 onto the edge of the door 2 may be calculated, the tool 60 may be moved to the calculated tool preparation position, and then the arm 50 may be driven by impedance control to hook the tool 60 onto the edge of the door 2.

[0107] (7. Seventh Embodiment) Next, a seventh embodiment of the present invention will be described. In the following description, components identical to those in the first embodiment will be given the same reference numerals.

[0108] In the first embodiment, as shown in Figure 5, a door pushing operation (S16) is performed after a door pulling operation (S15). The door pulling operation ends when the tool 60 is moved to the endpoint E of the set target trajectory, as shown in Figure 12.

[0109] However, the tool 60 may move away from the edge of the door 2 during the door-pulling operation. When the tool 60 moves away from the edge of the door 2, the door 2 will not rotate even if the tool 60 moves along the target trajectory. In other words, the movement of the tool 60 after it moves away from the edge of the door 2 does not contribute to the rotation of the door 2. Therefore, it is inefficient.

[0110] Therefore, in this embodiment, the controller 80 terminates the door pulling operation process (S15 in Figure 5) and starts the door pushing operation process (S16 in Figure 5) when the tool 60 leaves the edge of the door 2. As a result, the time from when the tool 60 leaves the edge of the door 2 during the door pulling operation to when the door pushing operation begins is shortened. Consequently, the door 2 can be closed efficiently.

[0111] Whether or not the tool 60 has moved away from the edge of the door 2 can be determined based on the external force applied to the tool 60. Specifically, the controller 80 determines that the tool 60 has not moved away from the edge of the door 2 if the external force applied to the tool 60 is greater than or equal to a threshold, and determines that the tool 60 has moved away from the edge of the door 2 if the external force is less than the threshold. For detecting the external force, for example, a force sensor or a torque sensor can be used.

[0112] This embodiment is more suitable when the arm 50 is driven by impedance control to rotate the door 2 in the closing direction, as in the second to fourth embodiments.

[0113] (8. Eighth Embodiment) Next, an eighth embodiment of the present invention will be described. In the following description, the same reference numerals will be used for components identical to those in the first embodiment.

[0114] In the door pushing operation in the first embodiment, as shown in Figure 11, the tip of the arm 50 is brought into contact with the front surface 2a of the door 2 after the door pulling operation, and the door 2 is pushed in the closing direction to close the door 2. However, depending on the size of the opening angle α of the door 2 after the door pulling operation, it may be difficult to bring the tip of the arm 50 into contact with the front surface 2a of the door 2.

[0115] Therefore, in this embodiment, the controller 80 determines whether or not the tip of the arm 50 can be brought into contact with the front surface 2a of the door 2 after the door pulling operation, and if it determines that contact can be made, it starts the door pushing operation process. The operation flow according to this embodiment will be specifically described below with reference to Figure 20.

[0116] Figure 20 is a flowchart of the operation according to this embodiment. As is clear from the figure, after the door pulling operation process (S15), the controller 80 performs a process to determine whether or not the tip of the arm 50 can be brought into contact with the front surface 2a of the door 2 (S817). If the tip of the arm 50 can be brought into contact with the front surface 2a of the door 2 (S817YES), the door pushing operation process (S16) is performed. If the tip of the arm 50 cannot be brought into contact with the front surface 2a of the door 2 (S817NO), the door pulling operation process (S15) is performed again.

[0117] Whether or not the tip of the arm 50 can make contact with the front surface 2a of door 2 is determined based on the trajectory planning of the arm 50. Specifically, the controller 80 first sets a target position for the tip of the arm 50 to push the front surface 2a of door 2. Next, it attempts to plan the trajectory of the arm 50 to move its tip to the target position. If a trajectory can be planned, it is determined that the tip of the arm 50 can make contact with the front surface 2a of door 2; if a trajectory cannot be planned, it is determined that the tip of the arm 50 cannot make contact with the front surface 2a of door 2. A Rapidly Exploring Random Tree (RRT) or the like can be used to plan the trajectory of the arm 50.

[0118] Thus, in this embodiment, if the tip of the arm 50 cannot be brought into contact with the front surface 2a of the door 2, the door pulling operation is performed again. As a result, the opening angle α of the door 2 is reduced until the tip of the arm 50 can be brought into contact with the front surface 2a of the door 2. Therefore, the door 2 can be closed more reliably.

[0119] (9. Ninth Embodiment) Next, a ninth embodiment of the present invention will be described. In the following description, the same reference numerals will be used for components identical to those in the eighth embodiment.

[0120] In the eighth embodiment, it is determined whether the tip of the arm 50 can be brought into contact with the front surface 2a of the door 2 based on the trajectory plan of the arm 50. In this embodiment, it is determined whether the tip of the arm 50 can be brought into contact with the front surface 2a of the door 2 based on the path plan of the movable base 10.

[0121] Specifically, the controller 80 first sets a target position for the tip of the arm 50 to push the front surface 2a of the door 2. Next, it sets a target position for the mobile base 10 at a predetermined distance from the set target position, away from the door 2. Then, it attempts to plan a path for moving the mobile base 10 to its target position. If a path can be planned, it determines that the mobile base 10 can be moved and the tip of the arm 50 can make contact with the front surface 2a of the door 2. If a trajectory cannot be planned, it determines that the tip of the arm 50 cannot make contact with the front surface 2a of the door 2. For planning the path of the mobile base 10, Dijkstra's algorithm or the like can be used based on the environment map and the self-position information on the map.

[0122] In this embodiment as well, similar to the eighth embodiment, if the tip of the arm 50 cannot be brought into contact with the front surface 2a of the door 2, the door pulling operation is performed again. As a result, the opening angle α of the door 2 is reduced until the tip of the arm 50 can be brought into contact with the front surface 2a of the door 2. Therefore, the door 2 can be closed more reliably.

[0123] (10. Variant) This invention can be implemented with various modifications.

[0124] (10.1 Variations of tool attachment locations) In the above embodiment, the tool 60 is hooked onto the edge of the door 2, but the location where the tool 60 is hooked is not limited to the edge of the door 2. For example, as shown in Figure 21, if the door 2 has a doorknob 2e, the tool 60 may be hooked onto the doorknob 2e.

[0125] Figure 21 shows the tool 60 hooked onto the doorknob 2e of door 2, and corresponds to Figure 4. As shown in Figure 21, the tool 60 is hooked onto the doorknob 2e from the rotation axis AD side. Even in this case, the door can be pulled, and the opening angle α of door 2 can be reduced.

[0126] When the tool 60 is hooked onto the doorknob 2e of the door 2, and the arm 50 is driven by impedance control as in the third embodiment, a force F is applied from the tool 60 to the door 2 in a direction away from the rotation axis AD of the door 2, so that the tool 60 is pressed against the doorknob 2e of the door 2 even when the door 2 rotates. Therefore, the tool 60 can be moved along the trajectory of the edge of the door 2 for a longer distance without having to precisely set the target trajectory of the tool 60, and the opening angle α of the door 2 can be easily reduced.

[0127] The tool 60 is not limited to being hooked onto the edge of the door 2 or the doorknob 2e; it may also be hooked onto the area near the center of the front surface 2a of the door 2 or onto a protrusion on the door 2, etc. In other words, the tool 60 only needs to be able to be hooked onto the door 2.

[0128] (10.2 Variations of the tool) The tool 60 is not limited to a form that can be hooked onto the door 2. A gripper or hand may be used as the tool 60 to grasp the edge of the door 2 or the doorknob 2e and hold the door 2. Alternatively, a magnet or electromagnet may be used as the tool 60 to hold the door 2 by magnetic force. A nozzle connected to a vacuum generator may be used as the tool 60 to hold the door 2 by vacuum attraction.

[0129] Although embodiments of the present invention have been described above, these embodiments represent only a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments. Furthermore, the above embodiments can be combined as appropriate, as long as no contradictions arise. [Industrial applicability]

[0130] This invention is applicable at least in industries that manufacture robots and the like. [Explanation of Symbols]

[0131] 100 robots 2 doors 2a Front side 2b Reverse side 10 Moving base 11 Mobile cart 12 Legs 13 Torso 40 head 41 Image generation means 50 Arm 51 First joint 52. First Link Section 53 Second joint 54 Second Link Section 55 Third joint 60 Tools 61 Corner 71. Trolley drive mechanism 73. Fuselage drive mechanism 74 Head drive means 75 Arm drive mechanism 76 Tool driving means 80 Controllers 81. Surrounding Environment Recognition Unit 82 Operation Determination Unit 83 Signal Output Section AD Door rotation axis F force α opening angle

Claims

1. Mobile base and, An arm extending from the aforementioned mobile base and driven to change its posture, A tool provided at the tip of the aforementioned arm, which can be hooked onto or used to hold a door, The system includes a controller for controlling the movement of the mobile base and the arm, The door has a front surface that faces the movable base when closed, and a back surface on its rear side. The aforementioned controller, With the movable base positioned on the back side of the open door, the movable base and / or the arm are driven to hook the tool onto the door or cause the tool to hold the door. The moving base and / or the arm are driven to move the tool that is hooked onto the door or holding the door in the direction of closing the door. When moving the tool in the direction of closing the door, the arm is driven by impedance control, which sets a virtual mechanical impedance between the tool and the door and controls the position of the tool and the force applied from the tool to the door. In the impedance control described above, the robot drives the arm to press the tool against the door in a radial direction centered on the rotation axis of the door.

2. The controller acquires information about the surrounding environment, recognizes the position and orientation of the door based on the acquired information, and drives the mobile base and / or the arm based on the recognized position and orientation of the door to hook the tool onto the door or cause the tool to hold the door. The robot according to claim 1.

3. The controller acquires information about the surrounding environment, recognizes the position of the door based on the acquired information, and drives the mobile base and / or the arm based on the recognized position of the door and a predetermined orientation of the tool to hook the tool onto the door or cause the tool to hold the door. The robot according to claim 1 or 2.

4. When the controller moves the tool in the direction of closing the door, it moves the moving base. The robot according to any one of claims 1 to 3.

5. A method for controlling a robot comprising a mobile base, an arm extending from the mobile base and driven to change its orientation, and a tool provided at the tip of the arm for hooking onto or holding a door, The door has a front surface that faces the movable base when closed, and a back surface on its rear side. The control method is, With the movable base positioned on the back side of the open door, the steps of driving the movable base and / or the arm to hook the tool onto the door or to cause the tool to hold the door, The steps include: driving the movable base and / or the arm to move the tool that is hooked onto the door or holding the door in the direction of closing the door; When moving the tool in the direction of closing the door, the arm is driven by impedance control, which sets a virtual mechanical impedance between the tool and the door and controls the position of the tool and the force applied from the tool to the door. The impedance control includes the step of driving the arm to press the tool against the door in a radial direction centered on the rotation axis of the door, Equipped with, a control method.

6. A control program for a robot comprising a mobile base, an arm extending from the mobile base and driven to change its orientation, and a tool provided at the tip of the arm that hooks onto or holds a door, The door has a front surface that faces the movable base when closed, and a back surface on its rear side. The control program is With the movable base positioned on the back side of the open door, the steps of driving the movable base and / or the arm to hook the tool onto the door or to cause the tool to hold the door, The steps include: driving the movable base and / or the arm to move the tool that is hooked onto the door or holding the door in the direction of closing the door; When moving the tool in the direction of closing the door, the arm is driven by impedance control, which sets a virtual mechanical impedance between the tool and the door and controls the position of the tool and the force applied from the tool to the door. The impedance control includes the step of driving the arm to press the tool against the door in a radial direction centered on the rotation axis of the door, A control program equipped with [a specific feature / feature].

7. Mobile base and, An arm extending from the aforementioned mobile base and driven to change its posture, A tool provided at the tip of the aforementioned arm, which can be hooked onto or used to hold a door, The system includes a controller for controlling the movement of the mobile base and the arm, The door has a front surface that faces the movable base when closed, and a back surface on its rear side. The aforementioned controller, With the movable base positioned on the back side of the open door, the movable base and / or the arm are driven to hook the tool onto the door or cause the tool to hold the door. The moving base and / or the arm are driven to move the tool that is hooked onto the door or holding the door in the direction of closing the door. When moving the tool in the direction of closing the door, the arm is driven by impedance control, which sets a virtual mechanical impedance between the tool and the door and controls the position of the tool and the force applied from the tool to the door. In the impedance control described above, the target trajectory of the tool is set to pass on the side of the door's rotation axis that is closer to the tool than the tool itself. robot.

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