Bending and rotation mechanism

Abstract

The present disclosure relates to a bending and rotation mechanism that enables control of bending operations accompanied by rotational operations. The mechanism includes a bending and rotation object the can be subjected to bending operations and rotational operations, and a string-like object contacting the bending and rotation object at a first contact point and second contact point of the bending and rotation object. A straight line connecting the first contact point and the second contact point is on a skew line relative to the axis of the bending and rotation object. The bending state and rotation state of the bending and rotation object are controlled on the basis of the length of the string-like object between the first contact point and the second contact point. The present disclosure can be applied, for example, to a bending and rotation mechanism, an information processing device, an electronic apparatus, or an information processing method.

Description

Bending / extending / rotating mechanism

[0001] The present disclosure relates to a bending / extension / rotation mechanism, and more particularly to a bending / extension / rotation mechanism that is capable of controlling bending / extension movements accompanied by rotation movements.

[0002] In recent years, there has been an increasing demand for more faithful reproduction of the flexible movements of animals. For example, various methods have been devised for controlling the movements and postures of pet-type robots. For example, a method has been proposed in which an elastic core member is bent using a wire (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2003-117859

[0004] However, with this method, only simple bending movements can be controlled, and the degree of freedom of movement for the robot is insufficient, which can lead to unnatural movements.

[0005] The present disclosure has been made in view of such circumstances, and makes it possible to control bending and stretching movements accompanied by rotational movements.

[0006] A bending / extending / rotating mechanism according to one aspect of the present technology includes a bending / extending object capable of bending / extending and rotating, and a string-like object that contacts the bending / extending object at a first contact point and a second contact point of the bending / extending object, wherein a straight line connecting the first contact point and the second contact point is in a twisted position with respect to the axis of the bending / extending object, and the bending / extending object is a bending / extending / rotating mechanism whose bending state and rotation state are controlled by the length of the string-like object between the first contact point and the second contact point.

[0007] A bending / extending / rotating mechanism according to one aspect of the present technology includes a bending / extending object capable of bending / extending and rotating, and a string-like object in contact with the bending / extending object at a first contact point and a second contact point of the bending / extending object. A straight line connecting the first contact point and the second contact point is in a twisted position with respect to an axis of the bending / extending object. The bending state and rotation state of the bending / extending object are controlled by the length of the string-like object between the first contact point and the second contact point.

[0008] 1 is a diagram illustrating an example of a multi-joint structure; FIG. 2 is a diagram illustrating an example of a bending motion by a multi-joint structure; FIG. 3 is a diagram illustrating an example of a bending / extension / rotation mechanism; FIG. 4 is a diagram illustrating an example of a bending motion by a bending / extension / rotation mechanism; FIG. 5 is a diagram illustrating an example of a joint structure; FIG. 6 is a diagram illustrating an example of a multi-joint structure; FIG. 7 is a diagram illustrating an example of a robot to which a bending / extension / rotation mechanism is applied; FIG. 8 is a diagram illustrating an example of an arrangement of string-like objects; FIG. 9 is a diagram illustrating an example of an arrangement of string-like objects; FIG. 10 is a diagram illustrating an example of a joint; FIG. 11 is a diagram illustrating an example of a link; FIG. 12 is a diagram illustrating an example of an elastic body; FIG. 13 is a diagram illustrating an example of an arrangement of elastic bodies; FIG. 14 is a diagram illustrating an example of bending control by elastic bodies.

[0009] Hereinafter, modes for carrying out the present disclosure (hereinafter referred to as embodiments) will be described. The description will be made in the following order: 1. Literature supporting technical content and technical terms 2. Bending and stretching motion control 3. Bending and stretching rotation mechanism 4. Supplementary notes

[0010] <1. Literature, etc. supporting technical content and technical terminology> The scope of what is disclosed in the present technology includes not only the content described in the embodiments, but also the content described in the following patent documents, etc. that were publicly known at the time of filing, and the content of other documents referenced in the following patent documents.

[0011] Patent Document 1: (mentioned above)

[0012] In other words, the contents of the above-mentioned patent documents and the contents of other documents referenced in the above-mentioned patent documents are also used as the basis for determining the support requirements.

[0013] <2. Control of bending and stretching movements> <Bending and stretching movements by multi-joint structure> In recent years, there has been an increasing demand for more faithful reproduction of the flexible movements of animals. For example, various methods have been devised for controlling the movements and postures of pet-type robots and the like. For example, Patent Document 1 proposes a method of bending an elastic core member using a wire.

[0014] However, with this method, only simple bending movements can be controlled, and the degree of freedom of movement for the robot is insufficient, which can lead to unnatural movements.

[0015] A more specific explanation will be given. In the multi-joint structure 10 shown in FIG. 1A, links 11-1 to 11-4 are movably connected to one another via joints 12-1 to 12-4. When it is not necessary to distinguish between links 11-1 to 11-4, they are also referred to as links 11. When it is not necessary to distinguish between joints 12-1 to 12-4, they are also referred to as joints 12. The joints 12 function as articulations of the links 11. While remaining connected to adjacent links 11 via the joints 12, the links 11 can change the relative position of the adjacent links 11. By changing the relative position of each link 11 in this manner, the entire multi-joint structure 10 can perform a bending motion, as shown in FIG. 1B, or, conversely, an extension motion. In this specification, the bending motion and the extension motion are also collectively referred to as bending and extension motions.

[0016] The axis 15 of the multi-joint structure 10 indicates the portion where each link 11 is connected via this joint 12. In other words, this axis 15 indicates the portion that moves as the multi-joint structure 10 as a whole. The bending movement of this multi-joint structure 10 is controlled by a wire 14. Guides 13-1 to 13-4 are provided on links 11-1 to 11-4, respectively. When it is not necessary to distinguish between guides 13-1 to 13-4, they will also be referred to as guides 13. The wire 14 contacts each link 11 at this guide 13.

[0017] When the wire 14 is pulled as indicated by arrows 16A and 16B in Fig. 1B, the wire 14 causes the distance between the guides 13-1 to 13-4 to decrease. As a result, the axis 15 of the multi-joint structure 10 bends as indicated by arrows 17A and 17B in Fig. 1B, as indicated by axis 15'. In other words, a bending motion is achieved by the entire multi-joint structure 10.

[0018] In this example, the axis 15 and the wire 14 are installed parallel to each other and are located on a plane corresponding to the plane of the paper. Therefore, when the articulated structure 10 is bent as described above, the guide 13 moves on this plane. In other words, the posture of each link 11 changes on this plane, and the articulated structure 10 (axis 15) bends on this plane. In other words, the range of motion of the axis 15 is limited to the plane represented by the plane of the paper, and the articulated structure 10 can only perform simple bending and stretching movements by controlling the wire 14.

[0019] For example, as shown in FIG. 2A, if such an articulated structure 10 is applied to the spine of a pet robot 20 and the above-described bending motion is performed, only simple bending of the spine can be achieved, as indicated by arrows 21A and 21B in FIG. 2B. As a result, the robot may simply hunch its back in the standing position shown in FIG. 2A, resulting in unnatural movements and postures for the pet robot, such as lying down curled up. Thus, conventional bending and stretching control methods can only achieve simple bending and stretching motions, resulting in a low degree of freedom of movement and a risk of reducing the realism of the movements and postures. This may result in a lower quality of user experience provided by the pet robot.

[0020] 3. Bending, Stretching, and Rotation Mechanism The path of the wire is therefore twisted relative to the axis, which makes it possible to control bending and stretching movements accompanied by rotational movements.

[0021] For example, a bending / extending / rotating mechanism that performs bending / extending and rotating movements may include a bending / extending object capable of bending / extending and rotating movements, and a string-like object that contacts the bending / extending object at a first contact point and a second contact point of the bending / extending object. A line connecting the first contact point and the second contact point may be twisted relative to the axis of the bending / extending object. The bending and rotating states of the bending / extending object may be controlled by the length of the string-like object between the first contact point and the second contact point.

[0022] The bending / extension / rotation mechanism 100 shown in Fig. 3 is a mechanism that performs bending and extension movements accompanied by rotation movements. As shown in Fig. 3A, this bending / extension / rotation mechanism 100 has a bending / extension object 101 that is capable of bending and extension movements accompanied by rotation movements. In other words, the bending / extension object 101 can perform bending and extension movements and rotation movements. An axis 110 of this bending / extension object 101 is formed in the longitudinal direction of the bending / extension object 101.

[0023] The bending and rotating object 101 is provided with guides 103A and 103B that set the path of the string-like object 102. In other words, the string-like object 102 is arranged to pass through these guides 103A and 103B. These guides 103A and 103B may have any shape or configuration. At least the string-like object 102 is configured to come into contact with the bending and rotating mechanism 100 at these guides 103A and 103B. In other words, the guides 103A and 103B can also be considered as contact points (first and second contact points) between the bending and rotating object 101 and the string-like object 102. Note that when there is no need to distinguish between the guides 103A and 103B, they will also be referred to as guides 103.

[0024] As shown in Fig. 3A, the relative positions of guide 103A and guide 103B are not parallel to axis 110 of flexibly rotating object 101. In other words, the straight line connecting guide 103A and guide 103B (in other words, the path of string-like object 102 between guide 103A and guide 103B) does not exist on the same plane as axis 110. In other words, this straight line (the line connecting the first tangential point and the second tangential point) is twisted with respect to axis 110. In other words, as shown in Fig. 3A, string-like object 102 (guide 103B) passes through the front side of flexibly rotating object 101 in the drawing, and is not located on the plane corresponding to the plane of the paper.

[0025] Therefore, when the string-like object 102 is pulled as shown by arrows 121A and 121B in FIG. 3B, the string-like object 102 shortens the distance between the guides 103A and 103B, and the bending and stretching object 101 bends as shown by arrows 122A and 122B in FIG. 3B.

[0026] At this time, because the relative positions of guide 103A and guide 103B are in a twisted position with respect to axis 110, the flexibly rotated object 101 further rotates as indicated by arrow 123. That is, the flexibly rotated object 101 twists around axis 110. In other words, the bending and rotating states of the flexibly rotated object 101 are controlled by the length of the string-like object 102 between guide 103A and guide 103B (i.e., between the first contact point and the second contact point). In other words, the extension and rotating states of the flexibly rotated object 101 are controlled by the length of the string-like object 102 between guide 103A and guide 103B (i.e., between the first contact point and the second contact point). In other words, at least one of the bending motion accompanied by a rotational motion and the extension motion accompanied by a rotational motion of the bending-extending rotational object 101 is controlled by the length of the string-like object 102 between the guide 103A and the guide 103B (i.e., between the first contact point and the second contact point).

[0027] In this way, the bending / extension / rotation mechanism 100 can cause the bending / extension / rotation object 101 to perform bending and stretching movements accompanied by rotational movements using the string-like object 102. Therefore, the bending / extension / rotation mechanism 100 can realize more complex movements and postures than simple bending and stretching movements.

[0028] For example, as shown in FIG. 4A , when such a bending / extension / rotation mechanism 100 is applied to the spine of a pet robot 130 and the pet robot 130 performs bending and extension movements accompanied by the rotational movements described above, not only bending movements as indicated by arrows 122A and 122B in FIG. 4B but also rotation movements as indicated by arrow 123 are performed. Therefore, as shown in FIG. 4B , the angle between the buttocks and head can be changed, allowing the pet robot to express more natural movements and postures, such as curling up and lying down. In this way, by applying the present technology, it is possible to prevent a reduction in the degree of freedom of movement, prevent unnatural movements and postures, and prevent a reduction in the realism of movements and postures. This makes it possible to prevent a reduction in the quality of the user experience provided by the pet robot 130.

[0029] As shown in A of Fig. 3, a winding mechanism (servo motor) 104 for winding up the string-like object 102 may be provided. This winding mechanism 104 winds up the string-like object 102, thereby controlling the length of the string-like object 102 between guide 103A and guide 103B (i.e., between the first contact point and the second contact point). In other words, this winding mechanism 104 can also be considered a control unit for controlling the length of the string-like object 102. This control unit may have any structure other than the winding mechanism 104 as long as it can control the length of the string-like object 102 between guide 103A and guide 103B.

[0030] <Bending and Stretching Object> The bending and stretching object 101 may have any structure as long as it can perform bending and stretching movements accompanied by rotation. For example, the bending and stretching object 101 may be an articulated structure having a first link on which a first contact point is formed and a second link connected to the first link via a joint and on which a second contact point is formed. For example, as shown in FIG. 5 , an articulated structure 150 may be applied as the bending and stretching object 101. This articulated structure 150 has links 151-1 and 151-2, and a joint 152. Links 151-1 and 151-2 are movably connected via joint 152. A guide 153-1 is formed on link 151-1, and a guide 153-2 is formed on link 151-2. A string-like object 154 is arranged to pass through these guides 153-1 and 153-2. That is, the string-like object 154 is in contact with the link 151-1 at the guide 153-1, and is in contact with the link 151-2 at the guide 153-2.

[0031] The guides 153-1 and 153-2 may have any shape or configuration. At least the string-like object 154 is configured to contact the link 151-1 at the guide 153-1 and to contact the link 151-2 at the guide 153-2. That is, the guide 153-1 can also be considered a contact point (first contact point) between the link 151-1 and the string-like object 154. The guide 153-2 can also be considered a contact point (second contact point) between the link 151-2 and the string-like object 154. In other words, the guides 153-1 and 153-2 can also be considered contact points (first contact point and second contact point) between the joint structure 150 and the string-like object 154. When it is not necessary to distinguish between the links 151-1 and 151-2, they will also be referred to as links 151. When there is no need to distinguish between the guide 153-1 and the guide 153-2, they will also be referred to as guide 153.

[0032] As shown in Figure 5, the relative positions of guide 153-1 and guide 153-2 are twisted with respect to axis 160 of joint structure 150, so when string-like object 154 is pulled left or right, joint structure 150 (link 151) performs a bending and stretching movement accompanied by a rotational movement, as in the case of Figure 3.

[0033] Therefore, even when the joint structure 150 is applied as the bending and extending rotation object 101 as shown in Figure 5, the bending and extending rotation mechanism 100 can cause the joint structure 150 to perform bending and extending movements accompanied by rotation movements using the string-like object 154, as in the case of Figure 3. In other words, the bending and extending rotation mechanism 100 can control bending and extending movements accompanied by rotation movements by the joint structure 150. Therefore, the bending and extending rotation mechanism 100 can achieve more complex movements and postures than simple bending and extending movements. Therefore, by applying the bending and extending rotation mechanism 100 in this case as the spine of the pet-type robot 130 and causing it to perform bending and extending movements accompanied by rotation movements as described above, it is possible to obtain the same effects as in the example of Figure 3.

[0034] Note that a multi-joint structure having a plurality of joints as shown in Fig. 6 may be applied as this bending and stretching rotation object 101. For example, as shown in Fig. 6A, a multi-joint structure 170 having three or more links including a first link and a second link and two or more joints may be applied.

[0035] The articulated structure 170 has links 171-1 to 171-4 and joints 172-1 to 172-3. Links 171-1 and 171-2 are movably connected via joint 172-1. Links 171-2 and 171-3 are movably connected via joint 172-2. Links 171-3 and 171-4 are movably connected via joint 172-3. A guide 173-1 is formed on link 171-1, a guide 173-2 is formed on link 171-2, a guide 173-3 is formed on link 171-3, and a guide 173-4 is formed on link 171-4. The string-like object 174 is arranged to pass through these guides 173-1 to 173-4. That is, the string-like object 174 is in contact with the link 171-1 at the guide 173-1, in contact with the link 171-2 at the guide 173-2, in contact with the link 171-3 at the guide 173-3, and in contact with the link 171-4 at the guide 173-4.

[0036] These guides 173-1 to 173-4 may have any shape or configuration. They are configured so that at least the string-like object 174 contacts the link 171-1 at the guide 173-1, the link 171-2 at the guide 173-2, the link 171-3 at the guide 173-3, and the link 171-4 at the guide 173-4. That is, the guide 173-1 can also be said to be a contact point between the link 171-1 and the string-like object 174. The guide 173-2 can also be said to be a contact point between the link 171-2 and the string-like object 174. The guide 173-3 can also be said to be a contact point between the link 171-3 and the string-like object 174. The guide 173-4 can also be said to be a contact point between the link 171-4 and the string-like object 174. In other words, the guides 173-1 to 173-4 can be said to be contact points between the articulated structure 170 and the string-like object 174. When it is not necessary to distinguish between the links 171-1 to 171-4, they will also be referred to as links 171. When it is not necessary to distinguish between the joints 172-1 to 172-3, they will also be referred to as joints 172. When it is not necessary to distinguish between the guides 173-1 to 173-4, they will also be referred to as guides 173.

[0037] As shown in A of Figure 6, the relative positions of guides 173-1 to 173-4 are twisted with respect to the axis 160 of the multi-joint structure 170, so when the string-like object 174 is pulled left or right, the multi-joint structure 170 (link 171) performs a bending and stretching movement accompanied by a rotational movement, as in the case of Figure 3.

[0038] Therefore, even when a multi-joint structure 170 is used as the bending and stretching object 101 as shown in A of Fig. 6, the bending and stretching mechanism 100 can cause the multi-joint structure 170 to perform bending and stretching movements accompanied by rotational movements, using the string-like object 174, as in the case of Fig. 3. In other words, the bending and stretching mechanism 100 can control bending and stretching movements accompanied by rotational movements by the multi-joint structure 170. Therefore, the bending and stretching mechanism 100 can achieve more complex movements and postures than simple bending and stretching movements. Therefore, by applying the bending and stretching mechanism 100 in this case as the spine of the pet-type robot 130 and causing it to perform bending and stretching movements accompanied by rotational movements as described above, it is possible to obtain the same effects as in the example of Fig. 3.

[0039] Also, as shown in FIG. 6B, the bending and stretching rotation object 101 may be a multi-joint structure 180 having a first link where a first contact point is formed and a second link where a second contact point is formed, and further having one or more links and two or more joints between the first link and the second link.

[0040] The articulated structure 180 has links 181-1 to 181-4 and joints 182-1 to 182-3. Links 181-1 and 181-2 are movably connected via joint 182-1. Links 181-2 and 181-3 are movably connected via joint 182-2. Links 181-3 and 181-4 are movably connected via joint 182-3. A guide 183-1 is formed on link 181-1, and a guide 183-4 is formed on link 181-4. A string-like object 184 is arranged to pass through these guides 183-1 and 183-4. In other words, the string-like object 184 is in contact with link 181-1 at guide 183-1, and in contact with link 181-2 at guide 183-4.

[0041] The guides 183-1 and 183-4 may have any shape or configuration. At least the string-like object 184 is configured to contact the link 181-1 at the guide 183-1 and to contact the link 181-4 at the guide 183-4. In other words, the guide 183-1 can be said to be a contact point between the link 181-1 and the string-like object 184. The guide 183-4 can be said to be a contact point between the link 181-4 and the string-like object 184. In other words, the guides 183-1 and 183-4 can be said to be contact points between the multi-joint structure 180 and the string-like object 184. When it is not necessary to distinguish between the links 181-1 to 181-4, they will also be referred to as links 181. When it is not necessary to distinguish between the joints 182-1 to 182-3, they will also be referred to as joints 182. When there is no need to distinguish between the guide 183-1 and the guide 183-4, they will also be referred to as the guide 183.

[0042] As shown in B of Figure 6, the relative positions of guide 183-1 and guide 183-4 are twisted with respect to axis 160 of multi-joint structure 180, so when string-like object 184 is pulled left or right, multi-joint structure 180 (link 181) performs a bending and stretching movement accompanied by a rotational movement, as in the case of Figure 3.

[0043] Therefore, even when a multi-joint structure 180 is used as the bending and stretching object 101 as shown in B of Fig. 6, the bending and stretching mechanism 100 can cause the multi-joint structure 180 to perform bending and stretching movements accompanied by rotational movements, using the string-like object 184, as in the case of Fig. 3. In other words, the bending and stretching mechanism 100 can control bending and stretching movements accompanied by rotational movements by the multi-joint structure 180. Therefore, the bending and stretching mechanism 100 can achieve more complex movements and postures than simple bending and stretching movements. Therefore, by applying the bending and stretching mechanism 100 in this case as the spine of the pet-type robot 130 and causing it to perform bending and stretching movements accompanied by rotational movements as described above, it is possible to obtain the same effects as in the example of Fig. 3.

[0044] As the bending, stretching and rotating object 101, a deformable object that performs bending and stretching motions and rotation motions by deformation may be applied, as in the example of FIG.

[0045] When such a bending and rotation mechanism 100 is applied to a pet robot 130, the bending and rotation mechanism 100 may be applied in any manner. For example, as shown in the example of FIG. 7 , a bending and rotation mechanism 100-1 (bending and rotation object 101) may be formed as the cervical vertebrae of a robot (e.g., the pet robot 130). In this way, bending and extension movements accompanied by rotation movements can be controlled as movements of the robot's cervical vertebrae (neck). Also, as shown in the example of FIG. 7 , a bending and rotation mechanism 100-2 (bending and rotation object 101) may be formed as the spine of a robot (e.g., the pet robot 130). In this way, bending and extension movements accompanied by rotation movements can be controlled as movements of the robot's spine (torso). Also, as shown in the example of FIG. 7 , bending and rotation mechanisms 100-3 to 100-6 (bending and rotation object 101) may be formed as skeletons of the limbs of a robot (e.g., the pet robot 130). In this way, bending and stretching movements accompanied by rotational movements can be controlled as movements of the limbs (skeleton) of the robot. Also, as in the example shown in FIG. 7 , a bending and rotation mechanism 100-7 (bending and rotational object 101) may be formed as the caudal vertebrae of a robot (e.g., a pet-type robot 130). In this way, bending and stretching movements accompanied by rotational movements can be controlled as movements of the caudal vertebrae (tail) of the robot. In other words, the present technology can be applied to various parts of a robot, and the same effects as in the example of FIG. 3 can be obtained.

[0046] Of course, these are merely examples, and the scope of application of the present technology is not limited to these examples. For example, the bending and rotation mechanism 100 (bending and rotation object 101) may be applied to other parts of a robot. For example, the bending and rotation mechanism 100 (bending and rotation object 101) may be applied to the face of a robot (e.g., eyelids, eyes, eyelashes, cheeks, nose, mouth, etc.).

[0047] Furthermore, the bending / extension / rotation mechanism 100 may be applied to multiple locations on the robot. In other words, the bending / extension / rotation mechanism 100 may have multiple bending / extension / rotation objects 101. For example, the bending / extension / rotation mechanism 100 (bending / extension / rotation objects 101) may be applied to two or more of the cervical vertebrae, spine, limb skeletons, and coccygeal vertebrae of the robot described above. In this case, each bending / extension / rotation mechanism 100 (bending / extension / rotation object 101) may be controlled independently of the others. This can further increase the degree of freedom of movement of the robot, allowing it to express a wider variety of movements.

[0048] <Contact Points> In the bending / extending / rotating mechanism 100, there only need to be at least two contact points between the bending / extending / rotating object and the string-like object, as in the examples of Fig. 3, Fig. 5, and Fig. 6B. There may also be three or more contact points, as in the example of Fig. 6A. It is only necessary that the line connecting at least one pair of contact points is in a twisted position with respect to the axis.

[0049] <String-like object> The string-like object may be made of any material. For example, it may be made of nylon or metal. By making the string-like object out of nylon, it is possible to reduce the weight of the string-like object. Furthermore, by making the string-like object out of metal, it is possible to ensure the strength of the string-like object.

[0050] Furthermore, the number of string-like objects provided in the bending / extending / rotating mechanism 100 may be any number. For example, it may be one, or multiple (two or more) string-like objects. In other words, the bending / extending / rotating mechanism 100 may have two or more string-like objects that are in contact with the same bending / extending / rotating object. For example, as shown in A of FIG. 8, string-like objects 174-1 and 174-2, which have different paths, may be provided for an articulated structure 170 having links 171-1 to 171-3 (joints are not shown). In this case, it is desirable to arrange the string-like objects so that their paths do not interfere with each other.

[0051] In this way, for example, the string-like object can control both bending and stretching movements accompanied by rotational movements. Furthermore, the string-like object can also control bending and stretching movements accompanied by rotational movements in multiple directions (e.g., up and down, left and right, etc.). In other words, by increasing the number of string-like objects, the degree of freedom of movement and posture can be improved.

[0052] For example, as shown in FIG. 8B, string-like objects 174-1 to 174-4 may be provided on a multi-joint structure 170 having links 171-1 to 171-3 (joints are not shown). Two of the string-like objects 174 may be used to control bending movements, and the other two string-like objects 174 may be used to control extension movements. That is, a first string-like object and a second string-like object may be connected to the same bending and rotation object and control bending movements accompanied by rotation of the bending and rotation object, while a third string-like object and a fourth string-like object may be used to control extension movements accompanied by rotation of the bending and rotation object. This allows both bending and extension movements accompanied by rotation to be performed in multiple directions. This further increases the degree of freedom of movement and posture. Multiple string-like objects 154 may be provided not only in the multi-joint structure 170 but also in the joint structure 150 with a single joint.

[0053] For example, when the bending / extension / rotation mechanism 100 is applied to drive a pet robot, two string-like objects may be attached to each of the cervical vertebrae (neck) and the spine (back), as shown in FIG. 9A. Alternatively, one string-like object may be added to the upper back, as shown in FIG. 9B. This allows the robot to arch its back. Furthermore, by using four wires to drive the back, all of the following movements can be realized: bending, extension, and twisting. Furthermore, by adding one string-like object to the front of the neck, as shown in FIG. 10A, nodding and looking down can be achieved. Furthermore, by using four string-like objects to drive the neck, all of the following movements can be realized: bending, extension, and twisting. Furthermore, by using two wires to the tail (coccyx), as shown in FIG. 10B, left / right and up / down bending can be achieved.

[0054] Furthermore, a single string-like object may be used to control a plurality of bending and rotating objects 101 that are independent of one another. That is, the bending and rotating mechanism 100 may have a string-like object that is in contact with a plurality of bending and rotating objects 101. For example, when the bending and rotating mechanism 100 is applied to a pet-type robot, the movements of two or more bending and rotating objects 101 of the neck, back, limbs, and tail may be controlled by a single string-like object. In this way, it is possible to more easily achieve coordinated movements of a plurality of parts.

[0055] <Joint> When an articulated structure is used as a bending / extending object, any type of joint may be used as long as it can achieve bending and extension movements accompanied by rotation. For example, as shown in FIG. 11A, a ball joint 201, which is a spherical joint and has degrees of freedom in multiple directions, may be used. In other words, the bending / extending object may be an articulated structure having two or more links and one or more ball joints. Furthermore, as shown in FIG. 11B, a universal joint 202 with three degrees of freedom, which combines a rotary bearing with a universal joint, may be used. In other words, the bending / extending object may be an articulated structure having two or more links and one or more universal joints with three degrees of freedom. Note that, in order to simultaneously achieve drive in the twisting direction, an articulated structure without a core material is desirable.

[0056] <Links> When an articulated structure is used as the bending and extending rotation object, the shape of the link may be any. For example, the bending and extending rotation object may be an articulated structure having a first link and a second link in a ring shape and one or more joints. The first link may be connected to another link via a joint at a first position on the ring shape and have a first contact point at a second position on the ring shape that is different from the first position. The second link may be connected to another link via a joint at the first position on the ring shape and have a second contact point at a third position on the ring shape that is different from the first and second positions.

[0057] For example, as shown in A of Fig. 12, link 151-1 may have a ring shape, and a joint may be formed at a first position 211-1 of the ring shape. Furthermore, a contact point (black dot) with which string-like object 154 comes into contact may be provided at a second position of the ring shape. Similarly, link 151-2 may have a ring shape, and a joint may be formed at a first position 211-2 of the ring shape. Furthermore, a contact point (black dot) with which string-like object 154 comes into contact may be provided at a third position of the ring shape. With this configuration, bending and stretching movements accompanied by rotational movements can be controlled, as in the case of Fig. 3.

[0058] The bending and stretching object may be an articulated structure having one or more joints and first and second links each having a protrusion extending in a direction different from the direction in which the first link is connected to other links via a joint. The first link may have a first contact point at the tip of the protrusion. The second link may have a second contact point at the tip of the protrusion.

[0059] For example, as shown in FIG. 12B, link 151-1 may have a protrusion 221-1, with a contact point (black dot) at its tip where string-like object 154 comes into contact. Similarly, link 151-2 may have a protrusion 221-2, with a contact point (black dot) at its tip where string-like object 154 comes into contact. By making the relative orientation of protrusion 221-1 and protrusion 221-2 non-parallel to the axis, it is possible to control bending and stretching movements accompanied by rotational movements, as in the case of FIG. 3. Furthermore, in this case, by ensuring a sufficient distance between the joint portion and the contact point, it is possible to further increase the degree of freedom of controllable movement (particularly rotational movements). For example, it is possible to twist more greatly.

[0060] The bending and rotation object is an articulated structure having a first link and a second link connected to each other via a joint, and the joint, and for example, as shown in C of Fig. 12, when the bending and rotation object is in the maximum bending state, the first link (link 151-1) and the second link (link 151-2) may interfere with each other. In other words, this interference between the first link and the second link may limit unnecessary range of motion.

[0061] <Control by Elastic Body> Furthermore, when an articulated structure is used as the bending and stretching object, an elastic body may be provided between the links. For example, the bending and stretching object may be an articulated structure having a first link and a second link connected to each other via a joint, and the joint, and may further include an elastic body whose both ends are connected to a first connecting portion provided on the first link and a second connecting portion provided on the second link.

[0062] In this way, by providing an elastic body between the links, it is possible to control the tension between the two links. For example, bending and extension movements can be controlled by this tension.

[0063] This elastic body may be of any type. For example, the elastic body may be a coil spring. Alternatively, the elastic body may be rubber. For example, as shown in FIG. 13A, in the joint structure 150, a convex portion 231-1 may be provided on the link 151-1, a convex portion 231-2 may be provided on the link 151-2, and a coil spring 232, which is an elastic body, may be provided between the convex portions 231-1 and 231-2. In other words, both ends of the coil spring 232 are connected to the convex portions 231-1 and 231-2. In other words, the convex portion 231-1 can also be considered a connection portion (first connection portion) that connects the coil spring 232 and the link 151-1. Furthermore, the convex portion 231-2 can also be considered a connection portion (second connection portion) that connects the coil spring 232 and the link 151-2.

[0064] 13B, in the multi-joint structure 170, each link 171 may be provided with a convex portion 231, and a coil spring 232 may be provided between each link 171. That is, in the multi-joint structure 170 shown in FIG. 13B, convex portions 231-1 to 231-4 may be provided on links 171-1 to 171-4, and a coil spring 232-1 having convex portions 231-1 and 231-2 at both ends, a coil spring 232-2 having convex portions 231-2 and 231-3 at both ends, and a coil spring 232-3 having convex portions 231-3 and 231-4 at both ends may be provided. Also, convex portions 231 may be provided on only some of the links 171. For example, in the multi-joint structure 170 shown in B of Fig. 13, convex portions 231-1 and 231-4 and a coil spring 232 having these as both ends may be provided. Also, the coil spring 232 may be provided only between some adjacent links 171. For example, in the multi-joint structure 170 shown in B of Fig. 13, the convex portions 231-1 and 232-4, and the coil springs 232-1 and 232-3 may be omitted. In other words, of the convex portions 231 and coil springs 232 shown in B of Fig. 13, only the convex portions 231-2 and 231-3, and the coil spring 232-2 may be provided.

[0065] With this configuration, the posture of each joint (the relative posture of each link) can be controlled by the tension of this coil spring 232.

[0066] The first link may further have a first contact point where the string-like object contacts the first link. The second link may further have a second contact point where the string-like object contacts the second link. The first and second connection points may be provided at positions where the elastic body and the string-like object do not interfere with each other. For example, as shown in A of FIG. 14 , the coil spring 232 may be provided on the opposite side of the link 151 from the string-like object 154. This can suppress interference between the string-like object and the elastic body.

[0067] Furthermore, the first link and the second link may have convex portions. The first connecting portion may be provided at the tip of the convex portion of the first link. The second connecting portion may be provided at the tip of the convex portion of the second link. For example, as shown in FIG. 14A, the coil spring 232 may be configured so that the tip of the convex portion 231-1 contacts the link 151-1 and the tip of the convex portion 231-2 contacts the link 151-2. This ensures a predetermined distance between the elastic body and the link. Therefore, interference between the link and the elastic body during bending can be suppressed.

[0068] Alternatively, elastic bodies of the same specifications may be evenly distributed around the joint-forming portion of the link. For example, a first link may be provided with a plurality of first connection portions evenly distributed around the joint-forming portion, with different elastic bodies of the same specifications connected to each of the first connection portions. Alternatively, a second link may be provided with a plurality of second connection portions evenly distributed around the joint-forming portion, with different elastic bodies of the same specifications connected to each of the second connection portions. This allows the tension applied around the link to be equalized.

[0069] For example, elastic bodies may be disposed in three directions around the link. For example, a first link may be provided with first connection portions at three locations around the joint, and a second link may be provided with second connection portions at three locations around the joint. For example, as shown in FIG. 14B, coil springs 232A, 232B, and 232C may be provided in three directions around link 151. In this manner, the tension applied around the link can be equalized.

[0070] By applying such elastic bodies and controlling their tension, the angles of the joints can be controlled as desired. In other words, the bending shape (extended shape) of the multi-joint structure 170 can be controlled. For example, as shown in FIG. 15A, by weakening only the tension of the elastic body between link 151-3 and link 151-4, only that joint can be bent (i.e., link 151-4 can be oriented in a different direction from the other links). Also, as shown in FIG. 15B, for example, by equalizing the tension of each joint, the entire multi-joint structure 170 can be bent with a uniform curvature. In other words, as in the example of FIG. 15A, the curvatures of the joints can be made different, or as in the example of FIG. 15B, the curvatures of the joints can be made uniform. This enables the control of a wider variety of movements and postures.

[0071] <External casing> The bending / extension / rotation mechanism 100 may have an external casing made of a flexible material that allows bending / extension and rotational movements. For example, the bending / extension / rotation mechanism 100 may further include an external casing made of a flexible material that stores the bending / extension / rotation object and the string-like object in a state where the bending / extension / rotation object can be bent / extension and rotated.

[0072] The exterior may also have a two-layer structure. For example, the exterior may have a two-layer structure composed of a first interior exterior and a second exterior exterior. The first exterior may be made of a stretchable material. The second exterior may be made of a raised material. This configuration can suppress interference with the driving of the bending, stretching, and rotating object or the string-like object (i.e., the movement of each part associated with the bending, stretching, and rotating movements), while suppressing a decrease in the subjective quality of the feel and appearance.

[0073] The second exterior may be detachable from the first exterior. This allows the second exterior to be easily detachable (while the internal structure is protected by the first exterior). For example, the second exterior may be a part that the user comes into contact with and is therefore easily soiled. By making the second exterior detachable, cleaning of the second exterior can be made easier. Furthermore, since the second exterior can be more easily replaced, it is easier to change the appearance, such as by "dressing up."

[0074] In the above description, a flexible material is used as the exterior, but the exterior may be a hard cavity. Also, the bending and stretching object may be formed as an exoskeleton without an exterior.

[0075] 4. Supplementary Notes Application of the Present Technology The present technology can be applied to any configuration. For example, the present technology can be applied to various control mechanisms.

[0076] <Fields and uses to which this technology can be applied> Systems, devices, processing units, etc. to which this technology is applied can be used in any field, for example, transportation, medical care, crime prevention, agriculture, livestock farming, mining, beauty, factories, home appliances, weather, nature monitoring, etc. In addition, the uses thereof are also arbitrary.

[0077] <Others> The embodiments of the present technology are not limited to the above-described embodiments, and various modifications are possible without departing from the gist of the present technology.

[0078] For example, a configuration described as one device (or processing unit) may be divided and configured as multiple devices (or processing units). Conversely, configurations described above as multiple devices (or processing units) may be combined and configured as one device (or processing unit). Of course, configurations other than those described above may be added to the configuration of each device (or each processing unit). Furthermore, as long as the configuration and operation of the entire system are substantially the same, part of the configuration of one device (or processing unit) may be included in the configuration of another device (or other processing unit).

[0079] Furthermore, for example, multiple technologies related to the present technology can be implemented independently and independently, as long as no contradiction occurs. Of course, any multiple technologies can also be implemented in combination. For example, part or all of the present technology described in any embodiment can be implemented in combination with part or all of the present technology described in another embodiment. Furthermore, part or all of any of the above-described present technologies can be implemented in combination with other technologies not described above.

[0080] The present technology can also be configured as follows. (1) A bending and rotation mechanism comprising: a bending and rotation object capable of bending and extending and rotating; and a string-like object in contact with the bending and rotation object at first and second contact points of the bending and rotation object, wherein a straight line connecting the first and second contact points is twisted with respect to an axis of the bending and rotation object, and the bending and rotation states of the bending and rotation object are controlled by the length of the string-like object between the first and second contact points. (2) The bending and rotation mechanism described in (1), wherein the bending and rotation object is an articulated structure having a first link at which the first contact point is formed and a second link connected to the first link via a joint and at which the second contact point is formed. (3) The bending and rotation mechanism described in (2), wherein the articulated structure is a multi-joint structure having three or more links including the first link and the second link, and two or more of the joints. (4) The bending and rotation mechanism according to any one of (1) to (3), wherein the bending and rotation object has a first link on which the first contact point is formed and a second link on which the second contact point is formed, and is a multi-joint structure having one or more links and two or more joints between the first link and the second link. (5) The bending and rotation mechanism according to any one of (1) to (4), wherein the bending and rotation object is a deformable object that performs the bending and extension movements and the rotation movements by deformation. (6) The bending and rotation mechanism according to any one of (1) to (5), wherein the bending and rotation object is formed as the cervical vertebrae of a robot. (7) The bending and rotation mechanism according to any one of (1) to (6), wherein the bending and rotation object is formed as the spine of a robot. (8) The bending and rotation mechanism according to any one of (1) to (7), wherein the bending and rotation object is formed as the skeleton of a limb of a robot. (9) The bending and rotation mechanism according to any one of (1) to (8), wherein the bending and rotation object is formed as a tail vertebra of a robot. (10) The bending and rotation mechanism according to any one of (1) to (9), which has a plurality of the bending and rotation objects. (11) The bending and rotation mechanism according to any one of (1) to (10), which has two or more of the string-like objects that are in contact with the same bending and rotation object.(12) The bending and rotation mechanism according to (11), comprising a first string-like object and a second string-like object that are in contact with the same bending and rotation object and control the bending motion accompanied by the rotational motion of the bending and rotation object, and a third string-like object and a fourth string-like object that control the extending motion accompanied by the rotational motion of the bending and rotation object. (13) The bending and rotation mechanism according to any of (1) to (12), comprising the string-like objects that are in contact with a plurality of the bending and rotation objects. (14) The bending and rotation mechanism according to any of (1) to (13), wherein the bending and rotation object is a joint structure having two or more links and one or more ball joints. (15) The bending and rotation mechanism according to any of (1) to (14), wherein the bending and rotation object is a joint structure having two or more links and one or more universal joints with three degrees of freedom. (16) The bending and extending rotation mechanism described in any of (1) to (15), wherein the bending and extending object is an articulated structure having a ring-shaped first link and a second link and one or more joints, wherein the first link is connected to another link via the joint at a first position of the ring shape and has the first contact point at a second position of the ring shape different from the first position, and the second link is connected to another link via the joint at the first position of the ring shape and has the second contact point at a third position of the ring shape different from the first and second positions. (17) The bending and extending rotation mechanism described in any of (1) to (16), wherein the bending and extending object is an articulated structure having a first link and a second link with protrusion shapes extending in a direction different from the direction in which they are connected to other links via joints, and one or more of the joints, wherein the first link has the first contact point at a tip of the protrusion shape, and the second link has the second contact point at a tip of the protrusion shape. (18) The bending / extension / rotation mechanism according to any one of (1) to (17), wherein the bending / extension / rotation object is an articulated structure having a first link and a second link connected to each other via a joint, and the first link and the second link interfere with each other when the bending / extension / rotation object is in a maximum bending state.(19) The bending and rotation mechanism according to any one of (1) to (18), wherein the bending and rotation object is a joint structure having a first link and a second link connected to each other via a joint, and the bending and rotation object further includes an elastic body whose both ends are connected to a first connection part provided on the first link and a second connection part provided on the second link. (20) The bending and rotation mechanism according to (19), wherein the elastic body is a coil spring. (21) The bending and rotation mechanism according to (19) or (20), wherein the first link further has the first contact point, the second link further has the second contact point, and the first connection part and the second connection part are provided in positions where the elastic body and the string-like object do not interfere with each other. (22) The bending / extension / rotation mechanism according to any one of (19) to (21), wherein the first link and the second link have convex portions, the first connection portion is provided at a tip end of the convex portion of the first link, and the second connection portion is provided at a tip end of the convex portion of the second link. (23) The bending / extension / rotation mechanism according to any one of (19) to (22), wherein the first link is provided with a plurality of first connection portions so as to be evenly distributed around the periphery of the joint forming portion, and different elastic bodies having the same specifications are connected to each of the plurality of first connection portions, and the second link is provided with a plurality of second connection portions so as to be evenly distributed around the periphery of the joint forming portion, and different elastic bodies having the same specifications are connected to each of the plurality of second connection portions. (24) The bending / extension / rotation mechanism according to (23), wherein the first link is provided with the first connection portions at three locations around the portion where the joint is formed, and the second link is provided with the second connection portions at three locations around the portion where the joint is formed. (25) The bending / extension / rotation mechanism according to any of (19) to (24), wherein the elastic body has tension when the bending / extension rotation object is in a minimum bent state, and is positioned so as not to interfere with the first link and the second link when the bending / extension rotation object is in a maximum bent state.(26) The bending and rotation mechanism according to any one of (19) to (25), wherein the elastic body has a tension capable of maintaining the posture of the bending and rotation object. (27) The bending and rotation mechanism according to any one of (1) to (26), further comprising an exterior made of a flexible material that houses the bending and rotation object and the string-like object in a state that allows the bending and rotation motions of the bending and rotation object. (28) The bending and rotation mechanism according to (27), wherein the exterior has a two-layer structure made of an inner first exterior and an outer second exterior, wherein the first exterior is made of a stretchable material, and the second exterior is made of a brushed material. (29) The bending and rotation mechanism according to (28), wherein the second exterior is detachable from the first exterior. (30) The bending and rotation mechanism according to any one of (1) to (29), further comprising a control unit that controls the length of the string-like object between the first contact point and the second contact point. (31) The bending / extending / rotating mechanism according to (30), wherein the control unit is a winding mechanism that winds up the string-like object.

[0081] 100 Bending / extending / rotating mechanism, 101 Bending / extending / rotating object, 102 String-like object, 103 Guide, 104 Winding mechanism, 110 Axis, 130 Animal-like robot, 150 Joint structure, 151 Link, 152 Joint, 153 Guide, 154 String-like object, 160 Axis, 170 Multi-joint structure, 171 Link, 172 Joint, 173 Guide, 174 String-like object, 180 Multi-joint structure, 181 Link, 182 Joint, 183 Guide, 184 String-like object, 201 Ball joint, 202 Universal joint, 211 Spine, 221 Protrusion, 231 Convex portion, 232 Coil spring

Claims

1. A bending / extending / rotating mechanism comprising: a bending / extending object capable of bending / extending and rotating; and a string-like object that contacts the bending / extending object at a first contact point and a second contact point of the bending / extending object, wherein a line connecting the first contact point and the second contact point is in a twisted position with respect to the axis of the bending / extending object, and wherein the bending and rotating states of the bending / extending object are controlled by the length of the string-like object between the first contact point and the second contact point.

2. The bending / extension / rotation mechanism according to claim 1, wherein the bending / extension / rotation object is an articulated structure having a first link on which the first contact point is formed, and a second link connected to the first link via a joint and on which the second contact point is formed.

3. The bending / extension / rotation mechanism according to claim 2, wherein the joint structure is a multi-joint structure having three or more links including the first link and the second link, and two or more of the joints.

4. The bending / extending / rotating mechanism according to claim 1, wherein the bending / extending / rotating object has a first link on which the first contact point is formed and a second link on which the second contact point is formed, and is a multi-joint structure having one or more links and two or more joints between the first link and the second link.

5. The bending / extending / rotating mechanism according to claim 1, which has a plurality of bending / extending / rotating objects.

6. The bending / extending / rotating mechanism according to claim 1, wherein there are two or more string-like objects in contact with the same bending / extending / rotating object.

7. A bending / extension / rotation mechanism as described in claim 6, comprising a first string-like object and a second string-like object which are in contact with the same bending / extension / rotation object and control the bending movement accompanying the rotational movement of the bending / extension / rotation object, and a third string-like object and a fourth string-like object which control the extension movement accompanying the rotational movement of the bending / extension / rotation object.

8. The bending / extending / rotating mechanism according to claim 1, wherein the string-like object is in contact with a plurality of bending / extending / rotating objects.

9. The bending / extension / rotation mechanism described in claim 1, wherein the bending / extension / rotation object is an articulated structure having a ring-shaped first link and a second link and one or more joints, the first link is connected to another link via the joint at a first position on the ring shape and has the first contact point at a second position on the ring shape different from the first position, and the second link is connected to another link via the joint at the first position on the ring shape and has the second contact point at a third position on the ring shape different from the first position and the second position.

10. The bending / extending / rotating object is an articulated structure having a first link and a second link with a protruding shape extending in a direction different from the direction in which they are connected to other links via joints, and one or more of the joints, wherein the first link has the first contact point at the tip of the protruding shape, and the second link has the second contact point at the tip of the protruding shape.

11. The bending / extension / rotation mechanism according to claim 1, wherein the bending / extension / rotation object is an articulated structure having a first link and a second link connected to each other via a joint, and the joint, and further comprises an elastic body whose both ends are connected to a first connecting part provided on the first link and a second connecting part provided on the second link.

12. The bending / extension / rotation mechanism according to claim 11, wherein the elastic body is a coil spring.

13. A bending / extension / rotation mechanism as described in claim 11, wherein the first link further has the first contact point, the second link further has the second contact point, and the first connecting portion and the second connecting portion are provided at positions where the elastic body and the string-like object do not interfere with each other.

14. A bending / extension / rotation mechanism as described in claim 11, wherein the first link and the second link have convex portions, the first connecting portion is provided at the tip of the convex portion of the first link, and the second connecting portion is provided at the tip of the convex portion of the second link.

15. A bending / extension / rotation mechanism as described in claim 11, wherein the first link has a plurality of first connecting portions so as to be evenly distributed around the portion forming the joint, and each of the plurality of first connecting portions is connected to a different elastic body having the same specifications as each other, and the second link has a plurality of second connecting portions so as to be evenly distributed around the portion forming the joint, and each of the plurality of second connecting portions is connected to a different elastic body having the same specifications as each other.

16. A bending / extension / rotation mechanism as described in claim 15, wherein the first link has the first connection portions at three locations around the periphery of the joint forming portion, and the second link has the second connection portions at three locations around the periphery of the joint forming portion.

17. The bending / extending / rotating mechanism according to claim 1, further comprising an exterior made of a flexible material that houses the bending / extending / rotating object and the string-like object in a state in which the bending / extending / rotating object can perform the bending / extending and rotating movements.

18. A bending / extension / rotation mechanism as described in claim 17, wherein the exterior has a two-layer structure consisting of an inner first exterior and an outer second exterior, the first exterior being made of a stretchable material, and the second exterior being made of a brushed material.

19. The bending / extension / rotation mechanism according to claim 18, wherein the second exterior is detachable from the first exterior.

20. The bending / extension / rotation mechanism according to claim 1, further comprising a control unit for controlling the length of the string-like object between the first contact point and the second contact point.

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