Robot

Abstract

A robot 100 comprises a body 1, a plurality of limbs 2, and a guide 3 that connects the plurality of limbs 2 to the body 1. The guide 3 guides the plurality of limbs 2 such that the connection point of each of the plurality of limbs 2 to the body 1 can be changed.

Description

Robot

[0001] The technology disclosed herein relates to a robot.

[0002] Conventionally, robots having a body and limbs such as legs have been known. For example, the robot disclosed in Patent Document 1 has four legs. The robot moves using the four legs.

[0003] Japanese Patent Application Laid-Open No. 2010-5718

[0004] As described above, a robot having limbs can realize various operations using the limbs. However, such robots have room for further improvement in order to realize more diverse operations.

[0005] The technology disclosed herein has been made in view of such points, and the object thereof is to provide a robot that can realize various operations.

[0006] The robot of the present disclosure includes a body, a plurality of limbs, and a guide for connecting the plurality of limbs to the body, and the guide guides the plurality of limbs so that the connection positions of the plurality of limbs to the body can be changed.

[0007] According to the robot, a robot that can realize various operations can be provided.

[0008] FIG. 1 is a perspective view of the robot. FIG. 2 is a plan view of the robot with the limbs extended. FIG. 3 is a plan view of the robot with the limbs bent. FIG. 4 is a partial side view of the robot. FIG. 5 is a partial perspective view of the robot. FIG. 6 is a perspective view of the robot with the limbs folded as viewed from the bottom wall. FIG. 7 is a perspective view of the robot with the limbs folded as viewed from the ceiling wall. FIG. 8 is a perspective view of the robot of the second form. FIG. 9 is a perspective view of the robot of the third form. FIG. 10 is a perspective view of the robot of the fourth form. FIG. 11 is a block diagram schematically showing the hardware configuration of the control device. FIG. 12 is a block diagram showing the configuration of the control system of the processor.

[0009] Hereinafter, exemplary embodiments will be described in detail with reference to the drawings. Figure 1 is a perspective view of the robot 100. Figure 2 is a plan view of the robot 100 with its limbs 2 extended. Figure 3 is a plan view of the robot 100 with its limbs 2 bent.

[0010] The robot 100 comprises a torso 1, a plurality of limbs 2, and guides 3 that connect the plurality of limbs 2 to the torso 1. The guides 3 guide the plurality of limbs 2 so that the connection positions of the plurality of limbs 2 to the torso 1 can be changed. The connection position of each limb 2 to the torso 1 is not fixed with respect to the torso 1, but changes. Because the connection position of each limb 2 to the torso 1 changes relative to the torso 1, the robot 100 can perform various movements by flexibly utilizing the limbs 2. For the sake of explanation, the circumferential direction around the axis will be simply referred to as the "circumferential direction of the axis."

[0011] Guide 3 guides the multiple limbs 2 so that they move around an axis A set on the torso 1. Here, "moving around an axis" includes not only rotation around the axis but also movement around the axis. The trajectory of this movement may be a closed shape, i.e., a circular shape, or an open shape. The specific shape of the trajectory may be any shape, such as a circle, ellipse, polygon, arc, or bow.

[0012] For example, the axis set in the torso 1 is axis A, which penetrates the torso 1. The guide 3 guides the multiple limbs 2 so that they move around axis A. The connection position of each limb 2 to the torso 1 changes as it moves around axis A relative to the torso 1.

[0013] Guide 3 may guide multiple limbs 2 so that they orbit around axis A. For example, guide 3 guides multiple limbs 2 so that they orbit in a circular path centered on axis A.

[0014] The number of limbs 2 may be at least 3. For example, the number of limbs 2 may be 4. That is, the limbs 2 include the first limb 2A, the second limb 2B, the third limb 2C, and the fourth limb 2D. When the first limb 2A, the second limb 2B, the third limb 2C, and the fourth limb 2D are not distinguished, they are simply referred to as "limbs 2". In this example, the axes A of the first limb 2A, the second limb 2B, the third limb 2C, and the fourth limb 2D are common. That is, the axes A of the limbs 2 with respect to the torso 1 are coaxial.

[0015] The limb 2 may have a plurality of links 21 that are rotatably connected via joints 22. For example, the plurality of links 21 may include a first link 21a that is movably connected to the torso 1 in the circumferential direction of axis A, and a second link 21b that is rotatably connected to the first link 21a.

[0016] The number of links 21 is at least two. For example, the number of links 21 is four. More specifically, the links 21 include a first link 21a and a second link 21b, a third link 21c rotatably connected to the second link 21b, and a fourth link 21d rotatably connected to the third link 21c. The fourth link 21d is the link furthest from the body 1 among the links 21, i.e., the link at the very front.

[0017] The number of joints 22 corresponds to the number of links 21. The number of joints 22 is at least 1. For example, the number of joints 22 is 3. More specifically, the multiple joints 22 include a first joint 22a that rotatably connects a first link 21a and a second link 21b, a second joint 22b that rotatably connects a second link 21b and a third link 21c, and a third joint 22c that rotatably connects a third link 21c and a fourth link 21d. When the first joint 22a, the second joint 22b, and the third joint 22c are not distinguished, they are simply referred to as "joint 22".

[0018] In this example, as shown in Figure 1, the first joint 22a connects the first link 21a and the second link 21b so as to be rotatable about a rotation axis B that extends substantially parallel to axis A. The second joint 22b connects the second link 21b and the third link 21c so as to be rotatable about a rotation axis C that extends in a direction intersecting the longitudinal direction of the second link 21b, for example, in a direction substantially perpendicular to it. The third joint 22c connects the third link 21c and the fourth link 21d so as to be rotatable about a rotation axis D that extends substantially parallel to rotation axis C. Furthermore, rotation axes C and D extend substantially parallel to a plane perpendicular to rotation axis B.

[0019] Each limb 2 has a motor 23 as an actuator that rotates two adjacent links 21 relative to each joint 22. Each limb 2 has the same number of motors 23 as there are joints 22. That is, each limb 2 has three motors 23. The three motors 23 are the first motor 23a corresponding to the first joint 22a, the second motor 23b corresponding to the second joint 22b, and the third motor 23c corresponding to the third joint 22c. When the first motor 23a, the second motor 23b, and the third motor 23c are not distinguished, they are simply referred to as "motor 23". In this example, the first motor 23a, the second motor 23b, and the third motor 23c each have the same configuration. For example, motor 23 is a servo motor. Motor 23 has an encoder 24 (see Figure 11). Motor 23 has a housing and an output shaft. Motor 23 may have a reduction gear. In that case, the output shaft extends from the gearbox.

[0020] In this example, the motor 23 is integrated with the joint 22. The housing and output shaft of the motor 23 are attached to each of the two links 21 that rotate relative to each other. The motor 23 rotates its output shaft, causing the two links 21 to rotate relative to each other.

[0021] Each limb 2 can be in a flexed state as shown in Figure 1, an extended state as shown in Figure 2, and a folded state as shown in Figure 3, by adjusting the joint angle of the joint 22.

[0022] Figure 4 is a partial side view of the robot 100. The body 1 may have a substantially cylindrical circumferential wall 11 with axis A as its axis, a ceiling wall 12 connected to one end edge of the circumferential wall 11 in the axial direction, and a bottom wall 13 connected to the end edge of the circumferential wall 11 opposite to the ceiling wall 12 in the axial direction. The body 1 has an internal space partitioned by the circumferential wall 11, the ceiling wall 12, and the bottom wall 13. For example, the body 1 further has a disc 14 that protrudes radially outward from the circumferential wall 11 in the direction of axis A. In Figure 4, a part of the disc 14 is shown in cross-section. The disc 14 has two planes oriented in the axial direction, namely a first plane 14a and a second plane 14b. The first plane 14a is a plane that faces the ceiling wall 12 in the axial direction. The second plane 14b is a plane that faces the bottom wall 13 in the axial direction.

[0023] Figure 5 is a partial perspective view of the robot 100. For example, the guide 3 is located on the torso 1. The guide 3 may include a first guide 3A and a second guide 3B that guide the limbs 2 at different positions in the axial direction of axis A. For example, the multiple limbs 2 include limbs 2 supported by the first guide 3A so as to be movable in the circumferential direction and limbs 2 supported by the second guide 3B so as to be movable in the circumferential direction. Specifically, two limbs 2, the first limb 2A and the second limb 2B, are supported by the first guide 3A, and two limbs 2, the third limb 2C and the fourth limb 2D, are supported by the second guide 3B.

[0024] In this example, the first guide 3A and the second guide 3B each have a rail 31 extending in an annular shape around axis A and a block 32 slidably supported on the rail 31. Note that the block 32 is only shown in Figure 4. Figure 4 shows the block 32 of the first guide 3A. The block 32 moves in the circumferential direction of axis A by sliding on the rail 31.

[0025] The axial position of axis A of the first guide 3A is different from the axial position of axis A of the second guide 3B. More specifically, the rail 31 is arranged on the disc 14. As shown in Figure 4, the rail 31 of the first guide 3A is attached to the first plane 14a of the disc 14. The rail 31 of the second guide 3B is attached to the second plane 14b of the disc 14. In this way, the first guide 3A and the second guide 3B are arranged side by side in the axial direction. The first guide 3A and the second guide 3B are arranged concentrically. The diameter of the first guide 3A is approximately the same as the diameter of the second guide 3B.

[0026] A limb 2 is attached to block 32. More specifically, the first link 21a of limb 2 is attached to block 32. As a result, the first link 21a is supported so as to be slidable in the circumferential direction of axis A by either the first guide 3A or the second guide 3B.

[0027] For example, the rail of the first guide 3A supports two blocks 32 that slide independently of each other. Two different limbs 2 are attached to the two blocks 32. Specifically, the first limb 2A is attached to one block 32, and the second limb 2B is attached to the other block 32. For example, the rail of the second guide 3B supports two blocks 32 that slide independently of each other. Two different limbs 2 are attached to the two blocks 32. The third limb 2C is attached to one block 32, and the fourth limb 2D is attached to the other block 32. As a result, the first limb 2A, the second limb 2B, the third limb 2C, and the fourth limb 2D are connected to the body 1 so as to be slidable in the circumferential direction of axis A.

[0028] The robot 100 may further include motors 51 as actuators for moving multiple limbs 2 in the circumferential direction of axis A relative to the torso 1. For example, the robot 100 may have the same number of motors 51 as there are limbs 2. That is, the robot 100 has four motors 51. In this example, the four motors 51 have the same configuration. For example, the motors 51 are servo motors. The motors 51 have encoders 52 (see Figure 11). In this example, the motors 51 are located on the limbs 2. More specifically, the motors 51 are located on the first link 21a of the limb 2.

[0029] For example, as shown in Figure 4, a drive gear 53 is connected to the output shaft of the motor 51. The drive gear 53 is supported by a rotatable body 2. A base gear 54 that meshes with the drive gear 53 is positioned on the body 1. The base gear 54 is fixed to the body 1. When the motor 51 is operated, the drive gear 53 rotates integrally with the output shaft. Since the drive gear 53 meshes with the base gear 54 and the base gear 54 is fixed to the body 1, the drive gear 53 and the limb 2 move around the base gear 54.

[0030] More specifically, the motor 51 may have a reduction gear. In that case, the output shaft extends from the reduction gear. For example, the drive gear 53 is an external gear and a spur gear. The drive gear 53 is rotatably supported on the limb 2. More specifically, the drive gear 53 is rotatably supported on the first link 21a of the limb 2 around a rotation axis E that is substantially parallel to axis A. The motor 51 rotates the drive gear 53 around the rotation axis E.

[0031] For example, the number of base gears 54 is the same as the number of guides 3, which in this example is 2. The base gear 54 includes a first base gear 54A that meshes with the drive gear 53 of a limb 2 supported by the first guide 3A, and a second base gear 54B that meshes with the drive gear 53 of a limb 2 supported by the second guide 3B. The first base gear 54A and the second base gear 54B have the same configuration. When the first base gear 54A and the second base gear 54B are not distinguished, they are simply referred to as "base gear 54".

[0032] For example, the base gear 54 is an external gear and a spur gear. The base gear 54 may be fixed to the body 1 coaxially with the shaft A. More specifically, the base gear 54 is fixed to the outer circumferential surface of the peripheral wall 11 of the body 1. The first base gear 54A and the second base gear 54B are arranged at different positions in the axial direction of the shaft A. For example, the first base gear 54A is located in the peripheral wall 11 in the axial direction on the side of the top wall 12 that is closer to the disk 14. The second base gear 54B is located in the peripheral wall 11 in the axial direction on the side of the bottom wall 13 that is closer to the disk 14.

[0033] For example, the first limb 2A and the second limb 2B are each supported by the first guide 3A and are positioned closer to the ceiling wall 12 than to the disk 14. Therefore, the drive gears 53 of the first limb 2A and the second limb 2B mesh with the first base gear 54A. For example, the third limb 2C and the fourth limb 2D are each supported by the second guide 3B and are positioned closer to the bottom wall 13 than to the disk 14. Therefore, the drive gears 53 of the third limb 2C and the fourth limb 2D mesh with the second base gear 54B.

[0034] When the motor 51 operates in each limb 2, the drive gear 53 rotates integrally with the output shaft. Since the drive gear 53 meshes with the base gear 54 and the base gear 54 is fixed to the body 1, the drive gear 53 rotates around the outer circumference of the base gear 54 on axis A. That is, the drive gear 53 rotates on its own axis around the rotation axis E while revolving around axis A. Since the limb 2 supports the drive gear 53, it rotates together with the drive gear 53 on axis A. In this way, the connection position of each limb 2 to the body 1 changes in the circumferential direction around axis A, as shown in Figure 2. Since the drive gear 53 is supported by the first link 21a so as to be rotatable around the rotation axis E, it does not rotate around the rotation axis E even when it rotates around axis A.

[0035] Figure 6 is a perspective view of the robot 100 with its limbs 2 folded, viewed from the bottom wall 13. The robot 100 may further include a first wheel 6 located on the body 1. For example, the first wheel 6 is a sphere; that is, the first wheel 6 is a spherical wheel. The first wheel 6 is supported on the body 1 so as to be rotatable in any direction. For example, the first wheel 6 is supported on the body 1 via a plurality of rotatable small spheres or rollers. Most of the first wheel 6 is located inside the body 1. A portion of the first wheel 6 is exposed from the body 1 and protrudes from the body 1. More specifically, the bottom wall 13 has an opening 13a through which the axis A passes. The first wheel 6 protrudes from the bottom wall 13 on one side in the axial direction of the axis A. The center of the first wheel 6 is located on the axis A.

[0036] Figure 7 is a perspective view of the robot 100 with its limbs 2 folded, as seen from the ceiling wall 12. The robot 100 may further include a first motor 61A and a second motor 61B as actuators for driving the first wheel 6, and a transmission mechanism 63 for transmitting the driving force of the first motor 61A and the second motor 61B to the first wheel 6. The first motor 61A, the second motor 61B, and the transmission mechanism 63 are housed in the internal space of the torso 1.

[0037] The first motor 61A and the second motor 61B have the same configuration. For the sake of explanation, when the first motor 61A and the second motor 61B are not distinguished, they will simply be referred to as "motor 61". For example, motor 61 is a servo motor. Motor 61 has an encoder 62 (see Figure 11).

[0038] For example, the transmission mechanism 63 includes a first wheel 64A, a second wheel 64B, a third wheel 64C, a fourth wheel 64D, a first timing belt 65A that transmits the rotation of the first wheel 64A to the second wheel 64B, and a second timing belt 65B that transmits the rotation of the third wheel 64C to the fourth wheel 64D.

[0039] The first wheel 64A, the second wheel 64B, the third wheel 64C, and the fourth wheel 64D may have the same configuration. For example, the first wheel 64A, the second wheel 64B, the third wheel 64C, and the fourth wheel 64D are omniwheels or Mecanum wheels. Each of the first wheel 64A, the second wheel 64B, the third wheel 64C, and the fourth wheel 64D may have a wheel body and a plurality of rollers arranged on the outer circle of the wheel body.

[0040] The first wheel 64A, the second wheel 64B, the third wheel 64C, and the fourth wheel 64D are in contact with the first wheel 6. The first wheel 64A, the second wheel 64B, the third wheel 64C, and the fourth wheel 64D are each rotatably supported by the body 1. For example, the first wheel 64A and the second wheel 64B are arranged side by side in a first alignment direction. The rotation axes of the first wheel 64A and the second wheel 64B may be substantially perpendicular to the first alignment direction. That is, the rotation axis of the first wheel 64A is substantially parallel to the rotation axis of the second wheel 64B. For example, the third wheel 64C and the fourth wheel 64D are arranged side by side in a second alignment direction which is substantially perpendicular to the first alignment direction. The rotation axes of the third wheel 64C and the fourth wheel 64D may be substantially perpendicular to the second alignment direction. That is, the rotation axis of the third wheel 64C is substantially parallel to the rotation axis of the fourth wheel 64D.

[0041] The first wheel 64A is connected to the output shaft of the first motor 61A. The rotation of the first wheel 64A by the first motor 61A is transmitted to the second wheel 64B via the first timing belt 65A. The first motor 61A may have a reduction gear. In that case, the output shaft extends from the reduction gear. The first timing belt 65A is wound around a timing pulley provided on the first wheel 64A and a timing pulley provided on the second wheel 64B.

[0042] The third wheel 64C is connected to the output shaft of the second motor 61B. The rotation of the third wheel 64C by the second motor 61B is transmitted to the fourth wheel 64D via the second timing belt 65B. The second motor 61B may have a speed reducer. In that case, the output shaft extends from the speed reducer. The second timing belt 65B is wound around a timing pulley provided on the third wheel 64C and a timing pulley provided on the fourth wheel 64D.

[0043] For example, when the first motor 61A operates, the first wheel 64A and the second wheel 64B rotate. Since the first wheel 64A and the second wheel 64B are in contact with the first wheel 6, the first wheel 64A and the second wheel 64B rotate the first wheel 6 about a rotation axis substantially parallel to the rotation axes of the first wheel 64A and the second wheel 64B. The third wheel 64C and the fourth wheel 64D are also in contact with the first wheel 6. However, since the plurality of rollers of the third wheel 64C and the fourth wheel 64D rotate, the third wheel 64C and the fourth wheel 64D do not inhibit the rotation of the first wheel 6.

[0044] When the second motor 61B operates, the third wheel 64C and the fourth wheel 64D rotate. Since the third wheel 64C and the fourth wheel 64D are in contact with the first wheel 6, the third wheel 64C and the fourth wheel 64D rotate the first wheel 6 about a rotation axis substantially parallel to the rotation axes of the third wheel 64C and the fourth wheel 64D. The first wheel 64A and the second wheel 64B are also in contact with the first wheel 6. However, since the plurality of rollers of the first wheel 64A and the second wheel 64B rotate, the first wheel 64A and the second wheel 64B do not inhibit the rotation of the first wheel 6.

[0045] By combining the rotation of the first wheel 64A and the second wheel 64B and the rotation of the third wheel 64C and the fourth wheel 64D, the first wheel 6 rotates in an arbitrary direction.

[0046] The robot 100 may have a second wheel 25 positioned on multiple limbs 2. In this example, a second wheel 25 is positioned on all limbs 2. For example, a second wheel 25 is rotatably positioned on the third joint 22c of each limb 2. In this example, the second wheel 25 is a wheel that is not directly driven by a drive source, i.e., a driven wheel. The second wheel 25 can be an omni-directional wheel. For example, the second wheel 25 is an omni-wheel or a Mecanum wheel. The axis of rotation of the second wheel 25 substantially coincides with the axis of rotation D of the third joint 22c. In this example, the second wheel 25 is rotatably supported by a third motor 23c. For example, a bearing is mounted on the outer circumferential surface of the housing of the third motor 23c. The second wheel 25 is mounted on the bearing. The second wheel 25 is rotatable relative to the housing of the third motor 23c by the bearing. The second wheel 25 is only supported by the third motor 23c and is not rotationally driven by the third motor 23c.

[0047] The robot 100 configured in this way can transform into various forms by adjusting the connection position of each limb 2 to the torso 1. In addition, the robot 100 can transform into even more diverse forms by adjusting the joint angles of each limb 2. For the sake of explanation, the posture of the robot 100 with axis A generally oriented vertically will be referred to as the "horizontal posture," and the posture of the robot 100 with axis A generally oriented horizontally will be referred to as the "vertical posture." For example, the robot 100 can transform into a first form in which it walks with four limbs 2 in the horizontal posture, a second form in which it walks with three limbs 2 in the horizontal posture, a third form in which it walks with two limbs 2 in the vertical posture, and a fourth form in which it runs on the first wheel 6 in the horizontal posture.

[0048] The robot 100 shown in Fig. 1 is in the first form. The robot 100 in the first form grounds the tip of each fourth link 21d of the four limbs 2. The robot 100 uses the four limbs 2 as four legs and supports the body 1 by four-point support of the four limbs 2. The robot 100 walks with the four limbs 2. For example, the robot 100 performs a static walk. The axis A generally faces the vertical direction. However, the axis A does not necessarily have to face the vertical direction exactly and may be inclined with respect to the vertical direction. The robot 100 walks by stepping out one or two limbs 2 at a time. The robot 100 may also run by stepping out one or two limbs 2 at a time. Running is a movement in which there is a moment when all the limbs 2 leave the ground simultaneously. The robot 100 may also move by jumping with the four limbs 2.

[0049] Figure 8 is a perspective view of the second form of the robot 100. Note that the base gear 54 is not shown in Figure 8. The same applies to Figures 9 and 10. In the second form of the robot 100, the tip of the fourth link 21d of each of the three limbs 2 is grounded. The robot 100 uses the three limbs 2 as three legs and supports the torso 1 with three-point support from the three limbs 2. The robot 100 may use the remaining limb 2 as an arm. In Figure 8, the robot 100 uses the second limb 2B as an arm and the first limb 2A, third limb 2C, and fourth limb 2D as legs. In the second form, as in the first form, axis A is generally oriented vertically. The robot 100 moves the limb 2 as an arm freely by rotating the limb 2 as an arm around axis A relative to the torso 1, or by adjusting the joint angles of each joint 22 of the limb 2 as an arm. For example, the robot 100 can perform tasks such as pushing a workpiece with its limbs 2 which act as arms. The robot 100 may also perform tasks such as pressing a switch with the tip of its limbs 2 which act as arms. The robot 100 may move its torso 1 by changing the shape of its three limbs 2 which act as legs, and as a result, change the vertical position of its limbs 2 which act as arms. This expands the range of motion of its limbs 2 which act as arms in the vertical direction. For example, the robot 100 can move its limbs 2 which act as arms upward by extending the limbs 2 which act as legs from a bent state.

[0050] The robot 100 may walk using its three limbs 2. For example, the robot 100 may perform dynamic walking. The robot 100 may move by walking, running, or jumping, as in the first embodiment.

[0051] Figure 9 is a perspective view of the third form of the robot 100. In the third form of the robot 100, the tips of the fourth links 21d of each of the two limbs 2 are grounded. The robot 100 uses the two limbs 2 as two legs and supports its torso 1 with two-point support from the two limbs 2. The robot 100 walks using the two limbs 2. For example, the robot 100 performs dynamic walking. The robot 100 may also use the remaining two limbs 2 as two arms. In Figure 9, the robot 100 uses the first limb 2A and the third limb 2C as arms and the second limb 2B and the fourth limb 2D as legs. In the third form, unlike the first form, axis A is generally oriented horizontally. However, axis A does not have to be strictly horizontal and may be inclined with respect to the horizontal. The robot 100 can move by walking, running, or jumping, similar to the first form. Similar to the second form, the robot 100 can move its arms freely by rotating the limbs 2, which act as arms, around axis A relative to the torso 1, or by adjusting the joint angles of each joint 22 of the limbs 2, which act as arms.

[0052] Figure 10 is a perspective view of the fourth form of the robot 100. In the fourth form of the robot 100, the first wheel 6 is placed on the ground. In the fourth form of the robot 100, the first wheel 6 is placed on the ground. In the fourth form of the robot 100, the torso 1 is supported by at least two limbs 2 from among a plurality of limbs 2 and the first wheel 6. The robot 100 supports the torso 1 by at least three points of support from the first wheel 6 and two second wheels 25. In other words, the robot 100 uses two or more limbs 2 as legs. However, the robot 100 does not raise or lower the limbs 2 as legs, but uses them to support the torso 1. The robot 100 moves in a desired direction by rotating the first wheel 6 in the desired direction. At this time, the limbs 2 supporting the torso 1 may have the second wheel 25 on the ground. The robot 100 moves on the first wheel 6 and the second wheel 25 with the torso 1 supported by the first wheel 6 and the second wheel 25. Since the second wheel 25 is an omniwheel or a Mecanum wheel, the second wheel 25 does not obstruct movement by the first wheel 6. In the fourth embodiment, the robot 100 may have the second wheels 25 of three or four limbs 2 touching the ground.

[0053] In the fourth form, the robot 100 may use the remaining limbs 2 as arms. In Figure 10, the robot 100 uses the first limbs 2A and 2B as arms, and the third limbs 2C and 4th limbs 2D as legs. In the fourth form, as in the first form, axis A is generally oriented vertically. As in the second form, the robot 100 moves the limbs 2 as arms freely by rotating them around axis A relative to the torso 1, or by adjusting the joint angles of each joint 22 of the limbs 2 as arms. The robot 100 may perform movement on the first wheels 6 and the movement of the limbs 2 as arms in parallel. That is, the robot 100 may perform work with the limbs 2 as arms while moving on the first wheels 6.

[0054] Robot 100 balances its center of gravity by adjusting the joint angles of the limbs 2, which function as legs. At the same time, robot 100 also balances its center of gravity by adjusting the position of the limbs 2 relative to the torso 1 around axis A. In addition, robot 100 allows the limbs 2, which function as arms, to move flexibly by adjusting the joint angles of the limbs 2, which function as arms. At the same time, robot 100 allows the limbs 2 to move even more flexibly by adjusting the position of the limbs 2 relative to the torso 1 around axis A. Furthermore, robot 100 can also adjust the balance of its center of gravity by adjusting the joint angles of the limbs 2, or the position of the limbs 2, which function as arms, relative to the torso 1 around axis A.

[0055] Furthermore, the robot 100 may support its body 1 by single-point support on the first wheel 6. For example, the robot 100 can achieve single-point support on the first wheel 6 by balancing its body 1 using an inverted pendulum.

[0056] In this way, the robot 100 can adjust the position of the limbs 2 relative to the torso 1 around axis A, thereby improving the degree of freedom in adjusting the limbs 2. As a result, the robot 100 can perform a variety of movements.

[0057] The robot 100 is controlled by a control device 8. Figure 11 is a schematic block diagram showing the hardware configuration of the control device 8. The control device 8 includes a main control device 8A and a servo driver 8B. The main control device 8A is located outside the robot 100. The servo driver 8B is mounted on the robot 100. The main control device 8A and the servo driver 8B are connected so that they can send and receive commands or signals. The main control device 8A has a processor 81, a memory 82, a memory 83, and a communicator 84. The servo driver 8B, although not shown in the figure, has a processor, memory, and a communicator, similar to the main control device 8A. The servo driver 8B further has a power supply circuit that supplies current to motors 23, 51, and 61. The main control device 8A and the servo driver 8B communicate wirelessly with each other. The main control device 8A outputs commands to the servo driver 8B. The servo driver 8B controls motors 23, 51, and 61 according to the commands. The main control device 8A may receive detection results from encoders 24, 52, and 62 from the servo driver 8B.

[0058] The processor 81 performs various calculations. For example, the processor 81 is formed by a processor such as a CPU (Central Processing Unit). The processor 81 may also be formed by an MCU (Micro Controller Unit), an MPU (Micro Processor Unit), an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), a system LSI, etc.

[0059] The memory unit 82 stores programs and various data executed by the processor unit 81. For example, the memory unit 82 stores a control program for controlling the robot 100. For example, the memory unit 82 is made up of non-volatile memory, an HDD (Hard Disk Drive), or an SSD (Solid State Drive).

[0060] Memory 83 temporarily stores data, etc. For example, memory 83 is made of volatile memory.

[0061] The communication device 84 is an interface for communicating with other terminals, etc. For example, the communication device 84 is composed of a cable modem, a soft modem, or a wireless modem.

[0062] Figure 12 is a block diagram showing the configuration of the control system of the processor 81. The processor 81 realizes various functions by reading control programs from the memory 82 into the memory 83 and processing them. Specifically, the processor 81 functions as a movement command generator 85, a trajectory generator 86, and a rotation angle calculator 87.

[0063] The movement command generator 85 generates a movement command for the robot 100. The movement command includes the configuration of the robot 100 and the target position or target speed of the robot 100. The movement command may also include movement conditions such as the stride length and number of steps of the robot 100. The configuration of the robot 100, the target position, and the movement conditions are input from the user to the control device 8 via an input device. The input to the control device 8 may be made from a user terminal such as a PC, tablet, or smartphone. The movement command generator 85 generates a movement command based on the input from the user. The movement command generator 85 outputs the generated movement command to the trajectory generator 86.

[0064] The trajectory generator 86 generates trajectories for each limb 2 in accordance with the movement command. The trajectory generator 86 outputs the generated trajectories to the rotation angle calculator 87. The trajectory generator 86 generates trajectories for each limb 2 in order to realize movement according to the configuration of the robot 100. For example, in the first, second, or third configuration of the robot 100, the trajectory generator 86 generates trajectories for the limbs 2 as legs in accordance with the movement command. In the fourth configuration of the robot 100, the trajectory generator 86 generates trajectories for the limbs 2 as legs in accordance with the movement command, and also determines the trajectory of the first wheel 6. For example, the trajectory generator 86 calculates the trajectory of the limbs 2 using algorithms such as known model predictive control, trajectory generation with a zero moment point (ZMP) criterion, center of gravity position prediction, forward kinematics / inverse kinematics, inverted pendulum model trajectory generation, leg trajectory planner, or deep imitation learning. Furthermore, when a part of limb 2 is used as an arm, that is, in the second, third, or fourth form of the robot 100, the trajectory generator 86 also generates the trajectory of limb 2 as an arm in response to movement commands.

[0065] The rotation angle calculator 87 determines the target rotation angles of motors 23, 51, and 61 to realize the trajectory. Specifically, the rotation angle calculator 87 calculates the target position of the limbs 2 relative to the torso 1 and the target angles of each joint of the limbs 2 based on inverse kinematics to realize the trajectory. The rotation angle calculator 87 determines the target rotation angle of motor 51 as the target position of the limbs 2 relative to the torso 1. The rotation angle calculator 87 determines the target rotation angles of each motor 23 as the target angles of each joint of the limbs 2. In the fourth form of the robot 100, the rotation angle calculator 87 determines the target rotation angle of motor 61 to realize the trajectory of the first wheel 6. The rotation angle calculator 87 outputs the determined target rotation angles of motors 23, 51, and 61.

[0066] The main control unit 8A transmits the target rotation angles of motors 23, 51, and 61, output from the rotation angle calculator 87, to the servo driver 8B via the communication unit 84.

[0067] The servo driver 8B receives the target rotation angles of motors 23, 51, and 61. The servo driver 8B supplies current to motors 23, 51, and 61 according to their target rotation angles. The servo driver 8B provides feedback control to the current applied to motors 23, 51, and 61 based on the detection results of encoders 24, 52, and 62.

[0068] In this way, the robot 100 can transform into various forms and move using a method of movement appropriate to that form. For example, the robot 100 can transform into a form that moves using its limbs 2 as legs and a form that moves using the first wheels 6.

[0069] The modes of movement using limbs 2 as legs include, from the perspective of the number of legs, a bipedal walking mode, i.e., a mode in which two limbs 2 are used as legs; a tripedal walking mode, i.e., a mode in which three limbs 2 are used as legs; and a quadrupedal walking mode, i.e., a mode in which four limbs 2 are used as legs. Furthermore, the modes of movement using limbs 2 as legs include, from the perspective of the posture of the torso 1, a posture of the torso 1 in which axis A is generally oriented vertically (hereinafter referred to as the "first posture") and a posture of the torso 1 in which axis A is generally oriented horizontally (hereinafter referred to as the "second posture"). In other words, the modes of movement using limbs 2 as legs include variations that combine the perspective of the number of legs and the perspective of the posture of the torso 1. For example, the robot 100 in Figure 1 is quadrupedal and in the first posture. The robot 100 in Figure 8 is tripedal and in the first posture. The robot 100 in Figure 9 is in a bipedal walking position and in a second posture. Although not shown in the illustration, the robot 100 can also transform into a bipedal walking position in a first posture, or a tripedal walking position in a second posture, etc.

[0070] The modes of movement using the first wheels 6 include, from the viewpoint of the number of legs supporting the torso 1, modes using two limbs 2 as legs, modes using three limbs 2 as legs, and modes using four limbs 2 as legs. The modes of movement using the first wheels 6 may further include modes using zero limbs 2 as legs, i.e., modes in which limbs 2 are not used as legs. In this case, the robot 100 can balance the torso 1 by an inverted pendulum. The modes of movement using the first wheels 6 include, from the viewpoint of the part of the legs that touches the ground, modes in which the second wheels 25 touch the ground and modes in which the links 21 touch the ground. The links 21 that touch the ground support the torso 1 by sliding on the ground when the robot 100 is moving on the first wheels 6. In other words, the modes of movement using the first wheels 6 include variations that combine the viewpoint of the number of legs supporting the torso 1 and the viewpoint of the part of the legs that touches the ground. The robot 100 in Figure 7 is a mode in which four limbs 2 are used as legs and the second wheels 25 touch the ground. The robot 100 in Figure 10 is configured to use two limbs 2 as legs and have its second wheel 25 in contact with the ground. Although not shown in the illustration, the robot 100 can also be transformed into a configuration in which two or more limbs 2 are used as legs and the tip of the fourth link 21d is in contact with the ground.

[0071] When the number of limbs 2 used as legs changes, the balance supporting the robot 100 changes. The robot 100 adjusts the balance of support by changing the connection position of each limb 2 to the torso 1. For example, the robot 100 changes the connection position of each limb 2 to the torso 1 so that, in a plan view, the center of gravity of the torso 1 is located inside the polygon formed by the connection positions of the multiple limbs 2 used as legs to the torso 1.

[0072] Furthermore, the limbs 2 that are not touching the ground affect the center of gravity of the robot 100. The robot 100 may adjust the balance of its support by changing at least one of the connection points of the limbs 2 that are not touching the ground to the torso 1 and the shape of the limbs 2 that are not touching the ground themselves.

[0073] Furthermore, the robot 100 can use limbs 2 that are not used as legs as arms. This allows the robot 100 to perform a variety of movements. In this case, the range of motion of limbs 2 as arms can be expanded by changing the connection position of limbs 2 as arms to the torso 1. When the connection position of limbs 2 as arms to the torso 1 changes, the center of gravity of the robot 100 changes. The robot 100 adjusts the balance of support by changing the connection position of limbs 2 as legs to the torso 1.

[0074] Robot 100 can change which of its multiple limbs 2 are used as legs and which are used as arms. In other words, robot 100 does not use one limb 2 exclusively as an arm, but can select which limb 2 is suitable to be used as an arm from among the multiple limbs 2. Which of the multiple limbs 2 is suitable for arm movement depends on the situation of robot 100, such as its position and posture. For example, robot 100 moves to a target position by quadrupedal locomotion using its four limbs 2, and at the target position, uses one limb 2 as an arm to perform a desired movement. In this case, robot 100 selects the limb 2 suitable as an arm according to the situation. When the limb 2 used as an arm changes, the balance of support of robot 100 by the limbs 2 used as legs also changes. In this case as well, robot 100 adjusts the balance of support of robot 100 by changing the connection position of the limbs 2 used as legs to the torso 1.

[0075] Furthermore, since the axis A of each limb 2 relative to the torso 1 is common, the distance of the limb 2 from axis A remains constant even if the connection position of the limb 2 relative to the torso 1 changes. For example, it becomes easier to calculate the balance of the support of the robot 100 when the connection position of the limb 2 relative to the torso 1 is changed. As a result, it becomes easier to adjust the balance of the support of the robot 100.

[0076] Furthermore, since the axis A of each limb 2 relative to the torso 1 is common, multiple limbs 2 can be supported by the same guide. Specifically, the number of parts can be reduced by having the first guide 3A support the first limb 2A and the second limb 2B. The number of parts can be reduced by having the second guide 3B support the third limb 2C and the fourth limb 2D.

[0077] In this example, not all limbs 2 are supported by the same guide; rather, multiple limbs 2 are supported by multiple guides. Specifically, the robot 100 includes a first guide 3A that supports one limb 2 and a second guide 3B that supports another limb 2. The first guide 3A and the second guide 3B are positioned at different locations in the axial direction of axis A. That is, the first guide 3A is offset from the second guide 3B in the axial direction of axis A. As a result, a limb 2 supported by the first guide 3A can pass a limb 2 supported by the second guide 3B in the circumferential direction of axis A. Similarly, a limb 2 supported by the second guide 3B can pass a limb 2 supported by the first guide 3A in the circumferential direction of axis A. Specifically, a limb 2 supported by a single guide cannot change the order in which the limbs 2 are arranged on the guide, that is, the order in which the limbs 2 are arranged in the circumferential direction of axis A. For example, the circumferential arrangement of the first limb 2A and the second limb 2B, both supported by the first guide 3A, along axis A remains unchanged. However, the first limb 2A or the second limb 2B can pass the third limb 2C or the fourth limb 2D, both supported by the second guide 3B, along axis A, thereby changing the circumferential arrangement of the limbs along axis A. This increases the degree of freedom in changing the connection position of each limb 2 to the torso 1.

[0078] Furthermore, since the second wheel 25 is located at the joint 22 of the limb 2 rather than at the tip of the limb 2, it becomes easy to place the second wheel 25 on the ground by folding the link 21 at the joint 22 where the second wheel 25 is located. This allows the robot 100 to switch between placing the second wheel 25 on the ground and placing the other part of the limb 2 on the ground by positioning the second wheel 25 at the joint 22 of the limb 2. As a result, the robot 100 can switch between placing the second wheel 25 on the ground and placing the other part of the limb 2 on the ground. When moving using the first wheel 6, the robot 100 can improve the stability of support without impairing mobility by placing the second wheel 25 on the ground. On the other hand, when moving using the limb 2 as legs, the robot 100 can improve the stability of movement by placing the other part of the limb 2 on the ground.

[0079] The robot 100 may change its form for movement and work. For example, the robot 100 may move to a destination in its first form, transform from its first form to a second form at the destination, and perform a desired task in its second form. In this way, the robot 100 may move in one of its multiple forms and then perform a task in another of its multiple forms after moving. The robot 100 may also perform movement and work in the same form.

[0080] 《Other Embodiments》 As described above, the embodiments described herein have been presented as examples of the technology disclosed herein. However, the technology in this disclosure is not limited thereto and can be applied to embodiments that have been modified, replaced, added, or omitted as appropriate. It is also possible to combine the components described in the embodiments above to create new embodiments. Furthermore, the components described in the attached drawings and detailed description may include not only components essential for solving the problem, but also components that are not essential for solving the problem, in order to illustrate the technology. Therefore, the mere presence of such non-essential components in the attached drawings and detailed description should not be immediately assumed to mean that those non-essential components are essential.

[0081] For example, the number of limbs 2 is not limited to four. The number of limbs 2 may be two, three, or five or more.

[0082] The multiple limbs 2 may include limbs 2 used exclusively as arms. By changing the connection position of the arm-only limbs 2 to the torso 1, the robot 100 can transform into various forms and its center of gravity can be flexibly adjusted.

[0083] The robot 100 may further include limbs whose connection position to the torso 1 cannot be changed. For example, the robot 100 may further include limbs whose connection position to the torso 1 is fixed.

[0084] A hand may be provided at the end of limb 2. The hand of limb 2 used as a leg does not have to function as a hand. The hand of limb 2 used as an arm may perform functions as a hand, such as grasping a workpiece. This broadens the range of applications for limb 2 as an arm. For example, the robot 100 of the second embodiment may use the hand of limb 2 as an arm to grasp a workpiece or open and close a door.

[0085] The trajectories of the multiple limbs 2 guided by the guide 3 are not limited to circular trajectories. For example, the guide may guide the multiple limbs 2 to orbit along a trajectory of a polygonal shape with rounded corners, such as a rounded quadrilateral.

[0086] The robot 100 does not necessarily have to have the first wheels 6. In other words, the robot 100 may move using only its limbs 2 as legs. Also, regardless of whether or not it has the first wheels 6, the robot 100 may omit the second wheels 25.

[0087] The first wheel 6 is not limited to a spherical wheel. The first wheel 6 may be a plurality of omniwheels or mecanum wheels.

[0088] The second wheel 25 may be a drive wheel driven by a power source such as a motor.

[0089] The robot 100 may rotate its torso 1 around axis A relative to its limbs 2. Since the connection position of each limb 2 to the torso 1 can be changed, the robot 100 can also rotate its torso 1 relative to its limbs 2. For example, the robot 100 may be equipped with a camera or another limb separate from the limbs 2 that is fixedly mounted on the torso 1. In that case, the robot 100 can rotate the camera or the other limb around axis A by rotating the torso 1, without having to rotate the robot 100 as a whole by the limbs 2.

[0090] Each limb 2 may be supported by a single guide, rather than being supported by multiple separate guides. Alternatively, each limb 2 may be supported by an individual guide.

[0091] If not all limbs 2 are supported by a single guide, the axis A of each limb 2 relative to the torso 1 does not have to be coaxial.

[0092] The robot 100 may be equipped with a sensor to detect its posture (specifically, the posture of its torso 1). For example, the robot 100 may be equipped with a gyro sensor, LiDAR (Light Detection and Ranging), or a camera as a posture sensor. The robot 100 transmits the detection result of the posture sensor to the control device 8. The control device 8 generates trajectories for each limb 2 according to the result of the posture sensor.

[0093] Regarding the control device 8, the main control device 8A and the servo driver 8B may be connected by a wire.

[0094] The functions of the elements disclosed herein may be implemented using one or more circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), and / or conventional circuits. The functions of the elements disclosed herein may be implemented using one or more circuits or processing circuits, including combinations of general-purpose processors, special-purpose processors, integrated circuits, ASICs, FPGAs, and conventional circuits. One or more circuits or processing circuits may be programmed using one or more programs stored together or individually in one or more memories, or may be otherwise configured to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. A processor may be a programmed processor that executes programs stored in memory. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions individually or in combination with each other, or hardware programmed to perform the enumerated functions individually or in combination with each other. The hardware may be any hardware disclosed herein that is programmed or configured to perform the listed functions.

[0095] A computer program, including computer instructions, is stored in memory. The computer instructions provide logic and routines that enable hardware to execute the methods disclosed herein. The hardware includes, for example, processing circuits or circuits. The computer program may be implemented in known formats on computer-readable storage media, computer program products, memory devices, recording media such as CD-ROMs or DVDs, and / or in the memory of FPGAs or ASICs.

[0096] [Embodiment] The above embodiment is a specific example of the following embodiment.

[0097] (Aspect 1) The robot 100 comprises a torso 1, a plurality of limbs 2, and a guide 3 that connects the plurality of limbs 2 to the torso 1, wherein the guide 3 guides the plurality of limbs 2 so that the connection position of the plurality of limbs 2 to the torso 1 can be changed.

[0098] With this configuration, the connection position of each limb 2 to the torso 1 changes, allowing the robot 100 to transform into various forms. For example, changing the connection position of each limb 2 to the torso 1 changes the balance when the torso 1 is supported by multiple limbs 2. In other words, by changing the connection position of each limb 2 to the torso 1, the balance when supporting the torso 1 can be adjusted.

[0099] (Aspect 2) In the robot 100 described in Aspect 1, the guide 3 guides the multiple limbs 2 so that they move around an axis A set on the torso 1.

[0100] In this configuration, the connection position of each limb 2 to the torso 1 changes so as to move around axis A.

[0101] (Aspect 3) In the robot 100 described in Aspect 1 or Aspect 2, the guide 3 includes a first guide 3A and a second guide 3B that guide the limbs 2 at different positions in the direction of the axis A, and the plurality of limbs 2 include limbs 2 supported by the first guide 3A and limbs 2 supported by the second guide 3B.

[0102] With this configuration, the limb 2 supported by the first guide 3A and the limb 2 supported by the second guide 3B can pass each other when moving around axis A. For example, one of two limbs 2 supported by the same guide cannot overtake the other when moving around axis A. In other words, the order in which the two limbs 2 are arranged around axis A does not change. However, the limb 2 supported by the first guide 3A can overtake the limb 2 supported by the second guide 3B around axis A. The limb 2 supported by the second guide 3B can also overtake the limb 2 supported by the first guide 3A around axis A. The order in which the two limbs 2 are arranged around axis A can be changed. This increases the degree of freedom in the connection position of each limb 2 to the torso 1. As a result, the robot 100 can transform into a wider variety of forms.

[0103] (Aspect 4) In the robot 100 described in any one of aspects 1 to 3, the guide 3 guides the plurality of limbs 2 so that they orbit around the axis A.

[0104] In this configuration, each limb 2 rotates around axis A. This expands the range of motion and degree of freedom of movement of the connection position of each limb 2 to the torso 1.

[0105] (Aspect 5) In the robot 100 described in any one of aspects 1 to 4, the guide 3 guides the plurality of limbs 2 so that they orbit in a circular orbit centered on the axis A.

[0106] With this configuration, even if the connection position of each limb 2 to the torso 1 changes around axis A, the distance between the connection position of each limb 2 and axis A remains constant. Therefore, it becomes easier to manage the distance between the connection position of each limb 2 and axis A. For example, it becomes easier to adjust the balance of the support of the torso 1.

[0107] (Aspect 6) In the robot 100 described in any one of aspects 1 to 5, the axes A of the plurality of limbs 2 are coaxial.

[0108] With this configuration, even if the connection position of each limb 2 to the torso 1 changes, the distance between axis A and the connection position of each limb 2 does not change, making it easy to adjust the balance of support for the torso 1.

[0109] (Aspect 7) In the robot 100 described in any one of aspects 1 to 6, each of the plurality of limbs 2 has a plurality of links 21 that are rotatably connected via a plurality of joints 22, and the plurality of links 21 include a first link 21a connected to the torso 1 via the guide 3 and a second link 21b that is rotatably connected to the first link 21a.

[0110] In this configuration, the shape of each limb 2 changes by rotating the second link 21b relative to the first link 21a. Therefore, by adjusting the connection position of the first link 21a of each limb 2 to the torso 1 and the rotation angle of the second link 21b relative to the first link 21a, the robot 100 can transform into a wider variety of forms.

[0111] (Aspect 8) In the robot 100 described in any one of aspects 1 to 7, walking is performed using at least two of the plurality of limbs 2.

[0112] With this configuration, the robot 100 can walk on two legs. By adjusting the connection position of each limb 2 to the torso 1, the balance of support of the torso 1 can be easily adjusted, making it easier to achieve bipedal walking.

[0113] (Aspect 9) In the robot 100 described in any one of aspects 1 to 8, the number of the plurality of limbs 2 is 3 or more, the robot 100 walks using at least two of the plurality of limbs 2, and uses at least one of the plurality of limbs 2 as an arm.

[0114] With this configuration, the robot 100 can not only use its limbs as legs, but also use at least one limb 2 as an arm. This allows the robot 100 to perform a wider variety of movements.

[0115] (Aspect 10) The robot 100 according to any one of aspects 1 to 9 is further provided with a first wheel 6 arranged on the body 1, and the robot 100 moves on the first wheel 6.

[0116] With this configuration, the robot 100 can also move using the first wheels 6. In other words, the robot 100 can achieve movement other than walking using its limbs 2.

[0117] (Aspect 11) The robot 100 according to any one of aspects 1 to 10 is further provided with a second wheel 25 arranged on the plurality of limbs 2, and the robot 100 moves on the first wheel 6 and the second wheel 25 with the torso 1 supported by the first wheel 6 and the second wheel 25.

[0118] With this configuration, the robot 100 can move using the second wheels 25 located on its limbs 2 as auxiliary wheels and the first wheels 6.

[0119] 100 Robot 1 Torso 2 Limbs 21 Links 21a First Link 21b Second Link 22 Joints 25 Second Wheel 3 Guides 3A First Guide 3B Second Guide 6 First Wheel A Axle

Claims

1. A robot comprising a torso, a plurality of limbs, and guides for connecting the plurality of limbs to the torso, wherein the guides guide the plurality of limbs so as to be able to change the connection position of the plurality of limbs to the torso.

2. The robot according to claim 1, wherein the guide guides the plurality of limbs so that they move around an axis set on the torso.

3. The robot according to claim 2, wherein the guide includes a first guide and a second guide that guide the limb at different positions in the direction of the axis, and the plurality of limbs include limbs supported by the first guide and limbs supported by the second guide.

4. The robot according to claim 2, wherein the guide guides the plurality of limbs so that they orbit around the axis.

5. The robot according to claim 4, wherein the guide guides the plurality of limbs so that they orbit in a circular orbit about the axis.

6. A robot according to claim 4, wherein the axes of the plurality of limbs are coaxial.

7. A robot according to any one of claims 1 to 6, wherein each of the plurality of limbs has a plurality of links rotatably connected via a plurality of joints, and the plurality of links includes a first link connected to the torso via the guide and a second link rotatably connected to the first link.

8. The robot according to claim 1, wherein the robot walks using at least two of the plurality of limbs.

9. The robot according to claim 1, wherein the number of the plurality of limbs is three or more, and the robot walks using at least two of the plurality of limbs, and uses at least one of the plurality of limbs as an arm.

10. The robot according to claim 1, further comprising a first wheel positioned on the torso, wherein the robot is a robot that moves on the first wheel.

11. The robot according to claim 10, further comprising second wheels arranged on the plurality of limbs, wherein the robot moves on the first and second wheels with the torso supported by the first and second wheels.

Images