Robot, and robot control method

Abstract

This robot comprises a body portion, leg portions, a left support portion, and a right support portion. The body portion extends in the front-rear direction, where the direction of forward movement of the robot is defined as the front direction in the front-rear direction, and the direction opposite from the front direction is defined as the rear direction. The leg portions include a plurality of legs that are connected to the body portion and that bend and stretch. The leg portions include front leg portions and rear leg portions. The left support portion is connected to the left side section of the body portion. The right support portion is connected to the right side section of the body portion. The left support portion and the right support portion support the legs of a rider straddling the body portion. The left support portion and the right support portion are configured to receive input of an operation performed by the rider with respect to the robot.

Description

Robot and method for controlling the robot

[0001] The present disclosure relates to a robot and a method for controlling the robot.

[0002] Japanese Patent Application Laid-Open No. 2023-112850 describes a quadruped walking robot.

[0003] There is a need for a novel technology related to a robot having front legs and rear legs.

[0004] The present disclosure has been made to solve at least a part of the above-described problems, and can be realized, for example, in the following aspects.

[0005] According to a first aspect of the present disclosure, a robot is provided. The robot includes a main body portion, leg portions, a left support portion, and a right support portion. The main body portion extends in the front-rear direction when the forward direction of the robot is defined as the front direction in the front-rear direction and the opposite direction of the front direction is defined as the rear direction. The leg portions are connected to the main body portion and have a plurality of legs that bend and extend. The leg portions include front legs and rear legs. The left support portion is connected to the left side portion of the main body portion. The right support portion is connected to the right side portion of the main body portion. The left support portion and the right support portion support the legs of a passenger straddling the main body portion. The left support portion and the right support portion are configured to receive an input of an operation of the passenger with respect to the robot. According to this aspect, a passenger can support their legs on the left support portion and the right support portion connected to the main body portion, and operate the robot via the left support portion and the right support portion.

[0006] A second aspect of the present disclosure provides a method for controlling a robot. The robot includes a body, legs, a left support, and a right support. The body extends in the front-rear direction, where the robot's forward direction is the front direction and the opposite direction to the front direction is the rear direction. The legs have a plurality of legs connected to the body that bend and extend. The legs include a front leg and a rear leg. The left support is connected to the left side of the body. The right support is connected to the right side of the body. The left and right support support the legs of a rider straddling the body. The left and right support are configured to receive input from the rider controlling the robot. The control method is a control method that detects forces applied to the left and right support, generates operation commands based on the detected forces applied to the left and right support, and drives the plurality of actuators based on the operation commands. In this embodiment, the operator can move the robot in accordance with the force applied to the left and right support parts.

[0007] This is a schematic left side view of the robot. This is a schematic right side view of the robot. This is a schematic front view of the robot. This is a schematic rear view of the robot. This is a schematic top view of the robot. This is a block diagram illustrating the robot's configuration. This diagram illustrates a leg using the left rear leg as an example. This diagram shows the robot in a retracted state. This diagram shows the robot in an extended state. This is a schematic side view of the left support. This is a schematic rear view of the left support. This diagram shows the footrest in an extended state. This is a schematic view of the balance unit from the rear. This diagram shows the balance unit in a curved state. This diagram shows another example of the bending mechanism of the balance unit. This diagram illustrates the configuration of the main body where the power generation unit is located. This diagram illustrates another example of the configuration of the main body where the power generation unit is located. This diagram illustrates the arrangement of the engine and motor generator. This diagram illustrates another example of the arrangement of the engine and motor generator. This diagram illustrates the operation detection unit. This diagram illustrates the sensor of the support unit. This diagram illustrates a leg equipped with a suspension device. This diagram shows the leg equipped with a suspension device in a bent state. This diagram shows examples of the connection between the first end of the suspension device and the upper leg, and the connection between the second end and the upper leg. This diagram illustrates a suspension device in which the damping force is controlled by a control device. This figure shows a robot in which the upper parts of the front and rear main body sections are connected by a suspension device. This figure shows a robot in which the lower parts of the front and rear main body sections are connected by a suspension device. This is a schematic side view of a robot having multiple body joints. This is a schematic side view showing another example of a robot. This is a schematic rear view of a robot with a balance section on the side of the main body. This is a schematic side view of a robot with a support section connected to a seat. This is an illustrative diagram showing a robot system in which a sub-robot autonomously follows a main robot.

[0008] 1. Overall diagrams 1 to 5 are schematic diagrams of robot 1 in one embodiment. Figure 6 is a schematic block diagram of robot 1 in one embodiment. As shown in Figures 1 and 2, robot 1 comprises a main body portion 10 extending in a predetermined direction and leg portions 3 including front leg portions 3F and rear leg portions 3B connected to the main body portion 10. Robot 1 is configured to be movable by bending and extending each of the multiple legs of leg portions 3.

[0009] Robot 1 further comprises support units 4L and 4R, a balance unit 5, a power generation unit 2, an operation unit 8, and a control device 7. Support units 4 support the legs of the robot's pilot. Balance unit 5 maintains the balance of the robot body 15, including the main body 10 and the leg units 3. Power generation unit 2 generates the electricity used by robot 1. Operation unit 8 receives inputs related to the operation of robot 1. Control device 7 controls the entire robot 1.

[0010] Figure 6 shows the control device 7 and the various parts of the robot 1 that transmit and receive signals with the control device 7. The robot 1 of this embodiment further includes various devices such as a battery module 24, a power supply circuit 25, a detection device 65, a display device 66, a lighting device 68, and a communication device 69. Among the configurations (features) described in this disclosure, any configuration not described in the highest-level independent claim of this disclosure is an optional configuration and can be omitted as appropriate.

[0011] Figure 1 and subsequent figures show the front-rear, left-right, and up-down directions of the robot 1 as appropriate. In the front-rear direction, the front direction is the direction in which the robot 1 moves forward, and the rear direction is the direction in which the robot 1 moves backward. The front-rear direction is also the direction in which the main body 10 of the robot 1 extends. The left-right direction is the direction that intersects the front-rear direction. The left-right direction is also the width direction of the robot 1. In the left-right direction, the left direction is the left direction when viewing the robot 1 from behind, and the right direction is the right direction when viewing the robot 1 from behind. The up-down direction is the direction that intersects the front-rear and left-right directions. In this embodiment, the down direction is the direction in which the tip of the leg portion 3 is located relative to the main body 10, and the up direction is the opposite direction of the down direction. The up direction may be vertically upward, and the down direction may be vertically downward. In this embodiment, the front-rear, left-right, and up-down directions are mutually orthogonal. Figures 3 and 5 show a virtual plane P that is orthogonal to the left-right direction and includes a central axis CX1 passing through the center of the left-right direction of the robot 1. The external shape of robot 1 is symmetrical with respect to the virtual plane P.

[0012] 1-1. Legs As shown in Figures 1 and 2, the leg section 3 has multiple legs that are connected to the main body 10 and can bend and extend. The leg section 3 includes a front leg section 3F consisting of a left front leg 3F1 and a right front leg 3F2. The leg section 3 also includes a rear leg section 3B consisting of a left rear leg 3B1 and a right rear leg 3B2. In this embodiment, the number of legs provided by the leg section 3 is four, and the robot 1 is a quadruped walking robot with four legs that can bend and extend. The robot 1 can also be described as a vehicle that can transport passengers or objects.

[0013] Figure 7 shows the left hind leg 3B1 as an example of multiple legs. Hereinafter, each of the multiple legs provided by the leg section 3 will also be simply referred to as leg 30. The description of leg 30 is also a description of each of the multiple legs. Leg 30 includes multiple joints and multiple links. The multiple joints include a first joint J1 connecting the upper end 301 of leg 30 to the main body 10, a third joint J3 near the tip 302 of leg 30, and a second joint J2 between the first joint J1 and the third joint J3. The multiple links include an upper leg link 31 and a lower leg link 32. Each link 31, 32 may include a frame that functions as the basic skeleton of leg 30, or it may include a frame and a housing that covers the frame.

[0014] The upper leg link 31 connects the first joint J1 and the second joint J2. The lower leg link 32 connects the second joint J2 and the third joint J3. The foot 33 is connected to the very end of the third joint J3 of the leg 30. The foot 33 makes contact with the road surface G (see Figure 8). The road surface G can also be called the track or contact surface.

[0015] The first joint J1, the second joint J2, and the third joint J3 are configured to rotate around pivot axes AX1, AX2, and AX3 that extend in the left-right direction. The first joint J1 supports the upper leg link 31 so that it can rotate around pivot axis AX1. The second joint J2 supports the lower leg link 32 so that it can rotate around pivot axis AX2. The third joint J3 supports the foot 33 so that it can rotate around pivot axis AX3. Each joint J1, J2, and J3 may be configured to rotate with two or more degrees of freedom.

[0016] Figure 6 illustrates the configuration of actuator AC1 of the left hind leg 3B1. The first joint J1 is driven by actuator AC1. The second joint J2 is driven by actuator AC2. The third joint J3 is driven by actuator AC3. Each actuator AC1, AC2, and AC3 includes an electric motor M as a drive source, a reduction gear R, and a rotation sensor E such as an encoder. The motor M may be a servo motor. The control device 7 controls the rotation of each motor M of actuators AC1, AC2, and AC3 to drive and rotate joints J1, J2, and J3, thereby bending and extending the leg 30. Details of the control device 7 will be described later.

[0017] As shown in Figures 1 and 2, a cover portion 39 is provided on the upper part J1u of the first joint J1. The cover portion 39 prevents the clothing of a rider straddling the main body 10, or objects loaded on the main body 10, from becoming entangled in the first joint J1 as the first joint J1 rotates around the pivot axis AX1. The cover portion 39 may be integrated with the main body 10, or it may be detachably attached to the main body 10.

[0018] 1-2. Main Body <Overall Configuration of the Main Body> The main body 10 has a shape that allows a rider to straddle it in the left-right direction. As shown in Figures 1, 2, and 5, the main body 10 has a front end 10F, a rear end 10B, and a central part 10M between the front end 10F and the rear end 10B in the front-rear direction. As shown in Figure 5, the left-right length D3 of the central part 10M is shorter than the left-right length D1 of the front end 10F and the left-right length D2 of the rear end 10B. The length D3 of the central part 10M is long enough for a person of standard build to straddle the central part 10M with their left and right legs spread apart. A robot 1 that a rider can straddle can also be called a saddle-type robot. In other words, robot 1 can be included in saddle-type vehicles.

[0019] The main body 10 may have a shape that allows objects to be loaded onto its upper part 10U. The length D3 of the central part 10M of the main body 10 may be approximately equal to the length D1 of the front end 10F or the length D2 of the rear end 10B. The length D3 of the central part 10M may be longer than the length that a standard-sized rider can straddle. For example, by increasing the length D3 of the central part 10M in the left-right direction, the number and volume of objects that can be loaded onto the upper part 10U of the main body 10 can be increased.

[0020] <Body Joint> As shown in Figures 1, 2, and 5, the body 10 comprises a front body 11, a rear body 13, and a body joint J4. The front body 11 and the rear body 13 are separate parts. As shown in Figures 1 and 2, the body joint J4 connects the rear end 112 of the front body 11 and the front end 131 of the rear body 13. The body joint J4 rotates around a pivot axis AX4 that extends in the left-right direction. The body joint J4 supports the rear body 13 so that it can rotate around the pivot axis AX4. Therefore, the front body 11 and the rear body 13 rotate separately around the pivot axis AX4. Consequently, vibrations of the rear body 13 are less likely to be transmitted to the front body 11. Also, vibrations of the front body 11 are less likely to be transmitted to the rear body 13.

[0021] The main body joint J4 includes an actuator AC4 (see Figure 6). The main body joint J4 is driven by the motor M of the actuator AC4. Actuator AC4 has the same configuration as actuators AC1, AC2, and AC3 described above. The control device 7 can drive the main body joint J4 by controlling the motor M of actuator AC4. The main body joint J4 only needs to be configured to support the rear main body 13 so as to be rotatable around a predetermined pivot axis, and does not necessarily have to include actuator AC4, for example.

[0022] Figure 8 shows how the main body 10 is bent by the rotation of the main body joint J4. In the robot 1 shown in Figure 8, the main body 10 is bent so that the central part 10M protrudes above the front end 10F and the rear end 10B. In addition, the joints J1, J2, and J3 of the legs 30 are bent so that the front leg 3F and the rear leg 3B are closer together. The control device 7 can contract the entire robot 1 as shown in Figure 8 by rotating the main body joint J4 to bend the main body 10 and by driving the joints J1, J2, and J3 to bend the legs 30.

[0023] Figure 9 shows the main body 10 extended by the rotation of the main body joint J4. The control device 7 can extend the entire robot 1 by driving the main body joint J4 of the robot 1 shown in Figure 8 to extend the main body 10, and by driving joints J1, J2, and J3 to extend the legs 30. Furthermore, by extending the legs 30 so that they kick the ground G, the robot 1 can also be made to jump onto the ground G. In this way, since the front main body 11 and the rear main body 13 are connected by the main body joint J4, the variations in the robot 1's movements are increased. In addition, the robot 1's movements become more dynamic.

[0024] <Seat> As shown in Figures 1, 2, and 5, a seat 61 is provided in the main body 10. The seat 61 functions as a seat for passengers. As shown in Figure 5, in the portion where the seat 61 is provided, the length of the main body 10 in the left-right direction is shorter than the length of the portion where the seat 61 is not provided. In this embodiment, the seat 61 is positioned in the central portion 10M of the main body 10 in the front-rear direction. The length of the seat 61 in the left-right direction is approximately equal to the length of the central portion 10M.

[0025] The seat 61 is connected to the front body 11. In this disclosure, "connected" includes both direct and indirect connections unless otherwise specified. The seat 61 is not connected to the rear body 13. Therefore, vibrations from the rear body 13 are less likely to be transmitted to a passenger straddling the front body 11. The seat 61 may be integral with the body 10, or it may be detachably connected to the body 10. For example, the body 10 may have a detachable mechanism and a locking mechanism at its front end 10F that allows the front end 611 (see Figure 5) of the seat 61 to be detachably attached.

[0026] As shown in Figure 5, the rear end 612 of the seat 61 is in front of the rear end 102 of the main body 10. The rear end 612 of the seat 61 is directly above the rear main body 13. Therefore, even if the rear main body 13 rotates around the pivot axis AX4 as shown in Figures 8 and 9, interference between the rear main body 13 and the seat 61 is suppressed. The main body joint J4 may be configured to rotate within a rotation range and rotation angle that can suppress interference between the rear main body 13 and the seat 61. Alternatively, the control device 7 may rotate the main body joint J4 within a rotation range and rotation angle that can suppress such interference.

[0027] <Protruding part> As shown in Figures 1 to 3, a protruding part 62 is provided at the front end 10F of the main body 10. The protruding part 62 protrudes upward and backward from the front end 10F. As shown in Figure 5, the rear end 622 of the protruding part 62 is in front of the seat 61. The protruding part 62 has a shape that straightens the airflow and reduces air resistance during travel. A robot 1 having such a protruding part 62 is also suitable for high-speed travel. The upper end 623 of the protruding part 62 can also function as a windscreen. The shape of the protruding part 62 can be changed as appropriate, as long as it protrudes upward and backward from the front end 10F.

[0028] <Grip> As shown in Figures 1, 2, and 5, a first grip 63 is provided at the front end 10F of the main body 10, which can be grasped by the passenger's fingers. In this embodiment, the first grip 63 is provided in front of the seat 61. As shown in Figures 4 and 5, the left end 631 and the right end 632 of the first grip 63 are connected to the upper part 10U of the front main body 11, and are configured to protrude upward and backward. The first grip 63 is an annular, U-shaped form with a portion cut off. The shape and configuration of the first grip 63 can be changed as appropriate, as long as it is configured to be grasped by the passenger. The first grip 63 may be, for example, a bar or an annular handle. The first grip 63 may be fixed or movable relative to the main body 10.

[0029] A second grip 64 is provided behind the first grip 63 on the main body 10. The second grip 64 is provided at the rear end 612 of the seat 61. The left end 641 and the right end 642 of the second grip 64 are connected to the rear end 612 of the seat 61 and protrude backward. The seat 61 of this embodiment has a length in the front-to-back direction that allows two passengers to sit side by side in the front-to-back direction. The first grip 63 is grasped by the front passenger, and the second grip 64 is grasped by the rear passenger. The second grip 64 only needs to be configured to be graspable by the rear passenger, and may be, for example, a bar.

[0030] <Detection device> The detection device 65 detects various information related to the movement of the robot 1. The detection device 65 includes a first detection device 651 and a second detection device 652.

[0031] As shown in Figure 3, the first detection device 651 is provided on the protruding portion 62. The first detection device 651 detects ambient information, including the conditions around the robot 1. The ambient information includes at least one piece of information about the robot 1's surroundings, such as the shape of the road surface G, the position of objects around the robot 1, the shape of those objects, and the weather. The first detection device 651 includes at least one of various devices capable of detecting ambient information. These devices can also be called sensors. The first detection device 651 may include, for example, at least one of a camera capable of acquiring images, a three-dimensional camera capable of detecting the distance to an object, a sensor capable of detecting the distance to an object, and a sensor capable of detecting the current position of the robot 1. As distance-detecting sensors, there may be photoelectric sensors, laser sensors, radio wave sensors, electromagnetic wave sensors, ultrasonic sensors, various types of LiDAR, or combinations thereof.

[0032] As shown in Figure 1, the second detection device 652 is provided on the front body 11. The second detection device 652 detects drive information, which includes information about the operation of the robot body 15, the power generation unit 2, the actuator AC, and other information about the drive system of the robot 1. The drive information may include the speed, acceleration, and current position of the robot body 15. The drive information may also include one of the following: the remaining charge of the battery module 24 or alert information for the drive system of the robot 1. The second detection device 652 may include at least one of various devices capable of detecting drive information. For example, the second detection device 652 may include a speed sensor, an acceleration sensor, and a position sensor. The second detection device 652 may also include a current sensor, a temperature sensor, and so on. At least a portion of the ambient information and drive information can also be called robot information, which relates to the condition of the robot 1.

[0033] The first detection device 651 may be provided on the front end 101 of the main body 10 in place of or in addition to the protrusion 62. At least a portion of the first detection device 651 may be provided on the central portion 10M, the front end portion 10F, or on the leg portion 3. The second detection device 652 may be provided on the rear main body 13. At least a portion of the second detection device 652 may be provided on the leg portion 3.

[0034] <Display Device> As shown in Figure 5, the display device 66 is provided on the upper part 10U of the front end portion 10F of the main body 10. The display device 66 displays various information about the robot 1 under the control of the control device 7.

[0035] In this embodiment, the display device 66 is provided in the front-rear direction from behind the protrusion 62 to in front of the seat 61. A portion of the front part 661 of the display device 66 is provided on the rear surface of the protrusion 62. The rear part 662 of the display device 66 is provided between the front part 661 and the front end 611 of the seat 61. The front part 661 is inclined upward and forward relative to the rear part 662. Therefore, passengers can easily see the information displayed on the front part 661.

[0036] The display device 66 may include one or more of the following: a display, indicator lamps such as indicator lamps and warning lamps, and meters such as analog meters and digital meters. The display device 66 in this embodiment includes a touch panel 663. The touch panel 663 of the display device 66 also functions as an operation unit 8 that receives input commands related to the operation of the robot 1.

[0037] <Storage Section> As shown in Figure 5, a storage section 67 is provided in the upper part 10U of the main body 10. The storage section 67 is located behind the protruding section 62 in the front-rear direction. The majority of the storage section 67 is located in front of the seat 61 in the front-rear direction. Therefore, the empty space of the front main body 11 can be used effectively. In addition, passengers can store small items in the storage section 67.

[0038] In this embodiment, the housing sections 67 are provided on the left and right sides of the display device 66 in the front main body 11, respectively. The housing sections 67 may have an opening on the upper surface of the front main body 11 and may be recesses that are recessed downwards. The opening may be covered with an openable and closable cover. The shape and number of housing sections 67 may be changed as appropriate.

[0039] <Lighting Device> As shown in Figure 3, a lighting device 68 is provided at the front end portion 10F of the main body 10. The lighting device 68 is configured to irradiate light around the robot 1. In this embodiment, the lighting device 68 is provided on the protruding portion 62. The lighting device 68 irradiates light around the robot in response to input operations via the operation unit 8. The lighting device 68 also irradiates light around the robot based on the detection result of the detection device 65. For example, if there are preceding robots, vehicles, or opposing robots, vehicles, etc., around the robot 1, the lighting device 68 is configured to change the irradiation direction and illuminance so as not to directly irradiate these robots and vehicles.

[0040] The lighting device 68 may be configured to split and illuminate light. The lighting device 68 may be configured to display and draw various information on the road surface G under the control of the control device 7. For example, the lighting device 68 may display on the road surface G the direction of travel of the robot 1 to reach its destination. The destination may be input via the operation unit 8. The control device 7 may generate a path to reach the input destination and calculate the direction of travel based on the generated path and the current position and surrounding information detected by the detection device 65. The lighting device 68 may draw lines and arrows indicating the direction of travel on the road surface G based on a signal representing the direction of travel output from the control device 7. In a configuration where the direction of travel is displayed and drawn on the road surface G, there is an advantage that the rider does not have to move their gaze to the display device 66 to check the direction of travel.

[0041] <Communication Device> As shown in Figures 1 and 6, the main body 10 includes a communication device 69. In this embodiment, the communication device 69 is provided in the front main body 11. The communication device 69 may also be provided in the rear main body 13 or in other parts of the robot body 15. The communication device 69 is a device for wireless communication with other devices. Other devices include a mobile terminal, a remote control for remotely controlling the robot 1, and other robots having a similar configuration to the robot 1. The communication device 69 may be configured to wirelessly communicate with other devices directly or indirectly. In indirect wireless communication, the communication device 69 may be configured to connect to a communication network via wireless communication and to communicate with a remote control via the communication network.

[0042] A communication network may include, for example, a Local Area Network (LAN), a Wide Area Network (WAN), the Internet, or a combination of two or more of these. A communication network may be configured to use short-range wireless communication such as Bluetooth® and ZigBee®, dedicated network lines, dedicated lines of a telecommunications carrier, a Public Switched Telephone Network (PSTN), a mobile communication network, the Internet, satellite communication, or a combination of two or more of these. A mobile communication network may use fourth-generation mobile communication systems and fifth-generation mobile communication systems, etc. A communication network may include one or more networks.

[0043] 1-3. Support Sections The robot 1 of this embodiment has a pair of support sections 4L and 4R. As shown in Figures 1 and 2, the left support section 4L is connected to the left side 10L of the main body 10, and the right support section 4R is connected to the right side 10R of the main body 10. The support sections 4L and 4R are configured to support the legs of a rider straddling the main body 10.

[0044] The support parts 4L and 4R are connected to the front main body part 11. The support parts 4L and 4R are located at substantially the same position as the main body joint J4 in the front-rear direction. The support parts 4L and 4R only need to be directly or indirectly connected to the main body side parts 10L and 10R, and may also be connected to the rear main body part 13. The support parts 4L and 4R are in the shape of a gable suspended from the left side part 10L and the right side part 10R of the main body part 10.

[0045] The support parts 4L and 4R will be specifically described with reference to FIGS. 10 and 11. FIGS. 10 and 11 show, as an example, the left support part 4L. Each of the support parts 4L and 4R has an extending part 41 and a footrest part 44. The extending part 41 has an upper end part 411 and a lower end part 412, and extends substantially in the vertical direction. The upper end part 411 is connected to the main body part 10. The extending part 41 is connected to the main body part 10 so as to be rotatable around a rotation axis AX5 extending in the left-right direction. The extending part 41 may be non-rotatably connected to the main body part 10. In the present embodiment, the upper end part 411 of the extending part 41 is directly connected to the main body part 10.

[0046] As shown in FIG. 10, the extending part 41 has a bent part 42 that bends forward between the upper end part 411 and the lower end part 412. The bent part 42 is located in front of the upper end part 411 and the lower end part 412 in the front-rear direction. The extending part 41 as a whole has a shape along the bending of the rider's leg.

[0047] The extending part 41 is configured to expand and contract in the substantially vertical direction, which is the extending direction. In the present embodiment, the extending part 41 has a bellows part 43 which is a part formed in a bellows shape. The extending part 41 expands and contracts in the substantially vertical direction by the expansion and contraction of the bellows part 43. The rider can adjust the length of the extending part 41 by expanding and contracting the bellows part 43. The extending part 41 may have an elastic body, and may be configured to expand and contract in the substantially vertical direction by the elastic body. The elastic body may include members such as springs and synthetic rubbers.

[0048] As shown in FIG. 11, the footrest portion 44 is connected to the lower end portion 412 of the extending portion 41. The footrest portion 44 has a plate-shaped first portion 441 that protrudes in a direction away from the virtual plane P (see FIG. 3), and a second portion 442 that protrudes upward at an end of the first portion 441 opposite to the connection end portion with the extending portion 41. The width of the first portion 441 in the left-right direction is a width on which the feet of the passenger can be placed. The protruding height of the second portion 442 is a height that can prevent the feet of the passenger from coming off the first portion 441. The footrest portion 44 may be connected to the lower end portion 412 around a rotation axis extending in the left-right direction.

[0049] The footrest portion 44 may be provided with a telescopic mechanism 45 that can adjust the length of the footrest portion 44 in the left-right direction. In the example shown in FIG. 12, the telescopic mechanism 45 includes a slide rail 451 and a guide rail 452. By extending the footrest portion 44 in the left-right direction by the telescopic mechanism 45, the area of the first portion 441 can be enlarged. When two passengers straddle the main body portion 10 side by side in the front-rear direction, the footrest portion 44 can support the feet of the rear passenger in addition to the feet of the front passenger. The footrest portion 44 may have a bellows that can expand and contract in the left-right direction as a telescopic mechanism.

[0050] FIG. 3 shows the left-right distance L1 between the left support portion 4L and the right support portion 4R. The left support portion 4L and the right support portion 4R are configured such that the distance L1 changes. In the present embodiment, the bellows 43 can also be elastically deformed in the left-right direction. The passenger can bring the left foot placed on the footrest portion 44 of the left support portion 4L and the right foot placed on the footrest portion 44 of the right support portion 4R closer to each other so as to slip under the main body portion 10. As a result, the distance L1 between the left support portion 4L and the right support portion 4R can be changed, and thus the main body portion 10 can be pressed by the left and right feet of the passenger. In addition, the passenger can be made to closely adhere to the robot 1.

[0051] The support sections 4L and 4R may be equipped with a movement mechanism that moves their respective upper ends 411 in the left-right direction. The distance between the left support section 4L and the right support section 4R may be changed by the movement mechanism. The movement mechanism may include, for example, a connecting member such as a shaft that connects the upper ends 411 to the main body section 10, and an actuator that moves the connecting member in the left-right direction.

[0052] 1-4. Balance Unit The balance unit 5 will be explained using Figures 1, 2, 4, and 13 to 15. The balance unit 5 is configured to maintain the balance of the robot body 15. Maintaining the balance of the robot body 15 includes preventing the robot body 15 from tipping over. Maintaining the balance of the robot body 15 also includes maintaining and adjusting the posture of the robot body 15.

[0053] As shown in Figure 13, the balance section 5 is elongated and has a base end 51 connected to one end of the main body 10 and a tip end 52 on the opposite side of the base end 51. As shown in Figure 4, the base end 51 is located on a virtual plane P. As shown in Figure 1, in this embodiment, the base end 51 is connected to the rear end 102 of the main body 10. The base end 51 is connected to the rear end 102 so as to be rotatable around an axis AX6 that extends in the front-rear direction. The balance section 5 can also be called the tail section of the robot 1. The tip end 52 is a free end. A weight may be detachably attached to the tip end 52. The weight of the tip end 52 may be adjustable.

[0054] The balance unit 5 is pendulum-shaped with its base end 51 as the pivot point. The tip 52 of the balance unit 5 moves relative to the direction of movement and acceleration of the robot body 15.

[0055] The balance section 5 includes a base section 53, a bending mechanism 54, and an actuator AC 5 (see Figure 6). The base section 53 defines the outer casing of the balance section 5. In this embodiment, the base section 53 is constructed by connecting a plurality of cylindrical sections 531 in the longitudinal direction. The base section 53 may have a bellows structure. At least a part of the base section 53 may be an elastic member.

[0056] The bending mechanism 54 bends the base portion 53. In this embodiment, the bending mechanism 54 includes a linear member 541 disposed within the cylindrical portion 531 of the base portion 53. The linear member 541 may be a wire or a cable. In this embodiment, the linear member 541 connects the base end portion 51 and the tip portion 52. The linear member 541 is supported by the base portion 53 so that it can be wound up at the base end portion 51 and unwound from the base end portion 51. In the example shown in Figure 13, two linear members 541 are arranged in the left-right direction.

[0057] Actuator AC5 has the same configuration as the actuators described above. That is, actuator AC5 includes a motor M. Actuator AC5 bends the base portion 53 via the bending mechanism 54 under the control of the control device 7. For example, when actuator AC5 winds up the right linear member 541, as shown in Figure 14, the base portion 53, i.e., the balance portion 5, bends so that the tip portion 52 moves to the right. When actuator AC5 releases the winding, the balance portion 5 returns to its initial state as shown in Figure 13, with the tip portion 52 positioned downwards and the base portion 53 extending substantially vertically.

[0058] The motor M of actuator AC5 is rotationally driven by the control device 7 to bend the base portion 53, i.e., the balance portion 5, via the bending mechanism 54. Furthermore, the motor M of actuator AC5 rotates in accordance with the movement of the robot body 15, independently of the control device 7, as the balance portion 5 moves and bends in a pendulum-like manner. The control device 7 may use the regenerative power generated by the motor M to charge the battery module 24.

[0059] Note that the linear member 541 does not necessarily have to be connected to the tip portion 52. For example, as shown in Figure 15, the linear member 541 of the bending mechanism 54 may be positioned at the base portion 51 and at any part of the base portion 53 between the base portion 51 and the tip portion 52.

[0060] 1-5. Power Generation Unit The power generation unit 2 generates electricity to supply various electrical devices and equipment of the robot 1, including each actuator AC. The power generation unit 2 generates electricity using fuel supplied from the fuel supply unit 26 under the control of the control device 7.

[0061] As shown in Figure 1, the power generation unit 2 is housed in the main body 10. In this embodiment, the power generation unit 2 is housed in the front main body 11. The main body 10 has a structure and shape suitable for housing and cooling the power generation unit 2. The structure of the main body 10 that houses the power generation unit 2 will be described below. In this embodiment, the power generation unit 2 is housed in the front main body 11. In Figure 16 and subsequent Figures 17 to 19, only the front main body 11 and 11e of the main body 10 and 10e are shown.

[0062] As shown in Figure 16, the main body 10 has a first opening 161 at the front end 101, a second opening 162 behind the first opening 161, and a flow path 160 connecting the first opening 161 and the second opening 162. The power generation unit 2 is positioned in the flow path 160.

[0063] In the example shown in Figure 16, the second opening 162 is formed in the bottom 113 of the front main body portion 11. The second opening 162 may also be formed in the side portions 10L and 10R of the main body instead of, or in addition to, the bottom 113. In this embodiment, the second opening 162 is located behind the first opening 161 and in front of the main body joint J4.

[0064] Figure 16 further shows an arrow Y1 indicating the gas flow in the flow path 160. As the robot 1 moves forward, gas from outside the main body 10 flows into the flow path 160 from the first opening 161 and is discharged from the second opening 162, as shown by arrow Y1. In other words, the first opening 161 functions as an intake port that draws gas from outside the main body 10 into the flow path 160, and the second opening 162 functions as an outlet that discharges gas from the flow path 160. This gas flow cools the power generation unit 2.

[0065] In this embodiment, a radiator 27 is positioned behind the first opening 161 and at the front end (foremost end) of the power generation unit 2. Therefore, gas from outside the main body 10 flows into the flow path 160 from the first opening 161 and reaches various parts of the power generation unit 2 via the radiator 27.

[0066] The main body portion 10 further has a third opening 163 above the first opening 161. The third opening 163 is connected to the flow path 160. In this embodiment, the third opening 163 is located behind the front end 621 of the projection 62 and the front end 101 of the main body portion 10 in the front-rear direction. The projection 62 and the front end 101 of the main body portion 10 function as covers for the third opening 163.

[0067] The gas outside the main body 10 further flows into the flow path 160 from the third opening 163, as shown by arrow Y2, and is discharged from the second opening 162. This allows the power generation unit 2 to be cooled more effectively. The third opening 163 functions as an air intake, similar to the first opening 161.

[0068] At least a portion of the first opening 161 and the second opening 162 may be covered with a breathable ventilation member. In the example shown in Figure 3, the first opening 161 is covered with a mesh-like ventilation member ms.

[0069] Figure 17 shows another example of the main body 10e that houses the power generation unit 2. The main body 10e has a recess 19 that is open at the front end and recessed upward. The power generation unit 2 may be placed inside the recess 19. That is, the front end opening 161e of the recess 19 functions as the first opening 161 described above, and the lower end opening 162e of the recess 19 functions as the second opening 162. The inside of the recess 19 functions as a flow path 160. The front end opening 161e and the lower end opening 162e may be covered with a ventilation member ms or left open. If the front end opening 161e and the lower end opening 162e are open, the power generation unit 2 may be supported by a side wall 191 or an upper wall 193 that define the inside of the recess 19.

[0070] Next, the components of the power generation unit 2 and their arrangement will be described. As shown in Figure 18, the power generation unit 2 includes an internal combustion engine 21, a motor generator 22, and a gear mechanism 23. The engine 21 is driven by fuel supplied from the fuel supply unit 26. The fuel supply unit 26 is housed in the main body 10 behind the power generation unit 2. As shown in Figures 1 and 2, in this embodiment, the fuel supply unit 26 is housed in the rear main body 13.

[0071] In this embodiment, the engine 21 is a hydrogen engine, and the fuel supply unit 26 contains hydrogen. The fuel supply unit 26 includes, for example, a hydrogen storage alloy. The fuel supply unit 26 may contain gaseous hydrogen. The hydrogen as fuel may be injected directly into the fuel chamber 21s of the engine 21.

[0072] The gear mechanism 23 connects the engine 21 and the motor generator 22. The gear mechanism 23 includes a conversion mechanism that converts the reciprocating motion of the piston of the engine 21 into rotational motion and transmits the rotational motion to the motor generator 22. The motor generator 22 generates electricity by rotating via the gear mechanism 23 when driven by the engine 21.

[0073] For example, when an ON command is issued for robot 1, the control device 7 supplies fuel from the fuel supply unit 26 to the power generation unit 2 and drives the power generation unit 2. In this embodiment, the engine 21 is driven, the motor generator 22 rotates, and electricity is generated. The electricity generated in the motor generator 22 is stored in the battery module 24 (see Figures 1 and 6) via the power supply circuit 25.

[0074] The power supply circuit 25 controls the supply and demand of power to the battery module 24. The power supply circuit 25 is configured to control power according to the control of the control device 7, etc. For example, the power supply circuit 25 may include equipment such as a converter, inverter, transformer, and amplifier. The power supply circuit 25 stores the power generated in the motor generator 22 in the battery module 24 under the control of the control device 7. The power supply circuit 25 also supplies the power stored in the battery module 24 to each electrical device in the robot 1, including the actuator AC 5, under the control of the control device 7.

[0075] The battery module 24 includes one or more rechargeable batteries capable of charging and discharging power. Examples of rechargeable batteries include lead-acid batteries, lithium-ion rechargeable batteries, all-solid-state batteries, nickel-metal hydride batteries, all-solid-state batteries, nickel-cadmium batteries, and the like.

[0076] The arrangement of each part of the power generation unit 2 in the flow path 160 will now be described. In the example shown in Figure 18, the motor generator 22 is located after the engine 21 via a gear mechanism 23. By arranging the engine 21 and the motor generator 22 in this way, the distance and width of the main body 10 in the left-right direction can be shortened. Therefore, it is easier for the rider to straddle the main body 10.

[0077] Furthermore, in the example shown in Figure 19, the motor generator 22 is positioned next to the engine 21 in the left-right direction, via a gear mechanism 23. In this arrangement of the engine 21 and motor generator 22, the motor generator 22 is cooled by the gas before it cools the engine 21, etc. Therefore, the engine 21 and motor generator 22 can be cooled effectively. In the example shown in Figure 19, openings 164 are further provided on the sides 10L and 10R of the main body 10. The openings 164 function as second openings that communicate with the flow path 160.

[0078] The configuration and arrangement of the power generation unit 2, the fuel supply unit 26, and the battery module 24 can be changed as appropriate. For example, the power generation unit 2 may include a fuel cell instead of, or in addition to, the engine 21. The battery module 24 may be housed in the rear body 13. The fuel supply unit 26 may be housed in the front body 11.

[0079] 1-6. The robot 1 includes an operation unit 8 that receives input related to the operation of the robot 1. In this embodiment, the operation unit 8 includes a touch panel 663 of the display device 66, main body side parts 10L and 10R, a seat 61, a first grip 63, and support parts 4L and 4R. The control device 7 generates operation commands in response to input via the operation unit 8. Based on the generated operation commands, the control device 7 drives each actuator AC of the robot 1 to operate the robot 1. In this embodiment, each of the main body side parts 10L and 10R, the seat 61, the first grip 63, and the support parts 4 includes a sensor. These sensors function as an operation detection unit 81. The control device 7 generates operation commands using the detection results of the operation detection unit 81. More specifically, the main body side parts 10L and 10R, the seat 61, the first grip 63, and the support parts 4 cooperate with the control device 7 to function as an operation unit 8. The generation of operation commands by the control device 7 will be described later.

[0080] Figure 20 illustrates the arrangement of multiple sensors included in the operation detection unit 81 within the robot 1. In this embodiment, the operation detection unit 81 includes a side sensor s1, a seat sensor s2, a grip sensor s3, a first support sensor s4, and a second support sensor s5.

[0081] The side sensor s1 is positioned on the left side 10L and right side 10R of the main body 10, where the rider's left upper leg and right upper leg make contact. The portion of the left side 10L and right side 10R where the side sensor s1 is located functions as a leg input section that is gripped in the left-right direction by the rider's upper legs. The value detected by the side sensor s1 reflects the magnitude of the force with which the rider grips the main body 10 with their legs.

[0082] The seat sensor s2 is positioned on the seat 61, which serves as the seating area. The seat sensor s2 detects the force applied to the seat 61. The value detected by the seat sensor s2 reflects the force with which the occupant pushes against the seat 61, that is, the magnitude of the occupant's own weight applied to the seat 61.

[0083] The grip sensor s3 is positioned on the first grip 63. The grip sensor s3 detects the force applied to the first grip 63. The values ​​detected by the grip sensor s3 reflect the magnitude of the force with which the rider grips the first grip 63, the magnitude of the force pulling the first grip 63 backward, and so on.

[0084] As shown in Figure 21, the first support sensor s4 is positioned on the footrests 44 of the left support 4L and the right support 4R. The first support sensor s4 detects the force applied to the footrests 44. The value detected by the first support sensor s4 reflects the magnitude of the rider's pressure on the footrests 44.

[0085] The second support sensor s5 is positioned on the extended portion 41 of the left support portion 4L and the right support portion 4R. The second support sensor s5 detects the force applied to the extended portion 41. The value detected by the second support sensor s5 reflects the magnitude of the force applied by the passenger to the extended portion 41.

[0086] The sensors s1 to s5 in the operation detection unit 81 can be any sensors that detect forces applied to the robot body 15. The forces applied to the robot body 15 are those applied when the rider changes their riding posture relative to the robot body 15. Therefore, it does not include the force used to operate push buttons, etc. with fingers. Or, it is not defined solely by the force used to operate push buttons, etc. with fingers. Each of the sensors s1 to s5 includes at least one of various sensors such as a force sensor, pressure sensor, load sensor, acceleration sensor, and angle sensor. The operation detection unit 81 may further include sensors located on other parts of the robot body 15. For example, the operation detection unit 81 may include a sensor located at the lower end 412 of the extension portion 41 that detects the amount of rotation, rotation speed, and rotation angle of the lower end 412 of the footrest portion 44.

[0087] The operation commands include various commands for robot 1, such as various settings for robot 1, setting the destination for robot 1, setting the driving mode, commands to start driving, commands to stop driving, etc.

[0088] The operating modes include an automatic driving mode and a manual driving mode. The operating modes further include a follow-up driving mode in which robot 1 follows another robot, and a mode that primarily allows manual driving in addition to the automatic driving mode and follow-up driving mode.

[0089] The automatic driving mode is a mode in which robot 1 automatically drives to its destination. The manual driving mode is a mode in which robot 1 starts, stops, adjusts speed, changes direction, etc., in response to input operations via the touch panel 663 of the display device 66 and input operations via the operation detection unit 81. The follow driving mode is a mode in which robot 1 follows another robot that has the same functions as robot 1. The mode that allows manual driving is a mode in which, while robot 1 is operating in the automatic driving mode, follow driving mode, etc., if an input operation is made via the operation detection unit 81, etc., the input operation is reflected in the operation of robot 1.

[0090] The automatic and manual driving modes further include high-speed driving mode, low-speed driving mode, gallop driving mode, and rough terrain driving mode. The driving modes further include various modes such as energy saving mode, balance control mode, and suspension control mode. These modes may be combined with each other, or other modes may be selected as sub-modes of one driving mode.

[0091] The high-speed travel mode is a mode in which the travel speed of robot 1 is set to a predetermined speed or higher. The predetermined speed may be set in steps. The predetermined speed may also be set to a speed corresponding to the surrounding conditions of robot 1 detected by the detection device 65. In high-speed travel mode, vibrations applied to the occupant may increase. Therefore, in high-speed travel mode, if robot 1 is equipped with a suspension device described later, the suspension device control mode may be set automatically or selectively as a sub-mode. In addition, the balance unit control mode may be set automatically or selectively as a sub-mode. The suspension device, suspension control mode, and balance unit control mode will be described later.

[0092] The low-speed travel mode may be a mode that sets the travel speed of the robot 1 to below a predetermined speed. The predetermined speed may be set in multiple stages. The rough terrain travel mode may be a mode that, for example, causes the legs 30 and main body joints J4 to bend and extend in a manner suitable for traveling on uneven terrain.

[0093] These modes may be changed in response to operation commands during operation. The modes may be updated via the communication device 69 of the robot 1. The modes may also be generated by input from the rider via an input device such as the touch panel 663 of the display device 66.

[0094] 1-7. Control Device As shown in Figure 6, the control device 7 comprises a processor 71 including a CPU (Central Processing Unit), a memory 72, and an interface circuit. The control device 7 is communicatively connected to various parts of the robot 1, including a plurality of actuators AC1 to AC5, a power generation unit 2, a battery module 24, a power supply circuit 25, a detection device 65, a display device 66, a lighting device 68, a communication device 69, and an operation detection unit 81.

[0095] Memory 72 includes volatile memory and non-volatile memory. Memory 72 may further include a hard disk, an SSD, or a combination thereof. Memory 72 stores various programs, including an operation command generation program P1 and an operation control program P2. The processor 71 generates operation commands for the robot 1 using the detection results of the operation detection unit 81 by expanding and executing the operation command generation program P1. The detection results can also be called detected values ​​or detected signals. The processor 71 also operates the robot 1 by expanding and executing the operation control program P2 stored in memory 72, thereby controlling the actuators AC of each joint J1 to J4 and various parts of the robot 1 based on the generated operation commands. In this embodiment, one control device 7 generates operation commands and executes the movements of the robot 1, but the robot 1 may have multiple control devices, and at least some of the functions of the control device 7 and the processor 71 may be performed by different control devices.

[0096] The processor 71 acquires at least one of the magnitude of the force applied to the robot body 15, the change in the magnitude of the force, the position where the force is applied, and the change in the position where the force is applied, via the operation detection unit 81, and generates an operation command. The processor 71 generates an operation command corresponding to the detection result acquired via the operation detection unit 81 by referring to, for example, the correspondence between the detected value of the operation detection unit 81 and the operation command stored in the memory 72. This correspondence may be stored in the memory 72 in advance. The correspondence may be set by the rider and stored in the memory 72. The correspondence may be generated by the control device 7 from, for example, the relationship between the movements of the robot 1 in autonomous driving, such as speed, acceleration, and direction changes, and the force applied to the robot body 15 by the rider during those movements.

[0097] The processor 71 controls each actuator AC of the robot body 15 based on the generated operation command. Since an operation command is generated based on the operation detection unit 81 and each actuator AC is controlled based on the operation command, the movement of the robot 1 changes in accordance with the force applied by the rider to the robot body 15. For example, the greater the change in the force applied by the rider to the robot body 15, the greater the change in the movement of the robot body 15.

[0098] The following describes how the processor 71 generates operation commands. For example, the processor 71 generates an operation command to set the operating mode to high-speed travel mode, or an operation command to increase the travel speed of the robot 1 in manual driving mode according to the magnitude of the detected value, when at least one of the following conditions (i) to (v) is met.

[0099] (i) The detection values ​​of the side sensors s1 on the left side 10L and the right side 10R are greater than or equal to a predetermined threshold; (ii) The detection value of the seat sensor s2 is less than a predetermined threshold; (iii) The detection value of the seat sensor s2, more specifically, the change in the detection value, indicates that the force applied to the seat 61 has moved from back to front; (iv) The detection value of the first support sensor s4 is greater than or equal to a predetermined threshold; (v) The change in the detection value of the first support sensor s4 indicates that the force applied to the footrest 44 has moved from back to front. These conditions can be met when the rider leans forward when boarding the robot body 15, lifts their buttocks off the seat 61 when boarding, or boards in a way that grips the main body 10 in the width direction. These boarding positions involve the rider in close contact with the robot body 15 and are suitable for high-speed travel. When these conditions are met, it can be inferred that the rider intends to make the robot 1 travel at high speed.

[0100] For example, the processor 71 generates an operation command to set the operating mode to low-speed travel mode, or an operation command to reduce the travel speed of the robot 1 in manual driving mode according to a detected value, when at least one of the following conditions (vi) to (viii) is met.

[0101] (vi) The detected value of the seat sensor s2 is above a predetermined threshold; (vii) The change in the detected value of the first support sensor s4 indicates that the force applied to the footrest 44 has moved from front to back; (viii) The detected value of the side sensor s1 is below a predetermined threshold. These conditions can be met when the rider sits approximately perpendicular to the main body 10, or when the rider sits with most of their buttocks in contact with the seat 61, or when the rider sits without pressing their legs against the sides 10L and 10R. These types of riding are suitable for low-speed travel. When these conditions are met, it can be inferred that the rider intends to make the robot 1 travel at a low speed.

[0102] For example, the processor 71 generates an operation command to stop the robot 1 when at least one of the following conditions (ix) to (x) is met while the robot 1 is moving.

[0103] (ix) The value detected by the grip sensor s3 is above a predetermined threshold, and (x) The value detected by the grip sensor s3 indicates that the first grip 63 has been pulled backward. These conditions can be met when the rider grasps the first grip 63 above a predetermined threshold or pulls it backward. Such actions by the rider can also be understood as actions to restrain the forward movement of a quadrupedal animal by, for example, applying force to the neck of the animal or pulling its neck backward with a rein. When these conditions are met, it can be inferred that the rider intends to stop the robot 1 from moving forward.

[0104] For example, the processor 71 generates an operation command to start the robot 1 moving when the robot 1 is stopped and at least one of the following conditions (xi) to (xiiii) is met.

[0105] (xi) The detected value of the second support sensor s5 is above a predetermined threshold; (xi) The detected value of the grip sensor s3 is above a predetermined threshold; (xiiii) The detected value of the grip sensor s3 is above a predetermined acceleration. These conditions can be met when the rider grips the first grip 63 above a predetermined threshold or swings it downwards. Such actions by the rider can be interpreted as actions to encourage a quadrupedal animal to move forward, for example, by applying force to the neck of the animal with a rein or by applying instantaneous force near the neck of the animal. When these conditions are met, it can be inferred that the rider intends to start the robot 1 moving.

[0106] The above operation commands and methods for generating operation commands are examples, and multiple operation commands and generation methods are applicable. For example, the processor 71 may generate an operation command to change the direction of the robot 1 when it detects via the operation detection unit 81 that the detection value of one of the side sensors s1 of the left side 10L and the side sensor s1 of the right side 10R exceeds a predetermined value. Alternatively, or in addition to this, the processor 71 may generate an operation command to change the direction of the robot 1 when it detects that the difference between the detection values ​​of the side sensor s1 of the left side 10L and the side sensor s1 of the right side 10R exceeds a predetermined value. When cornering, in which the robot body 15 is tilted at a predetermined speed or higher, the rider pushes on the sides 10L and 10R in accordance with the direction in which the robot body 15 is tilting, that is, the direction in which it is turning. Therefore, if the detection value of either the side sensor s1 on the left side 10L or the side sensor s1 on the right side 10R is above a predetermined value, or if the difference between the detection values ​​is above a predetermined value, it can be inferred that the occupant intends to corner.

[0107] For example, the operation detection unit 81 may include a sensor that detects the expansion and contraction of the extension portion 41 in a substantially vertical direction. The second support sensor s5 may also serve as a sensor that detects the expansion and contraction of the extension portion 41. If the processor 71 detects that the extension portion 41 has contracted via the operation detection unit 81, it may generate an operation command for high-speed driving. If the processor 71 detects that the extension portion 41 has extended via the operation detection unit 81, it may generate an operation command for low-speed driving.

[0108] The balance unit control mode is a mode in which the control device 7 controls the actuator AC5 of the balance unit 5 to maintain the balance of the robot body 15. For example, when the manual operation mode is selected, the processor 71 uses the drive information of the robot 1, including the speed, acceleration, and direction of movement of the robot 1, obtained from the detection device 65, to estimate the next operation of the robot 1 from the said drive information. The processor 71 generates an operation command for the actuator AC5 of the balance unit 5 so that the balance of the robot body 15 is maintained when the estimated operation is performed.

[0109] The balance unit control mode may include control to cancel or increase the rotational inertia and moment of inertia acting on the robot body 15. This control may be selected by the operator via the operation detection unit 81 and the operation unit 8, and executed by the processor 71. The processor 71 may cancel or increase the rotational inertia by adjusting the speed, acceleration, and bending ratio of the balance unit 5.

[0110] In balance unit control mode, for example, when the robot 1 makes a rapid turn, the processor 71 controls the actuator AC5 to bend the balance unit 5 inward in the direction of the turn. The processor 71 maintains the bent state of the balance unit 5 so that the centrifugal force acting on the robot body 15 is balanced. This makes it possible, for example, to tilt the robot body 15 to maintain the speed of the robot 1, and to change direction, corner, etc., while maintaining the balance of the robot body 15.

[0111] Alternatively, in balance unit control mode, the processor 71 applies a predetermined acceleration to the outside of the turning direction of the robot 1 when the robot 1 is rapidly turning, causing the balance unit 5 to bend. The processor 71 applies acceleration to the balance unit 5 and bends it outward in the turning direction. The processor 71 bends the balance unit 5 so that a force opposite to the centrifugal force acts on the robot body 15. This also allows the robot body 15 to tilt, maintain the speed of the robot 1, and enable directional changes, cornering, etc., while maintaining the balance of the robot body 15.

[0112] The processor 71 may further perform various controls. These controls include, for example, generating a route to the destination, displaying the generated route on the display device 66, and displaying and drawing the direction of travel using the lighting device 68.

[0113] Various control methods include notification control, which causes the balance unit 5 to notify the robot 1 of the state of good or bad. In notification control, if the robot information detected by the detection device 65 indicates that the robot 1 is in good condition, the processor 71 causes the balance unit 5 to perform a first action indicating that the robot 1 is in good condition. On the other hand, if the robot information indicates that the robot 1 is in poor condition, the processor 71 causes the balance unit 5 to perform a second action indicating that the robot 1 is in poor condition.

[0114] The condition of robot 1 being in good condition may include at least one of the following: there are no abnormalities in the drive system such as the power generation unit 2 or in any part of robot 1; the battery level of the battery module 24 is above a predetermined threshold; and the surrounding environment, including the road surface G, is in good condition. The condition of robot 1 being in poor condition may include at least one of the following: there is an abnormality in the drive system such as the power generation unit 2 or in any part of robot 1; the battery level is below a predetermined threshold; and the surrounding environment, including the road surface G, is in poor condition.

[0115] The first operation may include at least one of raising the tip 52 of the balance unit 5 and moving the tip 52 in the left-right direction at a predetermined interval. The second operation may include at least one of lowering the tip 52 and curving the balance unit 5 forward so that the tip 52 goes under the main body 10. The first operation may include a plurality of operations in which the height of the tip 52, the distance of movement in the left-right direction, the frequency of movement, etc. are changed according to the degree of goodness of the robot's condition. Similarly, the second operation may include a plurality of operations in which the height of the tip 52, the degree of forward curvature, etc. are changed according to the degree of poorness of the robot's condition. The first operation may mimic an operation in which a quadrupedal animal expresses a favorable emotion. The second operation may mimic an operation in which a quadrupedal animal expresses an unfavorable emotion. The processor 71 drives the actuator AC5 of the balance unit 5 to execute these operations and curves the balance unit 5 (base 53) via the curving mechanism 54. By implementing this notification control, the passenger can understand the status of robot 1.

[0116] 1-8. Suspension System The robot 1 may be equipped with a suspension system 90. The suspension system 90 is provided on the legs 30. Figure 22 shows the left rear leg 3B1 as an example of a leg equipped with a suspension system 90. The suspension system 90 may be provided on all legs 30 of the leg section 3, or only on the rear leg section 3B, or only on the front leg section 3F.

[0117] The suspension device 90 includes an elastic member 91 and a damping device 92 that dampens the vibration of the elastic member 91. In the example shown in Figure 22, the elastic member 91 is a coil spring and the damping device 92 is a damper. A damper is also called a shock absorber. The suspension device 90 has a first end 901 in a predetermined direction and a second end 902 opposite to the first end 901. In this embodiment, the predetermined direction is the extension direction of the suspension device 90 and the extension and contraction direction of the elastic member 91.

[0118] The first end 901 is connected to the upper leg link 31, and the second end 902 is connected to the lower leg link 32. The first end 901 may also be connected to 31 via an upper arm. The second end 902 may also be connected to the lower leg link 32 via a lower arm.

[0119] As described above, the first joint J1, second joint J2, and third joint J3 of the leg 30 are configured to rotate around pivot axes AX1, AX2, and AX3 that extend in the left-right direction. Figure 22 shows a central axis AX10 that includes an upper central axis AX11 and a lower central axis AX12. The upper central axis AX11 is the central axis of the upper leg link 31 and is a straight line connecting pivot axis AX1 and pivot axis AX2. The lower central axis AX12 is the central axis of 32 and is a straight line connecting pivot axis AX2 and pivot axis AX3. Because the central axis AX10 includes the upper central axis AX11 and the lower central axis AX12, it bends at the pivot axis AX2. In the example shown in Figure 22, the first end 901 and the second end 902 are connected to the upper leg link 31 and the lower leg link 32 behind the central axis AX10. The first end 901 and the second end 902 should be connected to the upper leg link 31 and the lower leg link 32 such that the elastic member 91 contracts when the leg 30 is bent. For example, if the suspension device 90 is provided on the left front leg 3F1 and the right front leg 3F2, the first end 901 and the second end 902 may be connected to the upper leg link 31 and the lower leg link 32 in front of the central axis AX10.

[0120] Figure 23 shows a bent leg 30 equipped with a suspension device 90. When the leg 30 bends, the rod 921 moves and the elastic member 91 contracts, and elastic energy is stored in the suspension device 90. The leg 30 can extend when the contracted elastic member 91 extends, that is, when the elastic energy is released. Furthermore, the bending and extending of the leg 30 are performed smoothly by the damping device 92.

[0121] Figure 24 shows another example of the connection between the suspension device 90a and the leg 30. In the suspension device 90a shown in Figure 24, the first end 901 is connected to the upper leg link 31 in front of the central axis AX10, and the second end 902 is connected to the lower leg link 32 behind the central axis AX10. The length of the suspension device 90a in the extending direction is longer than that of the suspension device 90 shown in Figure 22. Also, the free length of the elastic member 91a is longer than that of the elastic member 91, and the number of turns of the elastic member 91a is greater than that of the elastic member 91. In this configuration, where one of the connection portions between the first end 901 and the upper leg link 31, and the connection portion between the second end 902 and the lower leg link 32 is in front of the central axis AX10 and the other is behind the central axis AX10, the distance between the first end 901 and the second end 902 can be increased. Therefore, more energy can be stored in the elastic member 91a.

[0122] Figure 25 shows another example of a suspension device 90b provided on a leg 30, in which the damping force of a damping device 92b can be adjusted by a control device 7. Figure 25 schematically shows a cross-section of the damping device 92b. The damping device 92b includes a reservoir 94 communicating with a cylinder 93 and a valve 95 positioned in the communication passage between the cylinder 93 and the reservoir 94. When the valve 95 is open, the cylinder 93 and the reservoir 94 communicate, and when the valve 95 is closed, communication between the cylinder 93 and the reservoir 94 is blocked. Oil as a fluid is stored in the cylinder 93. The valve 95 may be a solenoid valve or an electric valve. The control device 7 can control the valve 95 to communicate the cylinder 93 and the reservoir 94 and adjust the amount of oil in the cylinder 93. This adjusts the damping force of the suspension device 90b.

[0123] Furthermore, the control device 7 performs the following bending control when the leg 30 is equipped with a suspension device 90b, or when the leg 30 is equipped with a suspension device 90b and the suspension device control mode is selected.

[0124] For example, the control device 7 rotates the motor M of the second joint J2 in the first rotational direction to begin bending the leg 30 and opens the valve 95. When the bending of the leg 30 is complete, the control device 7 closes the valve 95. This bending control maintains the bending of the leg 30. Also, the energy of the elastic member 91 of the suspension device 90b is conserved. If the control device 7 wants to extend the leg 30 after the bending control, it opens the valve 95. This releases the energy and extends the leg 30. If the extension of the leg 30 is less than the extension based on the operation command, in other words, if the rotation of the second joint J2 is less than the rotation angle based on the operation command, the control device 7 rotates the motor M in the second rotational direction opposite to the first rotational direction to reach that rotation angle. In this configuration in which the control device 7 coordinately controls the suspension device 90b and the motor M, the suspension device 90b can handle at least a portion of the work done by the motor M. Therefore, the power required for the operation of the robot 1 can be reduced.

[0125] For the sake of simplicity, only the second joint J2 has been mentioned, but the motor M of the actuator AC1 of the first joint J1 can also be used for flexion and extension of the leg 30. The above explanation regarding the second joint J2 and the effects exerted by the suspension device 90b are also applicable to the first joint J1.

[0126] The control device 7 may perform the above-described suspension device control when the leg 30 makes contact with the road surface G. Contact with the road surface G may include contact after the robot 1 has jumped. This further reduces the impact on the leg 30 and allows the elastic member 91 to store more energy. In addition, the energy stored at the time of contact can be used to extend the leg 30. By performing the suspension device control, the robot 1 can also operate in a way that pushes off the road surface G.

[0127] Further modifications applicable to the robot 1 in the above embodiment will be described below.

[0128] The front body portion 11 and the rear body portion 13 may be connected by suspension devices 90, 90a, and 90b. Figure 26 shows a robot 1a equipped with a suspension device 90. The suspension device 90 connects the upper part 10U of the front body portion 11 and the upper part 10U of the rear body portion 13. The first end 901 of the suspension device 90 is connected to a projection 115 on the upper part 10U of the front body portion 11, and the second end 902 is connected to a projection 135 on the upper part 10U of the rear body portion 13.

[0129] In this configuration of robot 1a, the transmission of vibrations from the rear body 13 to the front body 11 can be further suppressed. Furthermore, smooth bending and extension of the body 10 can be achieved. In addition, the energy stored in the elastic member 91 when the body 10 is bent can be used for the next extension. The damping device 92 of the suspension device 90 may be controlled by the control device 7, similar to the damping device 92b described above. Also, in robot 1a, since the suspension device 90 connects the upper part 10U of the front body 11 and the upper part 10U of the rear body 13, the suspension device 90 can be prevented from being affected by mud or other debris on the road surface G when the robot 1b is running.

[0130] Figure 27 shows a robot 1b in which the lower part 10D of the front body 11 and the lower part 10D of the rear body 13 are connected by a suspension device 90. The first end 901 of the suspension device 90 is connected to a projection 116 on the lower part 10D of the front body 11, and the second end 902 is connected to a projection 136 on the lower part 10D of the rear body 13. This configuration of robot 1b also provides the same effects as robot 1a described above. Furthermore, since the connection position of the suspension device 90 is the lower part 10D of the body 10, the upper part 10U of the body 10 can be effectively utilized.

[0131] When the front body portion 11 and the rear body portion 13 of robots 1, 1a, and 1b are connected by a suspension device 90, the extension direction of the suspension device 90 and the extension / contraction direction of the elastic member 91 are not limited to the front-rear direction, but may be, for example, the up-down direction. In this case, the suspension device 90 may include a link mechanism, and the front body portion 11 and the rear body portion 13 may be connected via this link mechanism.

[0132] If the robot's main body is equipped with body joints, the number of body joints may be two or more. Figure 28 shows a schematic diagram of a robot 1c having two body joints J4 and J4c. The front body 11 of the robot 1c comprises a first front body 11c, a second front body 12c, and a front joint J4c. The first front body 11c and the second front body 12c are separate parts. The seat 61 is connected to the second front body 12c. The seat 61 is not connected to the first front body 11c or the rear body 13.

[0133] The front joint J4c connects the rear end of the first front body 11c and the front end of the second front body 12c. The front joint J4c rotates around a pivot axis AX4c that extends in the left-right direction. Therefore, the first front body 11c and the second front body 12c rotate separately around the pivot axis AX4c. The front joint J4c supports the second front body 12c so as to be rotatable around the pivot axis AX4c. Similar to the embodiment described above, the body joint J4 connects the rear end of the second front body 12c and the front end of the rear body 13. The control device 7 can drive the front joint J4c by controlling the actuator AC of the front joint J4c.

[0134] In a robot equipped with a power generation unit 2, the power generation unit 2 only needs to be housed in the main body, and the main body does not need to have a front main body and a rear main body. Figure 29 shows an example of a robot 1d equipped with a power generation unit 2d. The power generation unit 2d includes a fuel cell 28 instead of an engine 21. The main body 10d does not have a front main body 11, a rear main body 13, or a main body joint J4, and is formed continuously from the front end 10F to the rear end 10B. Also, the main body 10d does not have a seat 61. In the robot 1d, the upper part 10U of the central part 10M of the main body 10d functions as a seat. Even in this configuration, the power generated by the fuel cell 28 can drive each actuator AC of the robot 1d.

[0135] The leg section 3 is not limited to four legs, as long as it includes a front leg section 3F and a rear leg section 3B. The number of legs in the front leg section 3F may be one or three or more. The number of legs in the rear leg section 3B may be one or three or more. Furthermore, there may be additional legs between the front leg section 3F and the rear leg section 3B.

[0136] If the robot is equipped with a balance unit, the arrangement and number of balance units may be changed as appropriate. Figure 30 shows a robot 1c equipped with balance units 5L and 5R on the left side 10L and right side 10R of the main body 10. The respective tip 52 of the balance units 5L and 5R move relative to a predetermined direction with respect to the direction of movement and acceleration of the robot body 15. Even with such a robot 1c, the balance of the robot body 15 can be maintained.

[0137] If the robot is equipped with support parts 4L and 4R, the support parts 4L and 4R may be directly connected to the seat 61 and connected to the main body 10 via the seat 61. Figure 31 shows a robot 1g equipped with support parts 4L and 4R whose upper ends 411 are directly connected to the seat 61. In this configuration, the left and right sides of the seat 61 can be considered as the left and right sides 10L and 10R of the main body 10. The footrests 44 of the support parts 4L and 4R are rotatable around a pivot axis AX6 that extends in the left-right direction. Even such a robot 1g can support the legs of a rider.

[0138] The robots 1, 1a, 1b, 1c, 1d, 1f, and 1g described above may be capable of following other robots and being followed by other robots. The robots described above may be applied to a robot system comprising a main robot and a sub-robot. Figure 32 shows an image diagram of a robot system 100 comprising a main robot 1m and a sub-robot 1s, in which the sub-robot 1s follows the main robot 1m. Line M1 is the travel path of the main robot 1m, and line M2 is the travel path of the sub-robot 1s. The main robot 1m and the sub-robot 1s have the same configuration as robot 1 described above. The communication device 69 of the main robot 1m and the communication device 69 of the sub-robot 1s can communicate with each other. When the control device 7s of the sub-robot 1s receives an operation command for follow operation mode via the operation unit 8, for example, it searches for surrounding robots via the communication device 69. The control device 7s determines one of the searched robots to be the main robot 1m. The selection of the main robot 1m may be performed selectively via the control unit 8 of the sub-robot 1s. The control device 7m of the main robot 1m may be configured to grant permission for follow-me movement to the control device 7s.

[0139] The control device 7s of the sub-robot 1s sequentially acquires path and drive information from the main robot 1m via the communication device 69. The control device 7s generates an operation command from the detection result of the operation detection unit 81 and drives each actuator in accordance with the operation command and to follow the main robot 1m. For example, if the operator of the sub-robot 1s does not apply any particular force change to the robot body 15 from point p0 to point p1 as shown in Figure 30, the control device 7s of the sub-robot 1s controls each actuator to reproduce the trajectory, behavior, and operation of the main robot 1m. If an operation command is generated via the operation detection unit 81 from point p1 to point p2, the control device 7s controls each actuator AC of the sub-robot 1s in accordance with the operation command, provided that the sub-robot 1s can travel within a predetermined area AR from the line M1 of the main robot 1m. If the operation command is a command for the sub-robot 1s to deviate from area AR, the control device 7s controls each actuator AC of the sub-robot 1s to move closer to the trajectory line M1 of the main robot 1m. For example, if the operation command input at point p2 via the operation detection unit 81 is an operation command to move the sub-robot 1s onto line M22, the control device 7s modifies the operation command to move within area AR. As a result, the sub-robot 1s moves along line M21, for example. Note that if the control device 7s can maintain movement within area AR by modifying the command related to the direction of travel included in the operation command, it does not need to modify the command related to the travel speed included in the operation command.

[0140] With this type of follow-me driving control robot system 100, the pilot of the sub-robot 1s can enjoy the fun of autonomously driving the robot and the sense of security that comes from being able to follow and cooperate with the main robot 1m.

[0141] The correspondence between each component (feature) of the above embodiment and each component (feature) of the present disclosure is shown below. However, each component of the embodiment is merely an example and does not limit the components of the present disclosure.

[0142] Robots 1, 1a, 1b, 1c, 1d, 1f, 1g, 1m, and 1s are examples of "robots". Main body parts 10 and 10d are examples of "main body parts". Front leg parts 3F, left front leg 3F1, and right front leg 3F2 are examples of "front leg parts". Rear leg parts 3B, left rear leg 3B1, and right rear leg 3B2 are examples of "rear leg parts". Legs 30 are examples of individual legs included in "multiple legs". Left support part 4L is an example of a "left support part". Right support part 4R is an example of a "right support part". Left side part 10L is an example of a "left side part". Right side part 10R is an example of a "right side part". Footrest part 44 is an example of a "footrest part". Extension part 41 is an example of an "extension part". Upper end part 411 is an example of an "upper end part". Lower end part 412 is an example of a "lower end part". The bent portion 42 is an example of a "bent portion". The bellows portion 43 is an example of a "bellows portion" or "elastic body". The telescopic mechanism 45 is an example of a "telescopic mechanism". The sheet 61 is an example of a "sheet". The front body portions 11, 11e, the first front body portion 11c, and the second front body portion 12c are examples of "front body portions". The rear body portion 13 is an example of a "rear body portion". The body joints J4 and J4c are examples of "body joints". The joints J1, J2, and J3 are examples of "multiple joints". The actuators AC, AC1, AC2, and AC3 are examples of "multiple actuators". The control devices 7, 7s, and 7m are examples of "control devices". The first support sensor s4, the second support sensor s5, and the operation detection unit 81 are examples of "sensor portions".

[0143] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0144] This disclosure is not limited to the embodiments described above, and can be implemented in various forms without departing from its spirit. For example, this disclosure can also be implemented in the following forms (spect). The technical features in the embodiments described above that correspond to the technical features in each of the forms described below can be replaced or combined as appropriate in order to solve some or all of the problems of this disclosure, or to achieve some or all of the effects of this disclosure. Furthermore, if the technical features are not described as essential in this specification, they can be deleted as appropriate.

[0145] <A1> According to one embodiment of the present disclosure, a robot is provided. The robot includes a body and legs. The body extends in the front-rear direction, where the robot's forward direction is the front direction in the front-rear direction, and the opposite direction to the front direction is the rear direction. The body includes a front body, a rear body, and a body joint connecting the front body and the rear body. The legs have a plurality of legs that bend and extend. The legs include a front leg connected to the front body and a rear leg connected to the rear body. According to this embodiment, it is possible to suppress the transmission of vibrations from the rear body to the front body. For example, it is possible to suppress the transmission of vibrations from the rear body to an object supported by the front body or to a occupant supported by the front body. In this embodiment, the body joint may connect the rear end of the front body and the front end of the rear body. The front body may be a separate body from the rear body. The body joint may have a pivot axis extending in the left-right direction intersecting the front-rear direction. The main body joint may be provided at the rear end of the front main body and support the rear main body so as to be rotatable around a pivot axis. In this embodiment, each of the plurality of legs may have two or more joints. For example, the leg may include a first joint connected to the main body and a second joint provided between the upper and lower ends of the leg.

[0146] <A2> The robot described in <A1> above may further be provided with a motor that drives the main body joint. In this configuration, the rear main body can be rotated around the pivot axis of the main body joint by the motor.

[0147] <A3> In the robot described in <A1> or <A2> above, the main body may have a front end, a rear end, and a central portion between the front end and the rear end in the front-rear direction of the main body. When the width direction of the main body is the left-right direction, the length of the central portion in the left-right direction may be shorter than the length of the front end and the rear end in the left-right direction. This configuration provides a robot that is easy for a rider to straddle.

[0148] <A4> In the robot described in any one of <A1> to <A3> above, a seat connected to the main body may be further provided. This configuration makes it possible to suppress the transmission of vibrations from the rear body to the rider straddling the front body. In this configuration, the seat does not have to be connected to the rear body.

[0149] <A5> In the robot described in any one of <A1> to <A4> above, when the width direction of the main body is defined as the left-right direction, the length in the left-right direction of the portion of the main body on which the seat is provided may be shorter than the length of the portion on which the seat is not provided. This configuration makes it possible to provide a robot that is easy for a rider to straddle.

[0150] <A6> In the robot described in any one of <A1> to <A5> above, the length in the left-right direction of the part of the main body on which the seat is provided may be a length that allows both legs of an adult rider to straddle it. This configuration provides a robot that is easy for a rider to straddle the main body. An adult rider can also be described as a rider with a standard build.

[0151] <A7> In the robot described in any one of <A1> to <A6> above, the rear end of the seat may be located in front of the rear end of the main body. This configuration provides a robot in which the rear end of the seat does not protrude from the rear end of the main body. It also suppresses interference between the seat and the main body. In this configuration, the rear end of the seat may be located directly above the rear main body.

[0152] <A8> In the robot described in any one of <A1> to <A7> above, when the width direction of the main body is defined as the left-right direction, and the direction intersecting the front-rear direction and the left-right direction is defined as the up-down direction, the rear end of the seat may be located directly above the rear main body and spaced apart from the rear main body in the up-down direction. This configuration makes it possible to suppress interference between the seat and the rear main body.

[0153] <A9> In the robot described in any one of <A1> to <A8> above, the seat may be detachably attached to the main body. This configuration allows the seat to be changed to suit the rider's preferences and body type, thereby improving the flexibility of how the robot is used.

[0154] <A10> In the robot described in any one of <A1> to <A9> above, the front body portion may include a first front body portion to which the front legs are connected, a second front body portion provided behind the first front body portion, and a front joint. The front joint may connect the first front body portion and the second front body portion. The body joint may connect the second front body portion and the rear body portion. According to this embodiment, it is possible to suppress the transmission of vibrations from the first front body portion and vibrations from the rear body portion to the second front body portion. In this embodiment, the front joint may connect the rear end of the first front body portion and the front end of the second front body portion. The front joint may connect the first front body portion and the second front body portion so as to rotate the second front body portion around a pivot axis extending in the left-right direction.

[0155] <A11> In the robot described in any one of <A1> to <A10> above, a seat connected to the second front body may be provided. This configuration makes it possible to suppress the transmission of vibrations from the first front body and the rear body to the occupant straddling the second front body. In this configuration, the seat may be connected only to the second front body and not to the first front body and the rear body.

[0156] <A12> In the robot described in any one of <A1> to <A11> above, a suspension device connecting the front body and the rear body may be provided. This embodiment can further suppress the transmission of vibrations from the rear body to the front body. In this embodiment, the suspension device may include an elastic member and a damping device. The suspension device may have a first end connected to the front body and a second end connected to the rear body. The direction of expansion and contraction of the elastic member may be the front-rear direction. The suspension device may include a link mechanism. The suspension device may connect the front body and the rear body via the link mechanism.

[0157] <A13> In the robot described in any one of <A1> to <A12> above, if the width direction of the main body is defined as the left-right direction, and the direction intersecting the front-rear direction and the left-right direction is defined as the up-down direction, the suspension device may connect the upper part of the front main body and the upper part of the rear main body. This configuration makes it possible to suppress the suspension device from being affected by mud on the road surface, etc.

[0158] <A14> In the robot described in any one of <A1> to <A13> above, if the width direction of the main body is defined as the left-right direction, and the direction intersecting the front-rear direction and the left-right direction is defined as the up-down direction, the suspension device may connect the lower part of the front main body and the lower part of the rear main body. This configuration allows for effective use of the upper part of the main body.

[0159] <A15> In the robot described in any one of <A1> to <A14> above, the main body may include a seat portion on which a rider straddles in the left-right direction intersecting the front-rear direction. The front leg portion may include a left front leg and a right front leg. The rear leg portion may include a left rear leg and a right rear leg. The robot may be a quadrupedal robot. This embodiment provides a saddle-type quadrupedal robot capable of suppressing the transmission of vibrations from the rear main body portion to the front main body portion. In this embodiment, the seat portion may be the part of the main body portion on which a rider straddles. The seat portion may be a seat connected to the main body portion.

[0160] <A16> In the robot described in any one of <A1> to <A15> above, a first grip provided in front of the seat on the front body portion and a second grip provided at the rear end of the seat may be provided. In this configuration, a passenger seated in the front portion of the seat can grasp the first grip, and a passenger seated in the rear portion of the seat can grasp the second grip.

[0161] <A17> In the robot described in any one of <A1> to <A16> above, a first joint connecting the upper end of each of the plurality of legs to the main body, and a cover portion covering the upper part of the first joint may be provided. With this configuration, contact between a rider straddling the main body, an object mounted on the main body, and the first joint can be suppressed. In this configuration, the cover portion may be detachably attached to the main body, or it may be formed integrally with the main body.

[0162] <A18> In the robot described in any one of <A1> to <A17> above, the main body may have a projection that protrudes upward and backward at the front end of the main body. This configuration can reduce air resistance during travel. Therefore, a robot suitable for high-speed travel can be provided. In this configuration, a windscreen may be provided at the upper end of the projection.

[0163] <A19> In the robot described in any one of <A1> to <A18> above, a seat connected to the front body portion and a storage portion provided between the protruding portion of the front body portion and the seat may be provided. In this configuration, the empty area of ​​the front body portion can be used as the storage portion. In this configuration, the storage portion may be a recess having an opening on the upper surface of the front body portion and recessing downward.

[0164] <B1> According to one embodiment of the present disclosure, a robot is provided. The robot comprises a robot body having a main body portion, legs, and a plurality of joints, a plurality of actuators, and a power generation unit. The main body portion extends in the front-rear direction, where the forward direction of the robot is the front direction in the front-rear direction, and the opposite direction to the front direction is the rear direction. The legs portion has a plurality of legs connected to the main body portion that bend and extend. The legs portion includes front legs and rear legs. The plurality of actuators are configured to drive the plurality of joints. The power generation unit is housed in the main body portion and is configured to supply power to the plurality of actuators. According to this embodiment, the robot can be operated by the power generated by the power generation unit housed in the main body portion. In this embodiment, the front legs portion may be connected to the front half portion of the main body portion in the front-rear direction, and the rear legs portion may be connected to the rear half portion of the main body portion in the front-rear direction. Each of the plurality of legs may have two or more joints. For example, the leg may include a first joint connecting the main body and the leg, and a second joint provided between the upper and lower ends of the leg. The first and second joints of each leg are included in the plurality of joints.

[0165] <B2> In the robot described in <B1> above, the main body may have a first opening provided at the front end of the main body, a second opening provided behind the first opening, and a flow path connecting the first opening and the second opening. The power generation unit may be placed in the flow path. In this configuration, as the robot moves forward, gas flows from the first opening into the connecting flow path in the main body and is discharged from the second opening, thereby cooling the power generation unit placed in the connecting flow path.

[0166] <B3> In the robot described in <B1> or <B2> above, the first opening may be an intake port for drawing gas from outside the main body into the flow path. The second opening may be an outlet for discharging gas from the flow path. This configuration allows for cooling of the power generation unit located in the connecting flow path.

[0167] <B4> In the robot described in any one of <B1> to <B3> above, if the width direction of the main body is defined as the left-right direction, and the direction intersecting the front-rear direction and the left-right direction is defined as the up-down direction, the main body may have a recess that is open at the front end and recessed upwards. The power generation unit may be placed in the recess. In this configuration, since the power generation unit is placed in the recess which is open at the front and lower ends, the power generation unit can be effectively cooled. In this configuration, the recess may have a front end opening and a lower end opening. The front end opening may function as the first opening. The lower end opening may function as the second opening. A part of the lower end opening may be covered with a ventilation member. The part of the lower end opening that is not covered with the ventilation member may function as the second opening. The recess can also be called a shape like a U-letter or a channel-shaped. The fact that the main body has the recess may mean that the main body has a part formed in a gate-like shape.

[0168] <B5> In the robot described in any one of <B1> to <B4> above, the second opening may be provided at least one of the lower end of the main body and the side of the main body. This configuration makes it possible to suppress the gas discharged from the second opening from affecting an object placed on top of the main body or a person riding on the main body.

[0169] <B6> In the robot described in any one of <B1> to <B5> above, the power generation unit may include an internal combustion engine. In this configuration, the output from the internal combustion engine can drive multiple actuators and operate the robot.

[0170] <B7> In the robot described in any one of <B1> to <B6> above, the power generation unit may include an internal combustion engine, a motor generator, and a gear mechanism connecting the internal combustion engine and the motor generator. The motor generator may be arranged next to the internal combustion engine in the left-right direction, when the width direction of the main body is the left-right direction, via the gear mechanism. In this configuration, the internal combustion engine and the motor generator are arranged side by side in the left-right direction in the flow path, so that the internal combustion engine and the motor generator can be cooled more effectively.

[0171] <B8> In the robot described in any one of <B1> to <B7> above, the power generation unit may include an internal combustion engine, a motor generator, and a gear mechanism connecting the internal combustion engine and the motor generator. The motor generator may be positioned behind the internal combustion engine via the gear mechanism. This configuration allows the width of the main body to be shortened while housing the internal combustion engine in the main body. In this configuration, the robot may be a saddle-type robot on which a rider straddles the main body. This configuration has the effect of making it easier for a rider to straddle the main body because the width of the main body can be shortened.

[0172] <B9> In the robot described in any one of <B1> to <B8> above, the internal combustion engine may be an internal combustion engine that uses hydrogen as fuel. In this configuration, the robot can be operated by the output from the hydrogen-fueled internal combustion engine. In addition, the environmental burden caused by the power generation of the power generation unit can be reduced.

[0173] <B10> In the robot described in any one of <B1> to <B9> above, a fuel supply unit may be provided, which is housed in the main body and is a source of fuel used in the power generation unit. The fuel supply unit may contain a hydrogen storage alloy. This embodiment allows for miniaturization of the fuel supply unit.

[0174] <B11> In the robot described in any one of <B1> to <B10> above, a fuel supply unit may be provided, which is housed in the main body and is a source of fuel used in the power generation unit. The fuel supply unit may store gaseous hydrogen. In this configuration, gaseous hydrogen can be used as fuel.

[0175] <B12> In the robot described in any one of <B1> to <B11> above, the internal combustion engine may be an internal combustion engine that directly injects the fuel into the combustion chamber. In this configuration, the power generation unit is equipped with an internal combustion engine in which fuel is supplied to the combustion chamber by a direct injection method. Therefore, fuel efficiency can be improved compared to a configuration in which fuel is injected into a port.

[0176] <B13> In the robot described in any one of <B1> to <B12> above, the power generation unit may include a fuel cell. In this configuration, the robot can be driven by the output from the fuel cell. In addition, the environmental impact of power generation by the power generation unit can be reduced.

[0177] <B14> In the robot described in any one of <B1> to <B13> above, the main body may have a third opening provided above the first opening and communicating with the flow path. In this configuration, the power generation unit can be cooled by outside air flowing into the flow path from the third opening.

[0178] <B15> A robot according to any one of <B1> to <B14> above, wherein the main body portion has an upper projection portion that protrudes forward at the upper end of the third opening and a lower projection portion that protrudes forward at the lower end of the third opening. This configuration makes it possible to suppress the inflow of foreign matter into the flow path through the third opening from above and below the third opening. In this configuration, the third opening may be located behind the foremost end of the main body portion. The upper projection portion and the projection portion may function as a cover portion for the third opening.

[0179] <B16> In the robot described in any one of <B1> to <B15> above, the power generation unit may include a radiator located directly behind the first opening. In this configuration, the radiator can cool other components included in the power generation unit.

[0180] <B17> In the robot described in any one of <B1> to <B16> above, the main body may include a front main body, a rear main body, and a main body joint connecting the front main body and the rear main body. The power generation unit may be housed in the front main body. This configuration makes it possible to suppress the transmission of vibrations from the rear main body to the power generation unit housed in the front main body.

[0181] <B18> In the robot described in any one of <B1> to <B17> above, a fuel supply unit may be provided, which is housed in the main body and is a source of fuel used in the power generation unit. The fuel supply unit may be located in the rear main body. In this configuration, by locating the fuel supply unit in the rear main body, the size of the front main body can be suppressed. In addition, since the fuel supply unit is less affected by vibration than the power generation unit, a rational arrangement of the multiple components housed in the main body can be achieved.

[0182] <B19> In the robot described in any one of <B1> to <B18> above, the main body may include a front main body, a rear main body, and a main body joint connecting the front main body and the rear main body. The power generation unit may be housed in the front main body. The second opening may be provided in front of the main body joint. In this configuration, a gas flow path can be formed in the front main body. Furthermore, the main body joint can be driven by the power generated by the power generation unit. In this configuration, the main body joint may have a pivot axis extending in the left-right direction. The main body joint may support the rear main body in the front main body so that it can rotate around the pivot axis.

[0183] <B20> In the robot described in any one of <B1> to <B19> above, a battery may be provided which is housed in the front body and which is charged with power output from the power generation unit. With this configuration, vibrations of the rear body can be suppressed from being transmitted to the battery housed in the front body.

[0184] <B21> In the robot described in any one of <B1> to <B20> above, a fuel supply unit which is a source of fuel used in the power generation unit may be provided. The fuel supply unit may be housed in the main body after the power generation unit. This configuration makes it possible to achieve a rational arrangement between the power generation unit and the fuel supply unit.

[0185] <B22> In the robot described in any one of <B1> to <B21> above, the main body may include a seat portion on which a rider straddles in the left-right direction intersecting the front-rear direction. The front leg portion may include a left front leg and a right front leg. The rear leg portion may include a left rear leg and a right rear leg. The robot may be a quadrupedal robot. This embodiment provides a saddle-type quadrupedal robot that can be operated by a power generation unit. It can also provide a robot that can suppress the transmission of vibrations from the rear body portion to the front body portion. In this embodiment, the seat portion may be the part of the main body portion on which a rider straddles. The seat portion may be a seat connected to the main body portion.

[0186] <C1> According to one embodiment of the present disclosure, a robot is provided. The robot includes a body, legs, a left support, and a right support. The body extends in the front-rear direction, where the robot's forward direction is the front direction and the opposite direction to the front direction is the rear direction. The legs have a plurality of legs connected to the body that bend and extend. The legs include a front leg and a rear leg. The left support is connected to the left side of the body. The right support is connected to the right side of the body. The left support and the right support support the legs of the rider straddling the body. The left support and the right support are configured to receive input from the rider for operation to the robot. According to this embodiment, the rider can have their legs supported by the left support and the right support connected to the body, and can operate the robot via the left support and the right support. In this configuration, the front legs may be connected to the front half portion of the main body in the front-rear direction, and the rear legs may be connected to the rear half portion of the main body in the front-rear direction. Each of the plurality of legs may have two or more joints. For example, the leg may include a first joint connecting the main body and the leg, and a second joint provided between the upper and lower ends of the leg.

[0187] <C2> In the robot described in <C1> above, each of the left support portion and the right support portion may have a footrest portion and an extended portion having an upper end connected to the main body portion and a lower end connected to the footrest portion. In this embodiment, the footrest portion can support the rider's feet. In this embodiment, the extending direction of the extended portion may be substantially vertical. The extension of the extended portion substantially vertically may include the extended portion being bent between the upper end and the lower end in the vertical direction. The upper end may be connected to the main body portion so as to be rotatable around a pivot axis extending in the left-right direction.

[0188] <C3> In the robot described in <C1> or <C2> above, the extended portion may have a bent portion that bends forward between the upper end and the lower end. In this embodiment, since the extended portion is shaped to conform to the bending of the rider's legs, the rider's riding comfort and the rider's sense of unity with the robot's movements can be further improved. In this embodiment, the bent portion may be located in front of the upper end and the lower end in the front-rear direction.

[0189] <C4> In the robot described in any one of <C1> to <C3> above, the footrest portion may be connected to the lower end portion so as to be rotatable around a pivot axis extending in the left-right direction. This configuration can further improve the rider's comfort and sense of unity with the robot.

[0190] <C5> In the robot described in any one of <C1> to <C4> above, the extended portion may be configured to expand and contract in the extending direction. In this configuration, the length from the upper end to the footrest can be changed by expanding and contracting the extended portion. For example, by expanding and contracting the extended portion to match the rider's physique or according to the robot's operating mode, the rider's comfort and the rider's sense of unity with the robot when the robot is moving can be improved.

[0191] <C6> In the robot described in any one of <C1> to <C5> above, the extended portion may have an elastic body. In this embodiment, the extended portion can be extended and retracted by the elastic body. In this embodiment, the elastic body only needs to be configured to contract the extended portion in the extending direction, and may include a coil spring, synthetic rubber, or other material.

[0192] <C7> In the robot described in any one of <C1> to <C6> above, the extending portion may have a bellows-shaped section. In this embodiment, the extending portion can be extended and retracted by the bellows section.

[0193] <C8> The robot described in any one of <C1> to <C7> above may operate in multiple driving modes. The extension portion may be configured to extend and retract according to each of the multiple driving modes. This configuration can improve the rider's sense of unity with the robot's operation. In this configuration, the length of the extension portion may be configured to correspond to each of the multiple driving modes. In this configuration, the robot may have a control device. The control device may store in advance in a storage device the relationship between the length of the extension portion and the driving mode suitable for the length of the extension portion. When the rider selects a driving mode, the control device may output a command to extend and retract the extension portion to the left support portion and the right support portion based on the correspondence relationship. When the rider extends or retracts the extension portion, the control device may, based on the correspondence relationship, drive the robot in the driving mode corresponding to the length of the extension portion. The multiple driving modes may include various modes such as low-speed driving, high-speed driving, rough terrain driving, and galloping.

[0194] <C9> In the robot described in any one of <C1> to <C8> above, the left support and the right support may be connected to the main body such that the distance between the left support and the right support changes. This configuration improves the balance of the robot when it is running. In this configuration, the robot may be equipped with a change mechanism configured to change the distance between the main body and the left support, and between the main body and the right support in the left-right direction. The change mechanism may be operably connected to the upper end of the extension and configured to move the upper end in the left-right direction. The change mechanism may be configured to move at least a part of the extension in the left-right direction. In this configuration, the left support and the right support may be configured to move closer to the main body in response to the force applied to the footrest.

[0195] <C10> In the robot described in any one of <C1> to <C9> above, the footrest may be equipped with an extendable mechanism configured to extend or retract its length in the left-right direction. In this embodiment, by extending the footrest, in addition to the feet of the operator of the robot, the feet of a passenger riding behind the operator can also be placed on the footrest. In this embodiment, the extendable mechanism may be a bellows structure, or it may be a sliding mechanism including a slide rail and a guide.

[0196] <C11> In the robot described in any one of <C1> to <C10> above, the left support and the right support may be directly connected to the main body. In this configuration, the rider's legs can be supported by the left support and the right support, which are directly connected to the main body.

[0197] <C12> In the robot described in any one of <C1> to <C11> above, a seat may be provided that is detachably connected to the main body. The left support and the right support may be directly connected to the seat. In this configuration, the left support and the right support can be attached to and detached from the main body together with the seat.

[0198] <C13> In the robot described in any one of <C1> to <C12> above, the main body may have a front main body, a rear main body, and a main body joint connecting the front main body and the rear main body. The front legs may be connected to the front main body. The rear legs may be connected to the rear main body. This configuration makes it possible to suppress the transmission of vibrations from the rear main body to the front main body. In this configuration, the rear main body may be formed separately from the front main body.

[0199] <C14> In the robot described in any one of <C1> to <C13> above, the left support part and the right support part may be connected to the main body at substantially the same position as the main body joint in the front-rear direction. This configuration makes it possible to suppress the transmission of vibrations from the rear main body to the front main body.

[0200] <C15> In the robot described in any one of <C1> to <C14> above, the left support and the right support may be connected to the front main body. This configuration makes it possible to suppress the transmission of vibrations from the rear main body to the left support and the right support.

[0201] <C16> In the robot described in any one of <C1> to <C15> above, the robot may be provided with a plurality of joints in the leg portion, a plurality of actuators for driving the plurality of joints, and a control device. The control device may generate operation commands based on the forces applied to the left support portion and the right support portion. The control device may drive the plurality of actuators based on the generated operation commands. In this embodiment, the robot can be operated based on the forces applied by the rider to the left support portion and the right support portion. As a result, the rider can gain a sense of unity with the robot. In this embodiment, the control device may store in advance the correspondence between the forces applied to the left support portion and the right support portion and the operation commands, and drive the plurality of actuators based on the correspondence. Force can also be described as weight, gravity, load, or pressure.

[0202] <C17> In the robot described in any one of <C1> to <C16> above, the left support and the right support may be equipped with a sensor unit that detects the force applied to each of the left support and the right support. The control device may generate the operation command based on the detection result obtained from the sensor unit and drive the plurality of actuators. In this embodiment, the control device can generate the operation command based on the detection result obtained from the sensor unit and operate the robot based on the generated operation command. The operation command will reflect the force applied by the rider to the left support and the right support, the change in the magnitude of the force, etc., so the rider can get a sense of unity with the robot. The sensor unit may include at least one of the following sensors that can detect the force applied to each of the left support and the right support: a pressure sensor, a load sensor, an angle sensor, a gyro sensor, etc.

[0203] <C18> In the robot described in any one of <C1> to <C17> above, the sensor unit may include a pressure sensor. The control device may generate the operation command based on the detection result of the pressure sensor and drive the plurality of actuators. In this embodiment, the control device can obtain the operation command based on the pressure applied to the left support unit and the right support unit. In this embodiment, the pressure sensor may be provided in the footrest unit or in the extension unit.

[0204] <C19> In the robot described in any one of <C1> to <C18> above, each of the left support portion and the right support portion may have a footrest portion on which the rider's feet are placed, and an extended portion having an upper end connected to the main body portion and a lower end connected to the footrest portion when the direction intersecting the front-rear direction and the left-right direction is defined as the up-down direction. The sensor portion may detect the amount the rider steps on the footrest portion. In this embodiment, the control device can generate an operation command based on the amount of stepping. In this embodiment, the sensor portion may be a pressure sensor or a load sensor. The sensor portion may be provided on the footrest portion or on the extended portion.

[0205] <C20> In the robot described in any one of <C1> to <C19> above, the operation command may include the selection of the robot's travel mode. The control device may be configured to drive the plurality of actuators according to the travel mode. In this embodiment, the rider can select the robot's travel mode via the left support and the right support and operate the robot in the selected travel mode. In this embodiment, the control device may, for example, determine that a high-speed travel mode has been selected when a force exceeding a predetermined threshold is applied to the front part of the footrest and operate the robot in the high-speed travel mode. The control device may, for example, determine that a low-speed travel mode or a stopped mode has been selected when a force exceeding a predetermined threshold is applied to the rear part of the footrest and operate the robot in that mode.

[0206] <C21> In the robot described in any one of <C1> to <C20> above, the left support portion and the right support portion may each have a footrest portion on which the rider's feet are placed, and an extending portion having an upper end connected to the main body and a lower end connected to the footrest portion when the direction intersecting the front-rear direction and the left-right direction is defined as the up-down direction. The sensor portion may detect changes in the left-right force on the lower end. The control device may generate an operation command for the robot based on the change in the left-right force. In this embodiment, the robot can be operated by moving the rider's feet toward the main body. In this embodiment, if the control device detects that a force exceeding a predetermined threshold is applied toward the main body to the lower end, it may generate an operation command for starting the robot to move and drive the actuator to start the robot to move.

[0207] <C22> In the robot described in any one of <C1> to <C21> above, the robot may be a quadrupedal walking robot. The front legs may include a left front leg and a right front leg. The rear legs may include a left rear leg and a right rear leg. This embodiment provides a saddle-type quadrupedal walking robot.

[0208] <C23> According to one embodiment of the present disclosure, a method for controlling a robot is provided. The robot includes a body, legs, a left support, and a right support. The body extends in the front-rear direction, where the robot's forward direction is the front direction in the front-rear direction, and the opposite direction to the front direction is the rear direction. The legs have a plurality of legs connected to the body that bend and extend. The legs include a front leg and a rear leg. The left support is connected to the left side of the body. The right support is connected to the right side of the body. The left support and the right support support the legs of the rider straddling the body. The left support and the right support are configured to receive input from the rider operating the robot. The control method is a method of detecting forces applied to the left support and the right support, generating operation commands based on the detected forces applied to the left support and the right support, and driving the plurality of actuators based on the operation commands. In this configuration, the operator can move the robot in accordance with the force applied to the left and right support sections.

[0209] <D1> According to one embodiment of the present disclosure, a robot is provided. The robot includes a body, legs, and a suspension device. The body extends in the front-rear direction, where the robot's forward direction is the front direction and the opposite direction to the front direction is the rear direction. The legs have a plurality of legs connected to the body that bend and extend. The legs include a front leg and a rear leg. Each of the plurality of legs includes a first joint connected to the body, a second joint, an upper leg connecting the first joint and the second joint, and a lower leg connected to the second joint. The suspension device includes an elastic member and a damping device. The suspension device connects the upper leg and the lower leg. According to this embodiment, the energy stored in the elastic member by the bending of the legs can be used for the extension of the legs. Furthermore, smooth bending and extension of the legs can be achieved. Therefore, for example, the movement of the robot's legs can be made to resemble the movement of an animal's legs. In this embodiment, the suspension device does not have to be provided on all of the plurality of legs. For example, the suspension device may be provided on the left rear leg and the right rear leg of the rear leg portion. In this embodiment, the upper leg and the lower leg may have a frame and a housing that covers the frame. The lower end of the lower leg may be configured to directly contact the road surface, or a foot configured to contact the road surface on which the robot travels may be connected to it. In this embodiment, the damping device may be a shock absorber. The suspension device may be configured to extend in a predetermined direction. The suspension device may have a first end in the extending direction and a second end opposite to the first end. The first end may be connected to the upper leg, and the second end may be connected to the lower leg. The elastic member may be configured to expand and contract in the extending direction. The elastic member may be a compression coil spring.

[0210] <D2> In the robot described in <D1> above, the first joint may rotatably support the upper leg around a first pivot axis extending in the left-right direction intersecting the front-rear direction. The second joint may rotatably support the lower leg around a second pivot axis extending in the left-right direction. In this configuration, the energy stored in the elastic member due to leg flexion can be used for leg extension. Furthermore, smooth leg flexion and extension can be achieved.

[0211] <D3> In the robot described in <D1> or <D2> above, each of the plurality of legs may have a central axis having an upper central axis that passes through the first pivot axis and the second pivot axis and extends in the direction of extension of the upper leg, and a lower central axis that passes through the second pivot axis and extends in the direction of extension of the lower leg. The suspension device may have a first end connected to the upper leg and a second end connected to the lower leg. For the leg to which the suspension device is connected among the plurality of legs, one of the first end and the second end of the suspension device may be connected to one of the upper leg and the lower leg in front of the central axis. The other end of the first end and the second end may be connected to the other of the upper leg and the lower leg in rearward of the central axis. In this embodiment, the distance between the first end and the second end can be increased, so that the elastic energy of the elastic member can be set to be larger. In this embodiment, the central axis may bend in accordance with the bending of the leg. The central axis may extend in accordance with the extension of the legs.

[0212] <D4> In the robot described in any one of <D1> to <D3> above, the first end may be connected to the portion of the upper leg in front of the upper central axis in the front-rear direction. The second end may be connected to the portion of the lower leg in rear of the lower central axis in the front-rear direction. With this configuration, the distance between the first end and the second end can be increased, so that the elastic energy of the elastic member can be set to be larger.

[0213] <D5> In the robot described in any one of <D1> to <D4> above, a control device for controlling the damping force of the damping device may be further provided. This embodiment provides a robot in which the damping force of the suspension device can be adjusted.

[0214] <D6> In the robot described in any one of <D1> to <D5> above, a motor for driving the second joint may be provided. In this embodiment, rotation of the second joint around the pivot axis can be performed by driving the motor and adjusting the damping force of the damping device of the suspension mechanism.

[0215] <D7> In the robot described in any one of <D1> to <D6> above, the damping device may have a valve for adjusting the amount of fluid in the cylinder. The control device may be configured to control the opening degree of the valve. In this embodiment, the damping force can be adjusted by adjusting the opening degree of the valve. In this embodiment, the valve may be a solenoid valve driven by an actuator using an electromagnet, or an electric valve driven by an actuator using a motor. The fluid in the cylinder may be oil or compressed gas.

[0216] <D8> In the robot described in any one of <D1> to <D7> above, the control device may perform bending control by opening the valve when the leg to which the suspension device in the plurality of legs is connected bends, and closing the valve after the leg has bent. In this embodiment, opening the valve can mitigate the impact applied to the robot when bending, and closing the valve can conserve the elastic energy when the elastic member contracts due to bending.

[0217] <D9> In the robot described in any one of <D1> to <D8> above, the control device may be configured to execute the bending control when the robot makes contact with the ground. This configuration allows for the mitigation of the impact when the legs make contact with the ground and for the storage of elastic energy at the time of contact.

[0218] <D10> In the robot described in any one of <D1> to <D9> above, the control device may be configured to open the valve when extending the leg after the execution of the bending control.

[0219] <D11> In the robot described in any one of <D1> to <D10> above, the control device may be configured to rotate the second joint to a predetermined rotation angle by coordinating the adjustment of the valve opening and the driving of the motor. In this configuration, the suspension device can handle at least a portion of the motor's workload. Therefore, the power required for the robot's operation can be reduced.

[0220] <D12> In the robot described in any one of <D1> to <D11> above, the control device may control the motor and the suspension such that, when rotating the second joint to a predetermined rotation angle, the motor rotates the second joint, and a portion of the rotation is carried out by controlling the suspension to release elastic energy. In this configuration, the suspension device can carry out at least a portion of the motor's work. Therefore, the power required for the robot's operation can be reduced.

[0221] <D13> In the robot described in any one of <D1> to <D12> above, the main body may be provided with a seat that a rider straddles in the left-right direction intersecting the front-rear direction. The front legs may include a left front leg and a right front leg. The rear legs may include a left rear leg and a right rear leg. The robot may be a quadruped robot. According to this embodiment, the saddle-type quadruped robot can smoothly achieve leg flexion and extension.

[0222] <E1> According to one embodiment of the present disclosure, a robot is provided. The robot comprises a robot body, a plurality of actuators, an operation detection unit, and a control device. The robot body comprises a main body, legs, and a plurality of joints. The main body extends in the front-rear direction, where the robot's forward direction is the front direction in the front-rear direction, and the opposite direction to the front direction is the rear direction. The main body is configured so that a rider can straddle it in the left-right direction intersecting the front-rear direction. The legs have a plurality of legs connected to the main body that bend and extend. The legs include front legs and rear legs. The plurality of actuators are configured to drive the plurality of joints. The operation detection unit is provided on the robot body. The operation detection unit includes at least one sensor that detects forces applied to the robot. The control device is configured to generate operation commands, which are commands relating to the robot's movement, using the detection results of the operation detection unit. The control device is configured to drive the plurality of actuators based on the generated operation commands. According to this embodiment, the robot can be operated based on forces applied to the robot body by a rider. In this embodiment, the force applied to the robot body may be the force applied to the portion of the robot body where the at least one sensor is provided. The force may also be called weight, gravity, load, or pressure. In this embodiment, the control device may be configured to continuously acquire the force applied to the robot body via the operation detection unit. The control device may be configured to acquire, via the operation detection unit, that the force applied to the robot body is continuously changing. The control device may generate an operation command corresponding to the detection result acquired via the operation detection unit by referring to a correspondence between the detected value of the operation detection unit and an operation command, which is stored in advance in a storage device.

[0223] <E2> In the robot described in <E1> above, the control device may generate the operation command based on the change in the magnitude of the force applied to the robot body, which is obtained via the operation detection unit. In this configuration, the control device generates an operation command in response to the change in the magnitude of the force applied to the robot body by the rider, and drives the actuator based on the operation command. Therefore, changes in the rider's movements can be reflected in changes in the robot's movements. Consequently, the rider can gain a sense of unity with the robot.

[0224] <E3> In the robot described in <E1> or <E2> above, the control device may generate the operation command based on the position change of the force applied to the robot body acquired via the operation detection unit. In this configuration, the position change of the force applied by the operator to the robot body can be reflected in the robot's movement. For example, the operator can increase the robot's running speed by positioning the load (center of gravity) on the robot body towards the front in the front-rear direction, or decrease the robot's running speed by positioning the load towards the rear.

[0225] <E4> In the robot described in any one of <E1> to <E3> above, the control device may generate the operation command such that the greater the change in the magnitude of the force applied to the robot body acquired via the operation detection unit, the greater the change in the robot's movement. In this configuration, the greater the change in the magnitude of the force applied to the robot body by the rider, the greater the change in the robot's movement. As a result, the rider can feel a sense of unity with the robot.

[0226] <E5> In the robot described in any one of <E1> to <E4> above, a first grip may be provided at the front end of the main body for the rider to grasp. The at least one sensor may be provided on the first grip. In this embodiment, the robot can be operated based on the force applied to the first grip. In this embodiment, the control device may, via the operation detection unit, generate an operation command to stop the robot when it detects that the first grip is pulled backward with a force exceeding a predetermined threshold. In this embodiment, the first grip may also function as the robot's operating unit.

[0227] <E6> In the robot described in any one of <E1> to <E5> above, a left support portion and a right support portion may be provided, which are connected to the left and right sides of the main body and support the legs of the rider. The at least one sensor may be provided on the left support portion and the right support portion. In this embodiment, the robot can be operated based on the force applied to the left support portion and the right support portion. The robot can be operated by giving operation instructions via the sensor. In this embodiment, each of the left support portion and the right support portion may have a footrest portion and an extended portion having an upper end connected to the main body and a lower end connected to the footrest portion, when the direction intersecting the front-rear direction and the left-right direction is the up-down direction.

[0228] <E7> In the robot described in any one of <E1> to <E6> above, a seat connected to the main body may be provided. The at least one sensor may be provided on the seat. According to this configuration, the robot can be operated based on the force applied to the seat.

[0229] <E8> In the robot described in any one of <E1> to <E7> above, the at least one sensor may be provided on the left and right sides of the main body so as to be held between the upper legs of the rider in the left-right direction. In this configuration, the robot can be operated based on the force with which the rider grips the robot body with their legs. In this configuration, the at least one sensor may be provided on the main body in a portion that is held between the thighs of the rider straddling the main body.

[0230] <E9> In the robot described in any one of <E1> to <E8> above, the at least one sensor may include a plurality of sensors. The control device may generate the operation command based on the force applied to the robot body detected by each of the plurality of sensors. In this embodiment, the robot can be operated based on the force applied by the operator to multiple parts of the robot body.

[0231] <E10> The robot described in any one of <E1> to <E9> above may include a projection provided at the front end of the main body portion that protrudes upward and backward, and a detection device provided on the projection portion that detects ambient information including the conditions around the robot. This embodiment can reduce air resistance during travel, thus providing a robot suitable for high-speed travel. Furthermore, ambient information of the robot can be acquired by the detection device. In this embodiment, the detection device may include at least one of a camera, a distance sensor, and a position sensor. The distance sensor may include a photoelectric sensor, a laser sensor, a radio wave sensor, an electromagnetic wave sensor, an ultrasonic sensor, various types of LiDAR, or a combination thereof.

[0232] <E11> In the robot described in any one of <E1> to <E10> above, the control device may drive the actuator using the surrounding information and change the operation of the robot. According to this embodiment, the robot can be operated in accordance with the surrounding conditions.

[0233] <E12> The robot described in any one of <E1> to <E11> above may be provided with a lighting device that is installed on the protruding part and illuminates the road surface on which the robot travels. The control device may be configured to control the lighting device and draw a guidance path on the road surface on which the robot travels. In this form, the rider can see the guidance path drawn on the road surface and apply force to the robot body to move the robot along the path.

[0234] <E13> The robot described in any one of <E1> to <E12> above may be a quadruped robot. The front legs may include a left front leg and a right front leg. The rear legs may include a left rear leg and a right rear leg. This embodiment provides a saddle-type quadruped robot that can operate based on the force applied by the rider to the robot body.

[0235] <E14> According to one embodiment of the present disclosure, a robot system is provided. The robot system may comprise a plurality of robots. Each of the plurality of robots may be equipped with a communication device capable of communicating with one another. The plurality of robots may include a main robot and sub-robots. The control device provided in the sub-robot may cause the sub-robot to follow the main robot. The control device provided in the sub-robot is a robot system that generates operation commands for the sub-robot and controls the plurality of actuators of the sub-robot based on the force applied by the operator to the robot body of the sub-robot. According to this embodiment, the sub-robot can operate based on the force applied by the operator to the robot body while reproducing the behavior and operation of the main robot. Therefore, for example, the operator of the sub-robot can obtain the enjoyment of autonomous robot operation and the reassurance of cooperative operation.

[0236] <F1> According to one embodiment of the present disclosure, a robot is provided. The robot comprises a robot body and a balance unit. The robot body comprises a main body and legs. The main body extends in the front-rear direction, where the forward direction of the robot is the front direction in the front-rear direction, and the opposite direction to the front direction is the rear direction. The main body has a first end in the front-rear direction and a second end opposite to the first end. The legs have a plurality of legs connected to the main body that bend and extend. The legs include a front leg and a rear leg. The balance unit is formed in an elongated shape. The balance unit has a base end connected to the first end and a tip end which is a free end provided on the opposite side of the base end. According to this embodiment, the balance of the robot body during operation can be improved by the elongated balance unit connected to the first end of the main body. In this embodiment, the front leg may be connected to the front half portion of the zinc body in the front-rear direction, and the rear leg may be connected to the rear half portion of the main body in the front-rear direction. Each of the aforementioned multiple legs may have two or more joints. For example, the leg may include a first joint connecting the main body and the leg, and a second joint provided between the upper and lower ends of the leg.

[0237] <F2> In the robot described in <F1> above, the balance part may be in the shape of a pendulum with the base end as the pivot point. With this configuration, the balance part moves and bends in the opposite direction to the direction of movement and acceleration of the robot body, so the balance of the robot body during operation can be improved.

[0238] <F3> In the robot described in <F1> or <F2> above, the first end may be the rear end of the main body. In this configuration, the balance of the robot body during operation can be improved by the balance part provided at the rear end of the robot body. In this configuration, the balance member may be an elongated device suitable for application to the tail of the robot.

[0239] <F4> In the robot described in any one of <F1> to <F3> above, the base end may be located on a central axis that passes through the center of the main body in the left-right direction and extends in the front-rear direction, when the width direction of the main body is considered as the left-right direction. In this configuration, the balance of the robot body during operation can be improved by the balance part. In this configuration, the base end may be located on a virtual plane that includes the central axis and extends in the front-rear direction.

[0240] <F5> In the robot described in any one of <F1> to <F4> above, the balance part may include a long base, an actuator, and a bending mechanism. The bending mechanism may be arranged on at least a part of the base and be driven by the actuator to bend the base. In this embodiment, the balance part can be bent by bending the base via the bending mechanism. In this embodiment, "bending" means that the long base or member bends in any part. Bending can also be called flexing. The base may include a housing. The base may be formed in a bellows shape. The base may be an elastic body. The base may be formed by connecting a plurality of cylindrical parts in the longitudinal direction. The bending mechanism may include a linear member and a support part that supports the linear member. The linear member may be arranged from the base to the tip. The linear member may be arranged from the base to any part of the base between the base and the tip. The linear member may be a wire, cable, belt, or other member capable of applying force to a part of the base. The linear member may be configured to be expandable and contractible. The balance portion may be configured such that the base bends as the linear member expands or contracts. The balance portion may be configured such that it bends when the linear member contracts and the bent state is released when it extends.

[0241] <F6> The robot described in any one of <F1> to <F5> above may be provided with a control device for controlling the actuator. The control device controls the actuator to maintain the balance of the robot body in accordance with the movement of the robot body. In this embodiment, the balance of the robot body can be improved by the control device operating the balance unit via the actuator. In this embodiment, if the robot's movement, including its speed, acceleration, and direction of movement, is being input sequentially, the control device may estimate the next robot movement from the input. The control device may operate the balance unit at the time the estimated movement is performed so as to maintain the balance of the robot body at that time. In this embodiment, if the robot is being operated automatically, the control device may operate the balance unit at the time of the next movement so as to maintain the balance of the robot body at that time. If the next movement is a movement in a predetermined direction with a predetermined acceleration, the control device may operate the balance unit so as to move the tip of the balance unit in the opposite direction to the predetermined direction.

[0242] <F7> In the robot described in any one of <F1> to <F6> above, the control device may be configured to control the actuator such that the balance part bends in a direction that cancels out the rotational inertia acting on the robot body. According to this embodiment, the posture of the robot body can be stabilized and the balance of the robot body can be maintained by canceling out the rotational inertia when the robot turns. Therefore, the balance of the robot body can be improved when the robot turns. In this embodiment, the control device may cancel out the rotational inertia by maintaining the balance part bent inward in the direction of the turn when the robot body is rapidly turning. In this embodiment, rotational inertia can also be called moment of inertia.

[0243] <F8> In the robot described in any one of <F1> to <F7> above, the control device may be configured to control the actuator such that the balance part bends in a direction that increases the rotational inertia acting on the robot body. According to this embodiment, the attitude of the robot body can be stabilized and the balance of the robot body can be maintained by increasing the inertial force acting on the robot body. Therefore, the balance of the robot body can be improved when the robot turns. In this embodiment, the control device may increase the rotational inertia by bending the balance part outward in the direction of the turn with a predetermined acceleration when the robot body is rapidly turning. In this embodiment, rotational inertia can also be called the moment of inertia.

[0244] <F9> The robot described in any one of <F1> to <F8> above may be provided with a detection unit for detecting robot information relating to the goodness or badness of the robot's state. The control device may be configured to notify the operator of the goodness or badness of the robot's state by bending the balance unit based on the detected robot information. In this configuration, the operator can be notified of the robot's condition by the manner in which the balance unit is bent. In this configuration, the robot state may include any one of the following: the remaining battery charge of the robot, the presence or absence of alerts in the drive system, the weather, the road surface conditions, and other surrounding environmental factors. For example, the control device may raise the free end of the balance unit if the remaining battery charge is equal to or greater than a predetermined first threshold. The control device may bend the balance unit to lower the free end if the remaining battery charge is less than a second threshold which is smaller than the first threshold.

[0245] <F10> In the robot described in any one of <F1> to <F9> above, the base body may have a bellows structure. According to this embodiment, the balance part can be bent by the bellows structure.

[0246] <F11> In the robot described in any one of <F1> to <F10> above, the base body may be an elastic body. In this embodiment, the balance part can be bent by the elastic body.

[0247] <F12> In the robot described in any one of <F1> to <F11> above, the balance unit may comprise a long base, an actuator including a motor, and a bending mechanism. The bending mechanism may be arranged on at least a part of the base and be driven by the actuator to bend the base. The robot may further include a battery that supplies power to the actuator and a control device that controls the actuator. The control device may be configured to charge the battery with the regenerative power of the motor due to the pendulum motion of the balance unit. In this embodiment, the circuit power of the motor when the balance unit operates in a pendulum-like manner can be used to charge the battery.

[0248] <F13> In the robot described in any one of <F1> to <F12> above, the main body may include a seat that a rider straddles in the left-right direction intersecting the front-rear direction. The front legs may include a left front leg and a right front leg. The rear legs may include a left rear leg and a right rear leg. The robot may be a quadrupedal robot. This embodiment provides a saddle-type quadrupedal robot that can improve the balance of the robot body during operation.

[0249] <F14> In the robot described in any one of <F1> to <F13> above, the main body may include a front main body to which the left front leg and the right front leg are connected, a rear main body to which the left rear leg and the right rear leg are connected, and a main body joint connecting the front main body and the rear main body. This configuration makes it possible to suppress the transmission of vibrations from the rear main body to the front main body.

[0250] <F15> According to one embodiment of the present disclosure, a robot is provided. The robot comprises a robot body and a balance unit. The robot body comprises a main body and leg units. The main body extends in the front-rear direction, where the forward direction of the robot is the front direction in the front-rear direction, and the opposite direction to the front direction is the rear direction. The leg units have a plurality of legs that are connected to the main body and can bend and extend. The leg units include front leg units and rear leg units. The balance unit is formed in an elongated shape. The balance unit is provided on the left and right sides of the main body. The balance unit has a base end connected to the left and right sides of the main body and a tip end which is a free end provided on the opposite side of the base end. According to this embodiment, the balance of the robot body during operation can be improved by the elongated balance unit connected to the left and right sides of the main body.

[0251] 1, 1a, 1b, 1c, 1d, 1f, 1g, 1m, 1s: Robot, 2, 2d: Power generation unit, 21: Engine, 21s: Combustion chamber, 22: Motor generator, 23: Gear mechanism, 24: Battery module, 25: Power supply circuit, 26: Fuel supply unit, 27: Radiator, 28: Fuel cell, 3: Leg section, 3B: Rear leg section, 3B1: Left rear leg, 3B2: Right rear leg, 3F: Front leg section, 3F1: Left front leg, 3F2: Right front leg, 30: Leg, 31: Upper leg link, 32: Lower leg link, 33: Foot, 39: Cover section, 301: Upper end, 302: Tip, 5, 5L, 5R: Balance section, 51: Base end 52: Tip part, 53: Base part, 531: Cylindrical part, 54: Bending mechanism, 541: Linear member, 7, 7m, 7s: Control device, 71: Processor, 72: Memory, 8: Operation unit, 81: Operation detection unit, 10, 10d, 10e: Main body part, 10F: Front end, 10M: Center part, 10B: Rear end, 10U: Upper part, 10D: Lower part, 10L: Left side part, 10R: Right side part, 101: Front end, 102: Rear end, 11, 11e: Front main body part, 11c: First front main body part, 112: Rear end, 12c: Second front main body part, 13: Rear main body part, 131: Front end, 15: Robot body, 19: Recess, 113: Bottom Part, 115: projection, 116: projection, 135: projection, 136: projection, 160: flow path, 161: first opening, 161e: front end opening, 162: second opening, 162e: lower end opening, 163: third opening, 164: opening, 191: side wall, 193: upper wall, 4L: left support part, 4R: right support part, 41: extended part, 42: bent part, 43: bellows part, 44: footrest part, 411: upper end, 412: lower end, 441: first part, 442: second part, 45: telescopic mechanism, 451: slide rail, 452: guide rail, 61: seat, 611: front end, 612: rear end, 62: projection part, 621 : Front end, 622: Rear end, 623: Upper end, 63: First grip, 631: Left end, 632: Right end, 64: Second grip, 641: Left end, 642: Right end, 65: Detection device, 651: First detection device, 652: Second detection device, 66: Display device, 661: Front part, 662: Rear part, 663: Touch panel, 67: Housing section, 68: Lighting device, 69: Communication device, 90, 90a, 90b: Suspension device, 901: First end, 902: Second end, 91, 91a: Elastic member, 92, 92b: Damping device, 921: Rod, 93: Cylinder, 94: Storage section, 95: Valve,100: Robot system, AC1, AC2, AC3, AC4, AC5: Actuator, AR: Area, AX1, AX2, AX3, AX4, AX4c, AX5: Rotation axis, AX10: Center axis, AX11: Upper center axis, AX12: Lower center axis, CX1: Center axis, P: Virtual plane, G: Road surface, J1: First joint, J2: Second joint, J3: Third joint, J4: Main body joint, J4c: Front joint, L1: Distance, M: Motor, R: Reducer, E: Rotation sensor, P1: Operation command generation program, P2: Motion control program, ms: Ventilation member, s1: Side sensor, s2: Seat sensor, s3: Grip sensor, s4: First support sensor, s5: Second support sensor,

Claims

1. A robot comprising: a main body that extends in the front-rear direction and straddles the left-right direction in which a rider intersects the front-rear direction, with the robot's forward direction being the front direction in the front-rear direction and the opposite direction to the front direction being the rear direction; a leg portion having a plurality of legs connected to the main body that bend and extend, including a front leg portion and a rear leg portion; and a left support portion and a right support portion connected to the left and right sides of the main body, respectively, that support the rider's legs straddling the main body and receive input for operation to the robot.

2. A robot according to claim 1, wherein each of the left support portion and the right support portion has a footrest portion and an extended portion having an upper end portion connected to the main body portion and a lower end portion connected to the footrest portion.

3. A robot according to claim 2, wherein the extended portion has a bent portion that bends forward between the upper end and the lower end.

4. A robot according to claim 2, wherein the footrest portion is connected to the lower end portion so as to be rotatable around a pivot axis extending in the left-right direction.

5. A robot according to claim 2, wherein the extending portion extends and retracts in the extending direction.

6. A robot according to claim 5, wherein the extended portion has an elastic body.

7. A robot according to claim 5, wherein the extended portion has a bellows-shaped section.

8. A robot according to claim 5, wherein the robot operates in a plurality of travel modes, and the extended portion extends or retracts according to each of the plurality of travel modes.

9. A robot according to claim 5, wherein the left support and the right support are connected to the main body such that the distance between the left support and the right support changes.

10. A robot according to claim 2, wherein the footrest portion is equipped with an extension / retraction mechanism for extending or retracting the length in the left-right direction.

11. A robot according to claim 1, wherein the left support portion and the right support portion are directly connected to the main body portion.

12. A robot according to claim 1, comprising a seat detachably connected to the main body, wherein the left support and the right support are directly connected to the seat.

13. A robot according to claim 1, wherein the main body comprises a front main body, a rear main body, and a main body joint connecting the front main body and the rear main body, the front legs are connected to the front main body, and the rear legs are connected to the rear main body.

14. A robot according to claim 13, wherein the left support portion and the right support portion are connected to the main body at substantially the same position as the main body joint in the front-rear direction.

15. A robot according to claim 13, wherein the left support portion and the right support portion are connected to the front main body portion.

16. A robot according to claim 1, comprising: a plurality of joints provided in the leg portion; a plurality of actuators for driving the plurality of joints; and a control device for generating operation commands based on forces applied to the left support portion and the right support portion, and for driving the plurality of actuators.

17. A robot according to claim 16, wherein the left support and the right support are each equipped with a sensor unit for detecting changes in force applied to the left support and the right support, and the control device generates the operation command based on the detection result of the sensor unit and drives the plurality of actuators.

18. A robot according to claim 17, wherein the sensor unit includes a pressure sensor, and the control device generates the operation command based on the detection result of the pressure sensor and drives the plurality of actuators.

19. A robot according to claim 17, wherein each of the left support portion and the right support portion has a footrest portion on which the rider's feet are placed, and an extending portion having an upper end connected to the main body portion and a lower end connected to the footrest portion when the direction intersecting the front-rear direction and the left-right direction is the up-down direction, and the sensor portion detects the amount the rider steps on the footrest portion.

20. A robot according to claim 17, wherein the operation command includes the selection of a travel mode for the robot, and the control device drives the plurality of actuators according to the travel mode.

21. A robot according to claim 20, wherein each of the left support portion and the right support portion has a footrest portion on which the rider's feet are placed, and an extending portion having an upper end connected to the main body portion and a lower end connected to the footrest portion when the direction intersecting the front-rear direction and the left-right direction is defined as the up-down direction, the sensor portion detects the left-right force on the lower end, and the control device generates an operation command for the robot based on the left-right force.

22. The robot according to claim 1, wherein the robot is a quadruped robot, the front legs include a left front leg and a right front leg, and the rear legs include a left rear leg and a right rear leg.

23. A method for controlling a robot, wherein, when the robot's forward direction is defined as the forward direction in the front-rear direction and the opposite direction to the forward direction is defined as the rear direction, the robot comprises: a main body extending in the front-rear direction and straddling a rider in the left-right direction intersecting the front-rear direction; a leg portion connected to the main body and having a plurality of legs that bend and extend, including a front leg portion and a rear leg portion; a left support portion and a right support portion connected to the left and right sides of the main body, supporting the rider's legs straddling the main body, and receiving input from the rider for operation to the robot, the control method comprising: detecting a force applied to the left support portion and the right support portion; generating an operation command based on the detected force applied to the left support portion and the right support portion; and driving the plurality of actuators based on the operation command.

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