Robotic device, control method for robotic device, and program

Patent metadata

Field	Value
Publication number	US-11780084-B2
Application number	US-201816958963-A
Country	US
Kind code	B2
Filing date	Jan 16, 2018
Priority date	Jan 16, 2018
Publication date	Oct 10, 2023
Grant date	Oct 10, 2023

Abstract

A mode setting unit sets any one of operation modes in an operation mode group including at least a coaching mode and a learning mode. In the coaching mode, a control unit receives a posture instruction and controls a storage unit to store the posture instruction. In the learning mode, the control unit derives a control mode of a drive mechanism by learning while reflecting, in a posture of the robotic device, the posture instruction received in the coaching mode.

First claim

The invention claimed is:

1. A robotic device comprising:
a drive mechanism;
a control unit configured to control the drive mechanism; and
a mode setting unit configured to set any one of operation modes in an operation mode group including at least a coaching mode and a learning mode, wherein
in the coaching mode, the control unit receives a posture instruction from data input by a user of the robotic device and controls a storage unit to store the posture instruction, where the posture instruction includes data regarding a plurality of respective postures that the user wants the robotic device to attain in sequence in order to test which of such postures achieves a performance objective of the robotic device defined by a user-defined mission, and where the data input by the user regarding the plurality of postures is input by the user physically moving the robotic device into each of the respective postures, and
in the learning mode, the control unit derives a control mode of the drive mechanism by learning such that the robotic device reflects each of the plurality of postures in sequence as defined in the posture instruction received in the coaching mode, wherein the plurality of postures is tested in sequence in order to determine whether the performance objective of the robotic device is achieved.

2. The robotic device according to claim 1 , wherein in the coaching mode, the control unit receives instructions on a plurality of postures to be taken and controls the storage unit to store the instructions.

3. The robotic device according to claim 2 , wherein the control unit receives the plurality of postures in order of being taken and controls the storage unit to store the postures.

4. The robotic device according to claim 2 , wherein in the learning mode, the control unit performs learning for interpolation of motions between the received plurality of postures while sequentially taking the postures.

5. The robotic device according to claim 1 , wherein in the learning mode, the mode setting unit changes the operation mode to the coaching mode based on a mode change instruction.

6. The robotic device according to claim 1 , wherein the control unit has a simulation function of simulating whether or not the mission is accomplishable by causing the posture instruction received in the coaching mode to be reflected in any of the plurality of postures of the robotic device.

7. The robotic device according to claim 6 , wherein when predicting an inoperative state with the simulation function, the control unit outputs information associated with the inoperative state.

8. The robotic device according to claim 6 , wherein when the simulation function predicts that an inoperative state, which should not be accomplished by the robotic device, would result from a particular one of the plurality of postures defined in the posture instruction received in the coaching mode, the control unit prevents the robotic device from attaining the particular posture that would be reflected by the particular posture instruction.

9. The robotic device according to claim 1 , wherein the control unit receives an instruction by voice.

10. A control method for a robotic device, comprising:
setting any one of operation modes in an operation mode group including at least a coaching mode and a learning mode;
in the coaching mode, the control unit receives a posture instruction from data input by a user of the robotic device and controls a storage unit to store the posture instruction, where the posture instruction includes data regarding a plurality of respective postures that the user wants the robotic device to attain in sequence in order to test which of such postures achieves a performance objective of the robotic device defined by a user-defined mission, and where the data input by the user regarding the plurality of postures is input by the user physically moving the robotic device into each of the respective postures, and
in the learning mode, the control unit derives a control mode of the drive mechanism by learning such that the robotic device reflects each of the plurality of postures in sequence as defined in the posture instruction received in the coaching mode, wherein the plurality of postures is tested in sequence in order to determine whether the performance objective of the robotic device is achieved.

11. A non-transitory, computer readable storage medium containing a program for causing a computer to carry out actions, comprising:
setting any one of operation modes in an operation mode group including at least a coaching mode and a learning mode;
in the coaching mode, the control unit receives a posture instruction from data input by a user of the robotic device and controls a storage unit to store the posture instruction, where the posture instruction includes data regarding a plurality of respective postures that the user wants the robotic device to attain in sequence in order to test which of such postures achieves a performance objective of the robotic device defined by a user-defined mission, and where the data input by the user regarding the plurality of postures is input by the user physically moving the robotic device into each of the respective postures, and
in the learning mode, the control unit derives a control mode of the drive mechanism by learning such that the robotic device reflects each of the plurality of postures in sequence as defined in the posture instruction received in the coaching mode, wherein the plurality of postures is tested in sequence in order to determine whether the performance objective of the robotic device is achieved.

12. The robotic device according to claim 1 , wherein the mode setting unit issues a control signal for a light emitting unit, such that the light emitting element emits light having a variable emission color depending on the set operation mode set among the operation modes.

13. The robotic device according to claim 1 , wherein the mode setting unit receives a mode selection instruction from at least one of:
(i) the user through a robot operation remote controller,
(ii) the user through a voice analysis of the user's voice, and
(iii) the user through a touch sensor detecting a predetermined contact by the user.

Assignees

• Sony Interactive Entertainment Inc

Inventors

• Yutaka Teiji
• Yamagishi Takeshi

Classifications

• B25J9/163 Primary

  learning, adaptive, model based, rule based expert control · CPC title

• G05B19/42 Primary

  Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine · CPC title

• G05B2219/36442

  Automatically teaching, teach by showing · CPC title