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Walking robot remote-control system, apparatus and method

A technology of remote control device and remote control system, which is applied in the direction of remote measurement/remote control selection device, selection device, signal transmission system, etc., which can solve the problems of huge system, difficult and difficult to grasp the state of feet and so on

Inactive Publication Date: 2004-04-07
NTT DOCOMO INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The above-mentioned existing two-leg walking robot remote control device is generally all a huge system.
Moreover, in actual operation, it is not easy to intuitively grasp the state of each foot or the force state of the feet of the two-legged walking robot, and it is difficult to say that it is an easy-to-operate device.

Method used

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  • Walking robot remote-control system, apparatus and method
  • Walking robot remote-control system, apparatus and method
  • Walking robot remote-control system, apparatus and method

Examples

Experimental program
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Embodiment 1

[0033] Fig. 1 illustrates a remote control system for a walking robot with two legs according to Embodiment 1 of the present invention.

[0034] According to FIG. 1 , the remote control system includes: a two-legged walking robot (hereinafter referred to as the robot) 20 , and a portable remote control device 10 that remotely controls the robot 20 through a communication network 100 .

[0035] The remote control device 10 includes: a CPU 19 for overall control, a pair of left and right belt circulators 11 (details will be described later) with a rotating belt mechanism, and a servo that controls the output of the motor that drives the above-mentioned rotating belt mechanism according to the CPU 19 (control unit) instruction. Control unit 12, D / A 13 for digital-to-analog conversion to the output of servo control unit 12, encoder (encoder) 14 for detecting the rotation angle / speed / direction of the above-mentioned motor, counter 15 for calculating the output pulse number of encode...

Embodiment 2

[0073] refer to Figure 11 Embodiment 2 of the present invention will be described. According to the present embodiment 2, the remote control device 10 does not have the belt type circulator 11, and instead installs Figure 11 Shown is a pair of left and right rollers 50, according to which also the robot with two legs can be remotely controlled. This can further be broken down into several forms such as: Figure 11 The form shown on the left is convenient for operating the left and right rollers with the thumbs of both hands; Figure 11 The form shown on the right is easy to operate the left and right rollers with one hand. Under the latter form, make the distance between the left and right rollers within the scale range that can be operated with one hand, so that it can be operated only by the thumb of the right hand (dominant hand).

[0074] The remote control device can also adopt other forms, such as a gear mechanism for volume adjustment on a pair of portable audio devic...

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Abstract

A robot remote manipulation system is provided, including a bipedal walking robot and a remote manipulation device for remotely manipulating the bipedal walking robot. The robot is connected to the remote manipulation device via a communication network and controlled by controlling data from the remote manipulation device. In the system, the remote manipulation device comprises a pair of bilateral mechanical rotating elements providing a quantity of motion for each bilateral leg of the bipedal walking robot; and a controlling data transmitter for transmitting controlling data corresponding to the quantities of motion to the bipedal walking robot. The bipedal walking robot comprises a controlling data receiver for receiving the controlling data transmitted from the remote manipulation device; and a leg motion controller for processing the received controlling data and causing the bilateral legs to move forward or backward.

Description

technical field [0001] The invention relates to a robot remote control system, a remote control device and a remote control method, in particular to a remote control system, a remote control device and a remote control method for a robot walking on two legs remotely through a communication network. Background technique [0002] Among the existing robot remote control methods, there is a tmsuk04 method (Robot Journal No. 18, Ohm Corporation pp20-23, 2001) that can be remotely controlled using a PHS line. According to the tmsuk04 method, the movement of the robot on the slave side is reproduced by manually operating the master arm. In addition, there is a robot remote control device using a joystick. It controls the steering direction, stride and speed by moving a stick switch (joystick) back and forth, left and right. [0003] Also, with regard to the remote control method of a two-legged walking robot, there are a method of inputting a command, and a method of inputting a ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/02B25J5/00B25J13/06B62D57/032H04Q9/00
CPCB25J13/06B62D57/032B25J13/025
Inventor 林宏树平岩明真锅宏幸忍顶寺毅杉村利明
Owner NTT DOCOMO INC
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