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:
BACKGROUND OF THE INVENTION  
         [0001]    1. Field of the Invention  
           [0002]    The present invention generally relates to a robot remote manipulation system and a robot remote manipulation device, and specifically relates to such systems and devices that remotely manipulate bipedal walking robots via communication networks.  
           [0003]    2. Description of the Related Art  
           [0004]    A variety of robot remote manipulation systems have been developed recently. As one prior art robot remote manipulation system, Tmsuk  04  (Robocon magazine No. 18, pp. 20-23, published by Ohm-sha in 2001) is known in which a robot can be remotely manipulated using a PHS line. In the Tmsuk  04  technology, an operator operates a master arm to control the motion of a robot as a slave. Another prior art manipulation system uses a joy stick. By moving the joy stick forward, backward, rightward or leftward, the moving direction, the length of a step and the walking speed of a robot can be controlled.  
           [0005]    There is known one other prior bipedal walking robot remote manipulation system in which commands are inputted or a moving destination and route are inputted.  
           [0006]    Such conventional bipedal walking robot remote manipulation systems, however, have comparatively large sizes. Further, while manipulating a robot in the conventional systems, it is not easy to be aware of forces applied to the legs of the robot and therefore it is not easy to control the robot.  
         SUMMARY OF THE INVENTION  
         [0007]    Accordingly, it is one object of the present invention to provide a robot remote manipulation system and manipulation device, by which an operator can with ease remotely manipulate a bipedal walking robot and can be aware of forces applied to the legs of the bipedal walking robot.  
           [0008]    Another and more specific object of the present invention is to provide a robot remote manipulation system including a bipedal walking robot and a remote manipulation device for remotely manipulating the bipedal walking robot, the robot being connected to the remote manipulation device via a communication network and controlled by controlling data from the remote manipulation device,  
           [0009]    the remote manipulation device comprising:  
           [0010]    a pair of bilateral mechanical rotating elements each providing a quantity of motion for one of bilateral legs of the bipedal walking robot; and  
           [0011]    a controlling data transmitter for transmitting controlling data corresponding to the quantities of motion to the bipedal walking robot; and  
           [0012]    the bipedal walking robot comprising:  
           [0013]    a controlling data receiver for receiving the controlling data transmitted from the remote manipulation device; and  
           [0014]    a leg motion controller for processing the received controlling data and causing the bilateral legs to move forward or backward.  
           [0015]    Another object of the invention is to provide a remote manipulation device for remotely manipulating a bipedal walking robot connected to the remote manipulation device via a communication network, comprising:  
           [0016]    a pair of bilateral mechanical rotating elements each providing a quantity of motion for one of bilateral legs of the bipedal walking robot; and  
           [0017]    a controlling data transmitter for transmitting controlling data corresponding to the quantities of motion to the bipedal walking robot.  
           [0018]    A further object of the invention is to provide a remote manipulating method in a robot remote manipulation system including a bipedal walking robot and a remote manipulation device for remotely manipulating the bipedal walking robot, the robot being connected to the remote manipulation device via a communication network and controlled by controlling data from the remote manipulation device, the method comprising the steps of:  
           [0019]    operating a pair of bilateral mechanical rotating elements in the remote manipulation device, and providing a quantity of motion for each of bilateral legs of the bipedal walking robot; and  
           [0020]    transmitting controlling data corresponding to the quantities of motion to the bipedal walking robot;  
           [0021]    in the bipedal walking robot, receiving the controlling data transmitted from the remote manipulation device; and  
           [0022]    processing the received controlling data and causing the bilateral legs to move forward or backward.  
           [0023]    Features and advantages of the present invention are set forth in the description that follows, and in part will become apparent from the description and the accompanying drawings, or may be learned by practice of the invention according to the teachings provided in the description. Objects as well as other features and advantages of the present invention will be realized and attained by an apparatus particularly pointed out in the specification in such full, clear, concise, and exact terms as to enable a person having ordinary skill in the art to practice the invention. 
       
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0024]    [0024]FIG. 1 shows a block diagram of a robot remote manipulation system according to the present invention;  
         [0025]    [0025]FIG. 2 is an exterior appearance view of the remote manipulation device shown in FIG. 1;  
         [0026]    [0026]FIG. 3 illustrates a controlling technique of a bipedal walking robot using the remote manipulation device shown in FIG. 1;  
         [0027]    [0027]FIG. 4 shows schematic views of a treadmill mechanism used in the remote manipulation device shown in FIG. 1;  
         [0028]    [0028]FIG. 5 illustrates a force applied to the bipedal walking robot on a slope;  
         [0029]    [0029]FIG. 6 is a schematic diagram of a circuit for feeding the force back to the treadmill; and  
         [0030]    [0030]FIG. 7 shows another example of feeding the force back to the treadmill;  
         [0031]    [0031]FIG. 8 shows a relationship between the quantity of motion of the treadmill and the step length of the bipedal walking robot;  
         [0032]    [0032]FIG. 9 is a flowchart for illustrating a remote manipulation process of the robot using the remote manipulation system shown in FIG. 1;  
         [0033]    [0033]FIG. 10 is a flowchart for illustrating a control process of the treadmill resistance using information obtained by an inclination sensor provided in the robot; and  
         [0034]    [0034]FIG. 11 shows schematic views of remote manipulation devices having rollers according to another embodiment of the invention. 
     
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS  
       [0035]    In the following, embodiments of the present invention are described with reference to the accompanying drawings.  
         [0036]    [0036]FIG. 1 shows a block diagram of a bipedal walking robot remote manipulation system according to a first embodiment of the present invention.  
         [0037]    The remote manipulation system shown in FIG. 1 includes a bipedal walking robot  20  (referred to as merely “robot” hereinafter) and a portable type remote manipulation device  10  capable of remotely manipulating the robot  20  via a communication network  100 .  
         [0038]    The remote manipulation device  10  includes a CPU  19  for controlling all the elements, a treadmill  11  having bilateral rotational belt mechanisms, a servo controller  12  for controlling outputs of motors for driving the rotational belts based on instructions from the CPU  19 , and a D/A  13  for D/A converting an input to the servo controller.  
         [0039]    The remote manipulation device  10  further includes an encoder  14  for detecting rotational angles, speeds and directions of the motors, a counter  15  for counting the number of pulses from the encoder  14 , a display  16  for displaying audiovisual information sent from a CCD camera mounted on the robot, an operation part  17  such as a ten-key pad, and a radio communication part  18  for communicating with a base station (not shown) via the communication network  100 .  
         [0040]    The robot  20  includes an inclination sensor  21  for sensing an inclination angle of the robot, a CPU  22  for calculating the status of the robot legs based on the inclination angle sensed by the inclination sensor  21 , and a radio communication part  23 . The radio communication part  23  data-processes the status of the robot legs calculated by the CPU  22 , and transmits the processed data (referred to as “force sense data” hereinafter) to a base station (not shown) via the communication network  100 .  
         [0041]    [0041]FIG. 2 is an exterior appearance view of the remote manipulation device  10  shown in FIG. 1.  
         [0042]    The remote manipulation device  10  in FIG. 2 shows the display  16 , the treadmill  11  and the operation part  17 . As shown in FIG. 2, the treadmill  11  has a pair of bilateral rotational belts. According to the present invention, as shown in FIG. 3, the bilateral rotational belts can be rotated and moved by the index finger and the middle finger of an operator&#39;s dominant hand (right hand, for example), and the right and left treadmills can receive their respective quantities of motion. The quantities of motion are used for manipulating the robot leg movements.  
         [0043]    The treadmill can be configured as shown in FIG. 4, for example.  
         [0044]    The treadmill  11  shown in FIG. 4 includes a rotational belt  31 , a motor  32  for controlling resistance to the movement of the rotational belt  31 , rollers  33  driven by the motor  32  to apply a resistance force to the rotational belt  31  wound around thereon, encoders  14  measuring the quantity of motion of the rotational belt  31  of the treadmill, and switches  35  sensing when the operator&#39;s finger touches the rotational belt  31 .  
         [0045]    In this treadmill  11 , the belt can be rotated only when the switch  35  is ON. The encoders  14  (incremental encoders, for example) output pulses corresponding to the rotational angles of the rollers  33 . By counting the pulses outputted from the encoders, the quantity of motion of the treadmill  11  can be determined. Instead of the incremental encoder, an absolute encoder can be used, of course. In the case of the absolute encoder, outputted absolute rotational angle is deemed to represent the treadmill motion quantity.  
         [0046]    In this embodiment, when the robot walks up or down on a slope, the resistance to the movement of the rotational belt  31  of the treadmill  11  is controlled and made heavy or light, respectively. In more detail, the inclination sensor  21  mounted on the robot  20  measures the status of the robot  20 . When it is determined that the robot is going up a slope based on the data measured by the inclination sensor  21 , the belt movement of the treadmill  11  is made heavy. When it is determined that the robot is going down a slope based on the data measured by the inclination sensor  21 , the belt movement of the treadmill  11  is made light. This resistance control is explained below.  
         [0047]    [0047]FIG. 5 illustrates a force applied to the bipedal walking robot  20  walking on a slope In FIG. 5, when the robot  20  is going to walk up the slope having an inclination angle θ, a force Mgsin θ is applied to the robot in the down-slope direction, where M represents the mass of the robot and g represents the acceleration of gravity. In this case, a force C 0 Mgsin θ generated by the motor  32  is applied to the treadmill  11  (C 0  is a constant), and therefore the force applied to the robot  20  is indirectly fed back to the operator&#39;s fingers on the treadmill  11 .  
         [0048]    When the upslope is steeper (θ becomes larger), the motor  32  provides a feed-back force to the treadmill  11  and makes it difficult to move the belt  31  of the treadmill  11 . On the other hand, when the slope is downward (θ becomes negative) the motor  32  provides a feed-back force to the treadmill  11  and makes it easy to move the belt  31  of the treadmill  11 . These feed-back forces are generated only when the operator&#39;s finger touches the belt  31  of the treadmill  11  (only when the switch  35  mounted on the treadmill  11  is ON).  
         [0049]    In this embodiment an electric circuit as shown in FIG. 6 is used for generating the above force C 0 Mgsin θ against the treadmill  11 .  
         [0050]    [0050]FIG. 6 is a schematic diagram of an electric circuit for feeding the above force back to the treadmill  11 . The circuit includes a motor  32  generating a torque T, a battery having a voltage V, a switch  35  and a variable resistance Ra  40 . The variable resistance Ra can be varied depending on force sense data transmitted from the robot, and therefore a voltage applied to the motor  32  can be varied according thereto. As a result, the torque T can be controlled so that the motor  32  generates a force C 0 Mgsin θ corresponding to the slope inclination θ, and therefore the resistance of the belt  31  of the treadmill  11  reflects the status of the robot walking on the slope having the inclination angle θ.  
         [0051]    The resistance Ra in the above electric circuit can be obtained in the following equation (1) .  
             Ra   =       K   T          (     V   -     K   ·   ω       )               (   1   )                               
 
         [0052]    This Ra can be represented as in the following equation (2), where the quantity of motion for the slope θ is Δl  
             Ra   =       K         C   0     ·   M   ·   g   ·   sin                   θ            (     V   -         C   1     ·   Δ                   l       )               (   2   )                               
 
         [0053]    Where K is a counter-electromotive force constant of the motor; Al is the quantity of motion of the treadmill; and C 0 , C 1 , are constants.  
         [0054]    [0054]FIG. 7 shows another example of feeding the force back to the treadmill  11 .  
         [0055]    As shown in FIG. 7, this example uses a bar-like module  45 , which is pressed against the treadmill  11  by a force F to control the resistance of the belt  31  of the treadmill  11  Where the friction coefficient between the belt  31  and the module  45  is represented by μ, the force F generates a friction force μF on the belt  31 . Accordingly, by varying F so that μF becomes equal to C 0 Mgsin θ, the treadmill  11  can receive a backward force of C 0 Mgsin θ.  
         [0056]    The manner for feeding a force back to the treadmill is not limited to the above explained methods and can be fed back in a variety of ways within the scope of the present invention.  
         [0057]    Next, referring to FIG. 8, the relationship between finger motion quantity on the treadmill  11  and robot leg movement is explained. If a quantity of motion of the left treadmill (operated by an index finger) is represented by Δl l  and a quantity of motion of the right treadmill (operated by a middle finger) is represented by Δl r , movements of left and right leg steps are represented by ΔL L  and ΔL R , respectively, then the relation as Δl l :Δl r =ΔL L :ΔL R  holds The distance between two legs of the robot is represented by D.  
         [0058]    Where the minimum turning radius of the robot  20  is represented by R, the curvature ρ having this radius R is obtained by the following equation (3):  
             ρ   =       1   R     =         Δ                   L   R       -     Δ                   L   L                   2           Δ                   L   R       +     Δ                   L   L                   D                   (   3   )                               
 
         [0059]    Where the quantity of motion of the left treadmill is smaller, the robot turns to the left. When the quantities of motion of the left and right treadmills are equal, the robot walks straight. On the other hand, by moving the treadmill backward the robot can walk backward. Therefore, it is possible to manipulate the bipedal walking robot freely, such as walking forward, walking backward and turning.  
         [0060]    Referring to a flowchart shown in FIG. 9, a process for manipulating the robot legs using the remote manipulation system in FIG. 1 is explained.  
         [0061]    In FIG. 9, the robot  20  and the remote manipulation device  10  communicate with each other via a communication network to exchange information.  
         [0062]    When an operator&#39;s finger moves on the treadmill  11  of the remote manipulation device  20  (S 1 ), the encoder  14  measures the number of pulses outputted by the treadmill  11 . The number of pulses corresponds to an angular amount of movement of the rotated belt. The measured result is transmitted to the CPU  19 . The CPU  19  calculates a quantity of motion of the treadmill  11 , based on the measured results sent by the encoder  14  (S 2 ). The quantity of motion of the treadmill  11  is converted to step length data of the robot  20  (S 3 ), and the converted step length data are transmitted to the radio communication part  18 . The radio communication part  19  performs a coding process, a modulation process, and a frequency conversion process and other processes on the step length data, and transmits the processed data to a base station (not shown) via the communication network  100  (S 4 ).  
         [0063]    The step length data transmitted by the remote manipulation device  10  in the above mentioned manner is received at the radio communication part  23  of the robot  20  via the communication network  100 . After receiving the step length data transmitted by the remote manipulation device  10 , the radio communication part  23  of the robot  20  performs a frequency conversion process, a demodulation process, a decoding process and other processes on the step length data, and outputs the processed step length data to a mechanism for controlling the legs of the robot. Then the legs of the robot  20  are controlled based on the processed step length data (S 5 ).  
         [0064]    In the above explained embodiment, an operator of the remote manipulation device  10  can remotely manipulate the robot  20  while monitoring an image on the display  16 , which is sent from a CCD camera (not shown) mounted on the robot  20 . However, if the operator can directly see the robot  20  at a near distance, he/she does not have to monitor the display  16  for manipulating the robot  20 .  
         [0065]    In the above embodiment, the conversion calculation from the treadmill motion quantity to the robot step length is carried out by the CPU  19  in the remote manipulation device  10 . The present invention is not limited to such embodiment. For example, the remote manipulation device  10  may perform the transmission of the treadmill motion quantity only, and CPU  22  in the robot  20  can then perform calculations relating to conversion from the treadmill motion quantity to the robot step length.  
         [0066]    Next, referring to the flowchart shown in FIG. 10, a process for controlling the treadmill resistance based on information obtained by the inclination sensor  21  mounted in the robot  20  is explained.  
         [0067]    The inclination sensor  21  mounted in the robot  20  senses an inclination angle of the robot  20  (S 11 ), and sends the inclination information indicating the status of the robot legs to the CPU  22 . After receiving the inclination information, the CPU  22  calculates the mechanical status of the robot (whether the robot is on an up slope or a down slope) based on the inclination information (S 12 ), and calculates forces applied to the legs of the robot (S 13 )  
         [0068]    The calculated results are sent from the CPU  22  to the radio communication part  23 . The radio communication part  23  performs a coding process, a modulation process, a frequency conversion process and other processes on the calculated results, and transmits the converted results as force sense data to a base station (not shown) via the communication network  100  (S 14 ).  
         [0069]    As explained above, the force sense data transmitted by the robot  20  is received at the radio communication part  18  of the remote manipulation device  10 . The radio communication part  18  performs a frequency conversion process, a demodulation process, and a decoding process on the force sense data, and outputs the processed data to the motor  32  of the treadmill  11  of the CPU  19  (S 15 ). The motor  32  of the treadmill  11  outputs a certain force based on instruction from the CPU  19 . Accordingly, the belt  31  of the treadmill  11  rotates with resistance corresponding to the force applied to the robot legs, and therefore the operator can manipulate the steps of the robot  20  while being aware of the walking condition of the robot  20   
         [0070]    In the above embodiment, the calculation of the force applied to the robot legs is carried out by the CPU  22  in the robot  20 . The present invention is not limited to such embodiment. For example, the robot  20  may perform the transmission of the output of the inclination sensor only, and the CPU  19  in the remote manipulation device  10  can then calculate the force applied to the legs of the robot  20  on a slope based on the output from the inclination sensor.  
         [0071]    Referring to FIG. 11, a second embodiment of the present invention is explained. According to the second embodiment, a remote manipulation device  10  includes a pair of bilateral rollers  50  as shown in FIG. 11, instead of the treadmill  11 . Using the rollers, the bipedal walking robot can be remotely manipulated. The rollers shown in the left device in FIG. 11 are spaced apart from each other and can be operated with thumbs of both hands. The rollers shown in the right device in FIG. 11 are close together and can be operated with one or two fingers on one hand.  
         [0072]    The remote manipulation device may have other types of mechanisms such as a pair of gear mechanisms used in portable audio equipment.  
         [0073]    The above explained remote manipulation device  10  may be any kind of mobile terminal connectable to a communication network such as mobile radio terminals (e.g. mobile phones) connectable to a mobile communication network, notebook computers, and POAs. The communication network can be any kind of network such as a public network, a radio LAN, and an IP network, as long as the mobile terminals have a radio communications interface that can be used to connect to the utilized communication network.  
         [0074]    According to the embodiments of the present invention, the operator of the remote manipulation device can remotely manipulate robot steps by moving his fingers in a manner of simulating human walking while being aware of mechanical conditions such as forces applied to the robot, which awareness cannot be obtained through a display. And the remote manipulation device can be miniaturized.  
         [0075]    Further, real time manipulation can be attained because the system utilizes a mobile communication network. The walking area of a manipulated robot is not limited, because the robot can utilize a mobile communication network and its roaming services.  
         [0076]    The present application is based on Japanese Priority Patent Application No 2002-241075 filed on Aug. 21, 2002 with the Japanese Patent Office, the entire contents of which are hereby incorporated by reference.