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Showing papers on "Articulated robot published in 2008"


Proceedings ArticleDOI
19 May 2008
TL;DR: The VS- Joint features a highly dynamic stiffness adjustment along with a mechanically programmable system behavior that allows an easy adaption to a big variety of tasks and provides excellent attributes for the use in shoulder and elbow joints of an anthropomorphic robot arm.
Abstract: Facing new tasks, the conventional rigid design of robotic joints has come to its limits. Operating in unknown environments current robots are prone to failure when hitting unforeseen rigid obstacles. Moreover, safety constraints are a major aspect for robots interacting with humans. In order to operate safely, existing robotic systems in this field are slow and have a lack of performance. To circumvent these limitations, a new robot joint with a variable stiffness approach (VS-Joint) is presented. It combines a compact and highly integrated design with high performance actuation. The VS- Joint features a highly dynamic stiffness adjustment along with a mechanically programmable system behavior. This allows an easy adaption to a big variety of tasks. A benefit of the joint is its intrinsic robustness against impacts and hard contacts, which permits faster trajectories and handling. Thus, it provides excellent attributes for the use in shoulder and elbow joints of an anthropomorphic robot arm.

533 citations


Proceedings ArticleDOI
01 Dec 2008
TL;DR: A novel motion planning algorithm for performing constrained tasks such as opening doors and drawers by robots such as humanoid robots or mobile manipulators that significantly increase the range of possible motions of the robot by not having to enforce rigid constraints between the end-effector and the target object.
Abstract: We present a novel motion planning algorithm for performing constrained tasks such as opening doors and drawers by robots such as humanoid robots or mobile manipulators. Previous work on constrained manipulation transfers rigid constraints imposed by the target object motion directly into the robot configuration space. This often unnecessarily restricts the allowable robot motion, which can prevent the robot from performing even simple tasks, particularly if the robot has limited reachability or low number of joints. Our method computes ldquocaging graspsrdquo specific to the object and uses efficient search algorithms to produce motion plans that satisfy the task constraints. The major advantages of our technique significantly increase the range of possible motions of the robot by not having to enforce rigid constraints between the end-effector and the target object. We illustrate our approach with experimental results and examples running on two robot platforms.

118 citations


Proceedings ArticleDOI
12 Mar 2008
TL;DR: An initial field trial with a prototype of a semi-autonomous communication robot at a train station revealed that the operator-requesting mechanism correctly requested operator's help in 85% of the necessary situations and provided the opportunity to gather user data for the further development of natural behaviors for such robots operating in real environments.
Abstract: This paper reports an initial field trial with a prototype of a semi-autonomous communication robot at a train station. We developed an operator-requesting mechanism to achieve semi-autonomous operation for a communication robot functioning in real environments. The operator-requesting mechanism autonomously detects situations that the robot cannot handle by itself; a human operator helps by assuming control of the robot. This approach gives semi-autonomous robots the ability to function naturally with minimum human effort. Our system consists of a humanoid robot and ubiquitous sensors. The robot has such basic communicative behaviors as greeting and route guidance. The experimental results revealed that the operator-requesting mechanism correctly requested operator's help in 85% of the necessary situations; the operator only had to control 25% of the experiment time in the semi-autonomous mode with a robot system that successfully guided 68% of the passengers. At the same time, this trial provided the opportunity to gather user data for the further development of natural behaviors for such robots operating in real environments.

96 citations


Journal ArticleDOI
TL;DR: A fuzzy qualitative framework based on clustering techniques is presented to connect numerical and symbolic robot representations to provide a unified representation by combining symbolic or qualitative functions and numerical sensing and control tasks in the context of intelligent robotics.
Abstract: This paper proposes a novel framework for describing articulated robot kinematics motion with the goal of providing a unified representation by combining symbolic or qualitative functions and numerical sensing and control tasks in the context of intelligent robotics. First, fuzzy qualitative robot kinematics that provides theoretical preliminaries for the proposed robot motion representation is revisited. Second, a fuzzy qualitative framework based on clustering techniques is presented to connect numerical and symbolic robot representations. Built on the k-\bb AGOP operator (an extension of the ordered weighted aggregation operators), k-means and Gaussian functions are adapted to model a multimodal density of fuzzy qualitative kinematics parameters of a robot in both Cartesian and joint spaces; on the other hand, a mixture regressor and interpolation method are employed to convert Gaussian symbols into numerical values. Finally, simulation results in a PUMA 560 robot demonstrated that the proposed method effectively provides a two-way connection for robot representations used for both numerical and symbolic robotic tasks.

79 citations


Proceedings ArticleDOI
13 Jul 2008
TL;DR: The Bees algorithm was used to train multi-layer perceptron neural networks to model the inverse kinematics of an articulated robot manipulator arm to prove the remarkable robustness of the Bees Algorithm.
Abstract: In this paper, the Bees algorithm was used to train multi-layer perceptron neural networks to model the inverse kinematics of an articulated robot manipulator arm. The Bees Algorithm is a recently developed parameter optimisation algorithm that is inspired by the foraging behaviour of honey bees. The Bees Algorithm performs a kind of exploitative neighbourhood search combined with random explorative search. Three neural networks were trained to reproduce a set of input/output numerical examples of the inverse kinematics of the main three joints of an articulated robotic manipulator. The results prove the remarkable robustness of the Bees Algorithm, which consistently trained the neural networks to model the kinematics data with very high accuracy. The learning results obtained by the proposed algorithm are compared to the results obtained by the standard Backpropagation Algorithm and an Evolutionary Algorithm. The comparative study highlights the superior performance of the proposed Bees Algorithm over the other algorithms.

79 citations


Journal ArticleDOI
TL;DR: A method for the calculation of the Cartesian stiffness based on the polar stiffness and the use of the Jacobian matrix is introduced and it is possible to model each joint of the robot with three degrees of freedom.
Abstract: Industrial robots represent a promising, cost-saving and flexible alternative for machining applications. Due to the kinematics of a vertical articulated robot the system behavior is quite different compared to a conventional machine tool. The robot’s stiffness is not only much smaller but also position dependent in a non-linear way. This article describes the modeling of the robot structure and the identification of its parameters with focus on the analysis of the system’s stiffness. Therefore a method for the calculation of the Cartesian stiffness based on the polar stiffness and the use of the Jacobian matrix is introduced. Furthermore, so called virtual joints are used. With this method it is possible to model each joint of the robot with three degrees of freedom. Beside the gear stiffness the method allows the consideration of the tilting rigidity of the bearing and the link deformations to improve the model accuracy. Based on the results of the parameter identification and the calculation of the Cartesian stiffness the experimental model validation is done.

70 citations


Journal ArticleDOI
TL;DR: A novel design paradigm as well as the related detailed mechanical design embodiment of a mechanically hybrid mobile robot that consists of a mobile robot platform for locomotion and a manipulator arm for manipulation is presented.
Abstract: This paper presents a novel design paradigm as well as the related detailed mechanical design embodiment of a mechanically hybrid mobile robot. The robot is composed of a combination of parallel and serially connected links resulting in a hybrid mechanism that consists of a mobile robot platform for locomotion and a manipulator arm for manipulation. Unlike most other mobile robot designs that have a separate manipulator arm module attached on top of the mobile platform, this design has the ability to simultaneously and interchangeably provide locomotion and manipulation capability. This robot enhanced functionality is complemented by an interchangeable track tension and suspension mechanism that is embedded in some of the mobile robot links to form the locomotion subsystem of the robot. The mechanical design was analyzed with a virtual prototype that was developed with MSC ADAMS software. The simulation was used to study the robot's enhanced mobility characteristics through animations of different possible tasks that require various locomotion and manipulation capabilities. The design was optimized by defining suitable and optimal operating parameters including weight optimization and proper component selection. Moreover, the simulation enabled us to define motor torque requirements and maximize end-effector payload capacity for different robot configurations. Visualization of the mobile robot on different types of virtual terrains such as flat roads, obstacles, stairs, ditches, and ramps has helped in determining the mobile robot's performance, and final generation of specifications for manufacturing a full scale prototype.

60 citations


Proceedings ArticleDOI
14 Oct 2008
TL;DR: A novel technique for controlling an articulated robotic device through the eyes of the surgeon during minimally invasive surgery by using a gaze contingent framework, which opens up a new avenue for improving current human-robot interfaces.
Abstract: This paper introduces a novel technique for controlling an articulated robotic device through the eyes of the surgeon during minimally invasive surgery. The system consists of a binocular eye-tracking unit and a robotic instrument featuring a long, rigid shaft with an articulated distal tip for minimally invasive interventions. They have been integrated into a daVinci surgical robot to provide a seamless and non-invasive localization of eye fixations of the surgeon. By using a gaze contingent framework, the surgeonpsilas fixations in 3D are converted into commands that direct the robotic probe to the desired location. Experimental results illustrate the ability of the system to perform real-time gaze contingent robot control and opens up a new avenue for improving current human-robot interfaces.

56 citations


Patent
24 Mar 2008
TL;DR: An all-terrain mobile robot comprising a mobile robotic platform, having either wheels or tank-treaded-like legs capable of navigating over rough terrain, where the robotic platform utilizes dynamic balancing behavior; a hydraulic powered anthropomorphic torso and articulated arms, wherein the hydraulic system possesses a pressure sensor as discussed by the authors.
Abstract: An all-terrain mobile robot comprising a mobile robotic platform, having either wheels or tank-treaded-like legs capable of navigating over rough terrain, wherein the robotic platform utilizes dynamic balancing behavior; a hydraulic powered anthropomorphic torso and articulated arms, wherein the hydraulic system possesses a pressure sensor for enabling the anthropomorphic torso and articulated arms to lift a payload using acute and delicate movements that reduce the chance of causing structural harm to the payload.

55 citations


Patent
Hideki Ogawa1
11 Mar 2008
TL;DR: In this paper, a mobile robot contains a movable robot body, an actuator for actuating each joint and shaft torque sensors incorporated in each of the joints to detect a torque from the actuator at an output shaft of each joint.
Abstract: A mobile robot contains a movable robot body, arms provided on the movable robot body, each of the arms having a multiple joint structure including plural joints, an actuator for actuating each of the joints and shaft torque sensors incorporated in each of the joints to detect a torque from the actuator at an output shaft of each of the joints, and a controller provided in the robot body to determine whether each of the arms is in contact with or in collision with a peripheral obstacle or obstacles based on change of an output from the shaft torque sensors and control an operation of each of actuators of each arm.

50 citations


Proceedings ArticleDOI
19 May 2008
TL;DR: This paper considers localization using a robot that is virtually "blind", having only a clock and contact sensor at its disposal, which represents a drastic reduction in sensing requirements, even in light of existing work that considers localization with limited sensing.
Abstract: Researchers have addressed the localization problem for mobile robots using many different kinds of sensors, including rangefinders, cameras, and odometers. In this paper, we consider localization using a robot that is virtually "blind", having only a clock and contact sensor at its disposal. This represents a drastic reduction in sensing requirements, even in light of existing work that considers localization with limited sensing. We present probabilistic techniques that represent and update the robot's position uncertainty and algorithms to reduce this uncertainty. We demonstrate the experimental effectiveness of these methods using a Roomba autonomous vacuum cleaner robot in laboratory environments.

Proceedings ArticleDOI
02 Jul 2008
TL;DR: The GZ-I as mentioned in this paper is an improved version of the Y1 modular robot with four connecting faces, an onboard easy-to-use electric controller, and a friendly programming environment.
Abstract: This paper presents a low-cost modular robot called GZ-I which is an improved version of the Y1 modular robot. After a related survey on the previous work, all aspects of the new modular robot are introduced systematically. GZ-I features an easy-to-build mechanical structure, four connecting faces, an onboard easy-to-use electric controller, and a friendly programming environment. Each module owns one rotational degree of freedom. After connecting in different modes, active joints actuated by RC servos endow the connecting modules with the ability of changing shapes in two dimensions. Then two kinds of modular robots, a snake-like robot and a three-legged robot, are built as examples to confirm the feasibility of our design principle and the robotpsila s capabilities. In the end a conclusion and an outlook on future work are given.

Proceedings ArticleDOI
01 Oct 2008
TL;DR: Abigaille-I as discussed by the authors is a spider-inspired robot with six legs and 18 actively controlled joints that can negotiate terrain of any roughness and material and be eventually capable of operating in a space environment.
Abstract: This paper presents the design and testing of Abigaille-I, a spider-inspired robot. The system is miniaturized and has six legs and 18 actively controlled joints. Macro-, micro- and nano-structural design of the robot legs and feet are presented and preliminary experimental results are discussed. The long-term objective of this research is to develop an autonomous and miniaturized robotic system capable to negotiating terrain of any roughness and material and be eventually capable of operating in a space environment.

Journal ArticleDOI
TL;DR: In this article, a five-joint hyper-redundant (HR) manipulator is used to traverse a foam channel of unknown curvature using the robot actuators as sensors.
Abstract: Hyper-redundant (HR) (snake-like) robotic manipulators are particularly adept at navigating narrow, convoluted paths, but have traditionally been difficult to model and control. In this paper, we outline a nonmodel-based control methodology, which allows a five-joint HR robot to traverse a foam channel of unknown curvature using the robot actuators as sensors. The robot is fitted to a waveform which is demonstrated to move the robot along a deformable channel. The waveform parameters are variable, and are adjusted by the developed controller such that the robot is able to navigate unknown curving paths. This robot is demonstrated to be able to navigate a constricted, compliant channel in which the robot is in continuous contact with its surroundings. It is intended that this technology be applied to a multilink actuated endoscope.

Proceedings ArticleDOI
19 May 2008
TL;DR: This paper deals with design and motion planning of a reconfigurable robot that can be used for inspection of 80-100 mm pipelines and the validity of this mechanism was proved by experimentation.
Abstract: This paper deals with design and motion planning of a reconfigurable robot that can be used for inspection of 80-100 mm pipelines. This robot consists of two connecting modules and each module consists of three pairs of caterpillar, which is operated by micro DC motor. The robot is foldable by using an embedded four-bar mechanism and compression of a spring connected to the four-bar allows the robot to maintain contact with the wall of pipelines. Controlling the speed of each caterpillar independently provides a steering capability to go through elbow and T-branch. The robot system has been developed and the validity of this mechanism was proved by experimentation.

01 Jun 2008
TL;DR: The mechanical design and controller structure used for the new demonstrators with up to four compliant joints are presented and the advantages of the design and potential application areas for the manipulator are discussed.
Abstract: The fast growing interest in flexible, versatile and mobile robotic manipulators demands for robots with inherent high passive safety suited for direct human-robot interaction. To gain access to these new applications in the field of automation engineering where close vicinity and direct cooperating with humans are required, the “BioRob” project demonstrates the applicability of a new biologically inspired, lightweight and elastic “bionic” robot manipulator specifically designed for safe human-robot interaction. This paper presents the mechanical design and controller structure used for the new demonstrators with up to four compliant joints. The advantages of the design and potential application areas for the manipulator are discussed. 1. Introduction Traditional industrial manipulators demonstrate outstanding specifications regarding precision and speed movement. But this performance can only be achieved by avoiding thoroughly any elasticity in the kinematic chain which would produce uncontrollable oscillations during motions. Adequate stiffness requires massive construction of the robot links, joints and gears, resulting in a poor ratio of payload to deadweight. Articulated robots of

Proceedings ArticleDOI
19 May 2008
TL;DR: A mobile mechanism with driving capability and detecting function for inspection, while only one DC motor is installed is proposed for in-pipe inspection task, which results in low energy consumption and low cost to make.
Abstract: In this paper, a mobile mechanism with driving capability and detecting function is proposed for in-pipe inspection task. Based on this mechanism, a robot is designed and fabricated. The advantage of this robot is that it has mobile ability in the pipe and detecting function for inspection, while only one DC motor is installed. This results in low energy consumption and low cost to make. The robot propels itself in the pipe under a driving mode, and it is used for finding the defect of the pipe under a detecting mode. By switching these two working modes, the robot performs the inspection task without other extra DC motors. Moreover, a velocity change mechanism is introduced to adapt the change of the payload through adjusting the incline angle of the roller. The characteristics of this mechanism are analyzed by comparison with a classical screw drive robot and a direct drive robot. Finally, basic experiments are conducted to testify the mobility and efficiency of this robot.

Journal ArticleDOI
TL;DR: An integrated manipulation framework for a service robot, that allows to interact with articulated objects at home environments through the coupling of vision and force modalities and is amenable to be integrated in current humanoid robots without the need of hand-eye calibration is presented.
Abstract: In this article, we present an integrated manipulation framework for a service robot, that allows to interact with articulated objects at home environments through the coupling of vision and force modalities. We consider a robot which is observing simultaneously his hand and the object to manipulate, by using an external camera (i.e. robot head). Task-oriented grasping algorithms (Proc of IEEE Int Conf on robotics and automation, pp 1794–1799, 2007) are used in order to plan a suitable grasp on the object according to the task to perform. A new vision/force coupling approach (Int Conf on advanced robotics, 2007), based on external control, is used in order to, first, guide the robot hand towards the grasp position and, second, perform the task taking into account external forces. The coupling between these two complementary sensor modalities provides the robot with robustness against uncertainties in models and positioning. A position-based visual servoing control law has been designed in order to continuously align the robot hand with respect to the object that is being manipulated, independently of camera position. This allows to freely move the camera while the task is being executed and makes this approach amenable to be integrated in current humanoid robots without the need of hand-eye calibration. Experimental results on a real robot interacting with different kind of doors are presented.

Proceedings ArticleDOI
02 Dec 2008
TL;DR: In this research, a multi-active crawler robot was developed and the autonomous stair climbing algorithm was implemented to deal with those problems and various experiments show that the MACbot can climb the stair autonomously.
Abstract: In outdoor environments, mobility, adaptability and reliability of a robot are more important than its speed and precise trajectory. From a practical point of view, tracked robots have an advantage over wheeled robots in outdoor applications. The tracked robot is frequently operated by using the remote controller, but the remote operation is not effective for all cases. To overcome some complex obstacles such as rocks or stairs, the information related to the robot posture is required. However, the sensor information is not intuitive to the user to control the robot. In this research, a multi-active crawler robot (MACbot) was developed and the autonomous stair climbing algorithm was implemented to deal with those problems. Various experiments show that the MACbot can climb the stair autonomously.

Proceedings ArticleDOI
14 Oct 2008
TL;DR: A novel algorithm for path planning that avoids occlusions of a visual target for an ldquoeye-in-handrdquo sensor on an articulated robot arm using a probabilistic roadmap.
Abstract: We present a novel algorithm for path planning that avoids occlusions of a visual target for an ldquoeye-in-handrdquo sensor on an articulated robot arm. We compute paths using a probabilistic roadmap to avoid collisions between the robot and obstacles, while penalizing trajectories that do not maintain line-of-sight. The system determines the space from which line-of-sight is unimpeded to the target (the visible region). We assign penalties to trajectories within the roadmap proportional to the distance the camera travels while outside the visible region. Using Dijkstrapsilas algorithm, we compute paths of minimal occlusion (maximal visibility) through the roadmap. In our experiments, we compare a shortest-distance path to the minimal-occlusion path and discuss the impact of the improved visibility.

Patent
Uwe Zimmermann1
10 Dec 2008
TL;DR: In this paper, an industrial robot is selected such that it cannot be guided any further than a virtual surface (25) in the room, at which point the robot is stored.
Abstract: The invention relates to an industrial robot and a method for programming an industrial robot, for which the industrial robot is guided manually to a virtual surface (25) in the room, at which point the industrial robot is selected such that it cannot be guided any further manually. Next, that force (F) and/or torque acting on the industrial robot when an attempt is made to guide the industrial robot further manually is ascertained and stored, despite reaching the virtual surface (25).

Proceedings ArticleDOI
01 Jan 2008
TL;DR: In this paper, a twist-based modeling approach is proposed for articulated wheeled robotic locomotion systems, and two kinematic control schemes are developed which coordinate the motion of the articulated legs and wheels and resolve redundancy.
Abstract: Articulated Wheeled Robotic (AWR) locomotion systems consist of chassis connected to a set of wheels through articulated linkages. Such articulated “leg-wheel systems” facilitate reconfigurability that has significant applications in many arenas, but also engender constraints that make the design, analysis and control difficult. We will study this class of systems in the context of design, analysis and control of a novel planar reconfigurable omnidirectional wheeled mobile platform. We first extend a twist based modeling approach to this class of AWRs. Our systematic symbolic implementation allows for rapid formulation of kinematic models for the general class of AWR. Two kinematic control schemes are developed which coordinate the motion of the articulated legs and wheels and resolve redundancy. Simulation results are presented to validate the control algorithm that can move the robot from one configuration to another while following a reference path. The development of two generations of prototypes is also presented briefly.


Proceedings ArticleDOI
01 Aug 2008
TL;DR: In this paper, a wheel-leg hybrid mobile robot that can move on both ground and wall surfaces is presented, which could be used for special tasks such as rescue, inspection, surveillance and reconnaissance.
Abstract: A prototype of wheel-leg hybrid mobile robot that can move on both ground and wall surfaces is presented, which could be used for special tasks such as rescue, inspection, surveillance and reconnaissance. The wheel-leg hybrid locomotion mechanism enable the robot to achieve quick motion on wall surface, as well as obstacle-spanning on wall surfaces and smooth wall-to-wall transitions. And the wheel lifting mechanism enables the robot to move on both wall surfaces and ground. The robot is composed of a base body and a mechanical leg with 3 DOF. The base body is a big flat suction cup with three-wheeled locomotion mechanism inside, and there is a small flat sucker in the end of the mechanical leg. The new designed chamber seal has simple structure and has steady and reliable performance. A distributed embedded control system is also described which enable the robot operating manually and semi-autonomously in wheeled motion mode or legged motion mode. Kinematics model of the robot is established to analyze the robot's motion on the wall. And the locomotion gait of the robot is discussed. Experiments show that the robot can adhere on wall surface and realize the basic movements.

Patent
27 Feb 2008
TL;DR: In this article, a robot includes a second bumper that senses an obstacle having such a height that the robot can pass over it without avoiding it, and the robot passes over the obstacle without hitting it.
Abstract: A robot includes a second bumper that senses an obstacle having such a height that can be passed over. Thus, the robot can pass over the obstacle without avoiding it.

DOI
01 Dec 2008
TL;DR: The paper presents design and control simulations of ISOGLIDE3 parallel robot, and an innovative user interface for high-level control of a 3 DOF parallel robot is also pre-sented.
Abstract: The paper presents design and control simulations of ISOGLIDE3 parallel robot. An innovative user interface for high-level control of a 3 DOF parallel robot is also pre-sented. The robot interface using virtual reality was veri-fied and tested, and results in MATLAB, Simulink, and SimMechanics were presented. The ISOGLIDE3 robot offers the superior characteristics with regards to the other parallel manipulators, such as the light weight construc-tion. The presented 3 DOF parallel robot can be used for surgery due to its overall precision, good dynamic behav-ior.

Proceedings ArticleDOI
03 Oct 2008
TL;DR: The sensor and actuator modeling of a realistic wheeled mobile robot simulator to produce a personalized versatile tool that allows production and validation of robot software reducing considerably the development time is described.
Abstract: This paper describes the sensor and actuator modeling of a realistic wheeled mobile robot simulator. The motivation of developing such simulator is to produce a personalized versatile tool that allows production and validation of robot software reducing considerably the development time. The mobile robot simulator was developed in object pascal with its dynamics based on the ODE (open dynamics engine), allowing to develop robot software for a three wheel omnidirectional robot equipped with Infra-Red distance sensors and brushless motors.

Patent
Chiaki Aoyama1
06 Jun 2008
TL;DR: A robot control information generator generates control information for operating a robot equipped with a camera and a hand to grasp an object based on a two-dimensional code on the object.
Abstract: A robot control information generator generates control information for operating a robot equipped with a camera and a hand to grasp an object based on a two-dimensional code on the object. The two-dimensional code includes position identifying patterns and an information pattern, the position within the two-dimensional code of each of the position-identifying patterns is specified beforehand, and the information pattern is generated by encoding of information. The robot control information generator comprises an image input unit, a pattern detection unit, a position/posture calculation unit, a decoding device, and a control information-generating unit which generates the control information based on the decoded information decoded by the decoding device and the position/posture information calculated by the position/posture calculation unit.

Patent
Taro Yokoyama1
31 Mar 2008
TL;DR: In this paper, a robot can be changed from a non-first state to a first state by flexibly changing an operation in accordance with various environments, such as a relative position or the like of the first object with the robot as a reference.
Abstract: The invention provides a robot or the like able to precisely grip an object by flexibly changing an operation in accordance with various environments. When it is judged that a robot (1) is in a "first state", the action of the robot is controlled in accordance with a "first action mode". Thus, the robot (1) does not move and moves an arm (12) or the like on the spot so that a first object W 1 can be gripped by a hand (13). On the other hand, when the judging result is denial, the robot (1) acts in an action mode different from the first action mode so that a relative position or the like of the first object W 1 with the robot (1) as a reference is changed. As a result, the robot can be changed from a non-first state to the first state.

Patent
11 Feb 2008
TL;DR: In this paper, a robot component is provided as assembly units for assembling a robot toy with a great variety of configuration, and three connectors are engaged with various joint members so several robot components are joined to each other to realize the complete robot toy.
Abstract: A robot component is provided as assembly units for assembling a robot toy with a great variety of configuration. The robot component has three connectors, i.e., a rotatable connector of a gear shaft, a laterally protruding connector of the gear shaft, and a receivable connector of a middle housing. These connectors are engaged with various joint members so several robot components are joined to each other to realize the complete robot toy. The robot toy has a master main-processor unit board provided in one of the robot components and joint control systems respectively provided in the other robot components. Each joint control system operates the robot component according to a predefined operation pattern when the master main-processor unit board transmits robot control signals.