Abstract: A technique to wholly recognize the surrounding environment may be provided by excluding unknown environment which arises due to parts of a body of a robot hindering the sight of the robot during operations. The robot of the present invention is provided with a body trunk including head and torso, at least one connected member that is connected to the body trunk by a joint in which a driving mechanism is provided, a body trunk side camera that is arranged on the body trunk, and a connected member side camera that is arranged on the connected member. Further, the robot is provided with a composite image creation unit that creates composite image of a body trunk side image taken by the body trunk side camera and a connected member side image taken by the connected member side camera, such that a part of the body trunk side image is replaced with a part of the connected member side image so as to exclude the connected member from the body trunk side image.

Abstract: A technique to wholly recognize the surrounding environment may be provided by excluding unknown environment which arises due to parts of a body of a robot hindering the sight of the robot during operations. The robot of the present invention is provided with a body trunk including head and torso, at least one connected member that is connected to the body trunk by a joint in which a driving mechanism is provided, a body trunk side camera that is arranged on the body trunk, and a connected member side camera that is arranged on the connected member. Further, the robot is provided with a composite image creation unit that creates composite image of a body trunk side image taken by the body trunk side camera and a connected member side image taken by the connected member side camera, such that a part of the body trunk side image is replaced with a part of the connected member side image so as to exclude the connected member from the body trunk side image.

Abstract: The present invention provides a multi-joint robot that, when the loads acting on some of joints are overloaded, controls the joints so as to continue the work as far as possible while easing the overloaded state. The load estimate unit (32) estimates the load acting on each joint, and the overloaded joint specifying unit (34) specifies an overloaded joint of which the estimated load is greater than a threshold. The storage unit (40) stores a target state vector of an end link of the robot and stores a predetermined priority with respect to the components of the vector. The component extracting unit (42) extracts the same number of components as that of non-overloaded joints from the target state vector in order of a higher priority. The force control calculating unit (36) determines the target drive quantity for driving the overloaded joint in the same direction as that of the load.

Abstract: A technique to wholly recognize the surrounding environment may be provided by excluding unknown environment which arises due to parts of a body of a robot hindering the sight of the robot during operations. The robot of the present invention is provided with a body trunk including head and torso, at least one connected member that is connected to the body trunk by a joint in which a driving mechanism is provided, a body trunk side camera that is arranged on the body trunk, and a connected member side camera that is arranged on the connected member. Further, the robot is provided with a composite image creation unit that creates composite image of a body trunk side image taken by the body trunk side camera and a connected member side image taken by the connected member side camera, such that a part of the body trunk side image is replaced with a part of the connected member side image so as to exclude the connected member from the body trunk side image.

Abstract: The present invention provides a multi-joint robot that, when the loads acting on some of joints are overloaded, controls the joints so as to continue the work as far as possible while easing the overloaded state. The load estimate unit (32) estimates the load acting on each joint, and the overloaded joint specifying unit (34) specifies an overloaded joint of which the estimated load is greater than a threshold. The storage unit (40) stores a target state vector of an end link of the robot and stores a predetermined priority with respect to the components of the vector. The component extracting unit (42) extracts the same number of components as that of non-overloaded joints from the target state vector in order of a higher priority. The force control calculating unit (36) determines the target drive quantity for driving the overloaded joint in the same direction as that of the load.

Abstract: A technique to wholly recognize the surrounding environment may be provided by excluding unknown environment which arises due to parts of a body of a robot hindering the sight of the robot during operations. The robot of the present invention is provided with a body trunk including head and torso, at least one connected member that is connected to the body trunk by a joint in which a driving mechanism is provided, a body trunk side camera that is arranged on the body trunk, and a connected member side camera that is arranged on the connected member. Further, the robot is provided with a composite image creation unit that creates composite image of a body trunk side image taken by the body trunk side camera and a connected member side image taken by the connected member side camera, such that a part of the body trunk side image is replaced with a part of the connected member side image so as to exclude the connected member from the body trunk side image.