Sony Corporation

Other

Naoto Mori

Jinichi Yamaguchi

Yuichi Hattori

Kunihito Sawai

Satoru Shimizu

Noriaki Takagi

Yoshihiro Kuroki

Hidenori Ishibashi

Tatsuzo Ishida

Chikashi Yajima

Takuma Araki

Myungjin Jung

Daisuke Morizono

To reliably connect a device to be charged such as a robot and a charging device. There is provided a charging device including a charging stand having a charging terminal to be connected to a device to be charged and an engaging portion that performs positioning with the device to be charged, and a support member that supports the charging stand movably in the horizontal direction. With this configuration, the charging stand can be moved in the horizontal direction. Therefore, it is possible to reliably connect the device to be charged such as a robot and the charging device.

Charging device, charging method, and charging system

In a robot having at least one rotating joint (which may have at least two degrees of freedom), in order to perform a high-speed switching operation between a closed link mode and an open link mode with the outside world or a working object, each limb is provided with minimum-required, passive degrees-of-freedom (such as a backlash of a reducer) for removing a dynamic closing error and also the movable range of the limb is properly controlled. Even when an actuator for driving the corresponding joint has no means for obtaining a torque signal, a high-speed switching operation between the closed link mode and the open link mode can be stably achieved.

Legged walking robot and motion control method therefor

A legged mobile robot controls the posture of the body thereof in a stable manner using a ZMP stability determination criterion with a relatively long sampling period. The legged mobile robot has a stable ZMP region which is a supporting polygon formed of the ground contact point of a sole of a movable leg and a walking surface, and a ZMP behavior space in which a momentum of the robot body is generated so that the ZMP shifts to the approximate center of the stable ZMP region. In the ZMP behavior space, the momentum of the robot shifts in a positive direction or in a negative direction. In the negative direction, a space distortion shifts the ZMP to the periphery of the stable region, and in the positive direction, a space distortion shifts the ZMP to the center of the stable region.

Legged mobile robot and control method thereof, leg structure of legged mobile robot, and mobile leg unit for legged mobile robot

A legged mobile robot in which sensors which can measure contact pressure are provided so as to be distributed at corresponding portions of whole body of the robot in order to determine the state of contact with the external world. In addition, modules which use shock-absorbing members for reducing shock are provided at the corresponding portions of the whole body of the robot. These modules cover their corresponding portions of the robot in order to further function as external parts for protecting the robot from shock. The modules can be constructed so as to be removable from the body of the robot, and may include batteries for supplying electrical power to terminal parts such as sensors. The invention provides a robot which can operate while being subjected to external forces as a result of coming into contact with an obstacle or other external objects, and which makes it possible to reduce shock which is produced when the robot comes into contact with an external object.

Legged mobile robot and external module for the robot

Robot toy

Growing community of inventors

Tokyo, Japan

Naoto Mori