Sony Interactive Entertainment Inc.

Sony Corporation

Yuta Koda

Hiroshi Osawa

Keiji Togawa

Koichi Obana

Provided is a robot which can improve accuracy of calibration of a rotation sensor for detecting a movement of an actuator included in the robot. The robot () includes a connection frame () that supports a rolling actuator (). The connection frame () has a first attached portion () attached to a rotation outputting section () of an actuator () and a remaining portion (a first arm portion (), a supporting portion (), and a second arm portion ()) connected to the first attached portion (). A sensor rotation portion () of a rotation sensor () is attached to the first attached portion (). The first attached portion () and the rotation outputting section () are rotatable over an angle greater than 360 degrees in a state in which the first attached portion () is attached to the rotation outputting section () and in which the remaining portion of the connection frame () is removed from the first attached portion ().

Robot

A work of incorporating a speed reduction mechanism including a scissors gear into a gear case is facilitated. In a state where the angular positions of gear teeth of a first gear and the angular positions of gear teeth of a scissors gear are made to coincide with each other against the elastic force of a torsion spring (), these angular positions are fixed by a fixing member (position fixing step). The first gear, the scissors gear, and a second gear are housed in a gear case, and the gear teeth of the second gear are made to engage with the gear teeth of the first gear and the gear teeth of the scissors gear (gear incorporating step). The fixing of the angular position of the first gear and the angular position of the scissors gear by the fixing member is released through an opening formed in the gear case.

Method for manufacturing actuator, and actuator

A floor reaction force to a foot of a legged mobile robot is detected with a suitable degree of accuracy, by use of a strain sensor having comparatively low sensitivity. The foot includes an upper frame connected to a movable leg, a lower frame which is disposed under the upper frame and contacts with a walking surface, a strain generating member which is connected to the upper frame and the lower frame at different positions from each other in top plan view and undergoes bending deformation according to a change in distance or inclination between the instep member and the sole member, and a plurality of strain sensors disposed at positions different from each other on the strain generating member.

Foot structure of legged mobile robot, and legged mobile robot

A force sense presentation deviceincludes a base bodythat is gripped by a hand of a user, a movable unithaving a finger placement portionon which the user is to place a fingertip in a state in which the base bodyis gripped by the user, and a moving mechanism that moves the movable unitwith respect to the base body. The base bodyis held by two or more fingers. The finger placement portionhas a finger engagement portionprovided thereon uprightly in a direction different from a moving direction of the movable unit

Force sense presentation device

Provided is a device including a housing, a mass body arranged in the housing, a movement mechanism that moves the mass body in the housing, a vibrator, and a control unit that controls movement of the mass body and vibration of the vibrator. The control unit is capable of changing a position at which the vibrator is to vibrate in the housing.

Device including movable mass body provided in housing

A configuration that exerts floor reaction force directly to a force sensor in a foot of a legged mobile robot requires a sensor having a large withstand load. A foot () includes an upper frame () that is connected to a movable leg and receives the load of a robot, a lower frame () that is deployed under the upper frame () and contacts with a walking surface, a high rigidity spring () attached the lower frame () and elastically supporting the upper frame () against the load, and a plurality of sensor mechanisms that detect floor reaction force at positions different from each other on the lower frame (). Each of the sensor mechanisms includes a force sensor () attached to one of the upper frame () and the lower frame () and a sensor spring () that is an elastic body having rigidity lower than that of the high rigidity spring () and has a supporting point deployed on the other one of the upper frame () and the lower frame () so as to exert pressing force to the force sensor () according to a change of the distance between the upper frame () and the lower frame ().

Foot structure of legged mobile robot and legged mobile robot

There is provided an imaging device including an imaging device body, a hinge connected to the imaging device body, and a display part provided on the imaging device body slidably and turnably through the hinge.

Growing community of inventors

Kanagawa, Japan

Yuta Koda