Robot device, method of controlling the same, and program for controlling the same

摘要

Provided is a robot device including a drive unit including a plurality of links and joints connecting the links, a task instruction input unit for inputting an instruction of a task, a drive control unit for controlling an operation of the drive unit on the basis of the input task and determining a restricted area including a space necessary for the operation of the drive unit, and an area display unit for displaying the restricted area.

主权项

1. A robot device, comprising:
a drive unit including a plurality of links and joints connecting the plurality of links; a task instruction input interface configured to receive an instruction of a task to be executed; one or more processors configured to:
control an operation of the drive unit based on the received instruction of the task;predict a trajectory of the robot device in accordance with the received instruction of the task for a determined time period, wherein the determined time period includes a plurality of predetermined time intervals;calculate, at each position of the robot device that corresponds to a respective time interval, a restricted area in which the robot device is configured to perform the task based on the received instructions as the robot device moves for the determined time period along the trajectory; anddetermine an operation space along the predicted trajectory by connecting each calculated restricted area that corresponds to a respective time interval so that each calculated restricted area partially overlaps an adjacent calculated restricted area; a recognizer, including at least an image sensor or a distance sensor, wherein the recognizer is configured to recognize an obstacle located within a particular calculated restricted area; and an area display unit configured to display the particular calculated restricted area when the obstacle is recognized within the particular calculated restricted area.