U.S. patent application number 12/654531 was filed with the patent office on 2010-07-15 for robot.
This patent application is currently assigned to SAMSUNG ELECTRONICS CO., LTD.. Invention is credited to Woo Sup Han, Hong Won Kim, Yong Jae Kim.
Application Number | 20100175496 12/654531 |
Document ID | / |
Family ID | 42318066 |
Filed Date | 2010-07-15 |
United States Patent
Application |
20100175496 |
Kind Code |
A1 |
Kim; Hong Won ; et
al. |
July 15, 2010 |
Robot
Abstract
Disclosed herein is a robot, which is capable of communicating
according to a gesture. The robot includes a plurality of link
members, and an outer cover member surrounding the plurality of
link members. The shape of the outer cover member is varied into a
curved shape, when the outer cover member is adhered closely to the
plurality of link members, according to the variation of the shapes
of the plurality of link members.
Inventors: |
Kim; Hong Won; (Seoul,
KR) ; Han; Woo Sup; (Yongin-si, KR) ; Kim;
Yong Jae; (Seoul, KR) |
Correspondence
Address: |
STAAS & HALSEY LLP
SUITE 700, 1201 NEW YORK AVENUE, N.W.
WASHINGTON
DC
20005
US
|
Assignee: |
SAMSUNG ELECTRONICS CO.,
LTD.
Suwon
KR
|
Family ID: |
42318066 |
Appl. No.: |
12/654531 |
Filed: |
December 22, 2009 |
Current U.S.
Class: |
74/490.05 |
Current CPC
Class: |
Y10S 901/27 20130101;
B25J 5/007 20130101; B25J 18/00 20130101; B25J 9/104 20130101; B25J
19/00 20130101; Y10T 74/20329 20150115; B25J 19/06 20130101 |
Class at
Publication: |
74/490.05 |
International
Class: |
B25J 17/00 20060101
B25J017/00 |
Foreign Application Data
Date |
Code |
Application Number |
Jan 14, 2009 |
KR |
10-2009-2919 |
Claims
1. A robot comprising: a plurality of link members; and an outer
cover member adhering to the plurality of link members, wherein a
shape of the outer cover member is varied according to variation in
the shapes of the plurality of link members.
2. The robot according to claim 1, wherein the shape of the outer
cover member varies into a curved shape.
3. The robot according to claim 1, wherein the outer cover member
is made of a flexible and elastic material.
4. The robot according to claim 1, wherein the plurality of link
members includes at least three link members.
5. The robot according to claim 1, wherein the outer cover member
is fixed to both ends of the plurality of link members.
6. The robot according to claim 5, wherein one end of the outer
cover member is opened, and the outer cover member receives the
plurality of link members through the opened end.
7. A robot comprising: a plurality of link members; and an outer
cover member surrounding the plurality of link members, wherein the
outer cover member is fixed to both ends of the plurality of link
members, and the shape of the outer cover member is varied to
correspond to the variations of the shapes of the plurality of link
members.
8. The robot according to claim 7, wherein the shape of the outer
cover member is varied into a curved shape.
9. The robot according to claim 7, wherein the outer cover member
is made of a flexible and elastic material.
10. The robot according to claim 7, wherein the outer cover member
is adhered closely to the plurality of link members.
11. A robot comprising: a body having a plurality of link members,
and an outer cover member surrounding the plurality of link
members; wherein the body is varied into a streamlined shape
according to variation of the outer cover member into a curved
shape due to the variations of shapes of the plurality of link
members.
12. The robot according to claim 11, wherein the body is varied
into a wave shape.
13. The robot according to claim 11, wherein the body is varied
into a twisted shape.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of Korean Patent
Application No. 2009-0002919, filed on Jan. 14, 2009, in the Korean
Intellectual Property Office, the disclosure of which is
incorporated herein by reference.
BACKGROUND
[0002] 1. Field
[0003] Embodiments of the present invention relate to a robot,
which communicates with a gesture.
[0004] 2. Description of the Related Art
[0005] Due to recent develops in robotic engineering, robots
increasingly are communicating with humans. Various techniques for
nonverbal communication between robots and humans have been
developed.
[0006] One example of such nonverbal communication is a gesture. A
gesture refers to the motion of a body or a hand, which is used to
provide added effect to a conversation. In this way, a robot
expresses feelings and state of mind.
[0007] However, a robot generally includes links and joints, and
thus, has limited ability to make gestures. That is, if the robot
can achieve a curved shape, the robot easily makes the gesture.
However, the curved shape is not easily achieved with the links and
the joints, and thus it is difficult to make a gesture.
[0008] Further, when the robot includes plural links and joints to
achieve a curved shape, it is difficult to control the motion, due
to the increase in the number of the links and joints. Moreover,
the curved shaped obtained with the plural links and joints does
not have a natural appearance, and thus the expression of the
feeling or state of mind of the robot does not look natural.
SUMMARY
[0009] Therefore, it is an aspect of the present invention to
provide a robot, in which an outer cover member is added to a body
including links and joints to make a gesture.
[0010] Additional aspects of the invention will be set forth in
part in the description which follows and, in part, will be
apparent from the description, or may be learned by practice of the
invention.
[0011] The foregoing and/or other aspects of the present invention
are achieved by providing a robot including a plurality of link
members, and an outer cover member surrounding the plurality of
link members, wherein a shape of the outer cover member is varied
according to variation in the shapes of the plurality of link
members.
[0012] The shape of the outer cover member may be varied into a
curved shape. The outer cover member may be made of a flexible and
elastic material. The plurality of link members may include at
least three link members. The outer cover member may be fixed to
both ends of the plurality of link members. One end of the outer
cover member may be opened, and the outer cover member may receive
the plurality of link members through the opened end.
[0013] The foregoing and/or others aspect of the present invention
are also achieved by providing a robot including a plurality of
link members, and an outer cover member surrounding the plurality
of link members, wherein the outer cover member is fixed to both
ends of the plurality of link members, and the shape of the outer
cover member is varied to correspond to the variations of the
shapes of the plurality of link members.
[0014] The shape of the outer cover member may be varied into a
curved shape. The outer cover member may be made of a flexible and
elastic material. The shape of the outer cover member may be varied
under the condition that the outer cover member is adhered closely
to the plurality of link members.
[0015] The foregoing and/or other aspects of the present invention
are also achieved by providing a robot including a body having a
plurality of link members, and an outer cover member surrounding
the plurality of link members, wherein the body is varied into a
streamlined shape according to the variation of the outer cover
member into a curved shape due to the variations of the shapes of
the plurality of link members.
[0016] The body may be varied into a wave shape. The body may be
varied into a twisted shape
BRIEF DESCRIPTION OF THE DRAWINGS
[0017] These and/or other aspects of the invention will become
apparent and more readily appreciated from the following
description of the embodiments, taken in conjunction with the
accompanying drawings of which:
[0018] FIG. 1 is a view illustrating a robot in accordance with an
embodiment of the present invention in a state in which the robot
makes no gesture;
[0019] FIG. 2 is a view illustrating the robot in accordance with
the embodiment of the present invention in a state in which the
robot makes a gesture;
[0020] FIG. 3 is a perspective view illustrating a body of the
robot in accordance with the embodiment of the present invention;
and
[0021] FIGS. 4 and 5 are views respectively illustrating gestures
made by the robot in accordance with the embodiment of the present
invention.
DETAILED DESCRIPTION OF EMBODIMENTS
[0022] Reference will now be made in detail to the embodiments,
examples of which are illustrated in the accompanying drawings,
wherein like reference numerals refer to the like elements
throughout. The embodiments are described below to explain the
present invention by referring to the figures.
[0023] FIG. 1 is a view illustrating a robot in accordance with an
embodiment of the present invention in a state in which the robot
makes no gesture, and FIG. 2 is a view illustrating the robot in
accordance with the embodiment of the present invention in a state
in which the robot makes a gesture.
[0024] As shown in FIGS. 1 and 2, a robot 10 in accordance with
this embodiment of the present invention is capable of making a
gesture. If the robot 10 has a streamlined shape, the robot 10 may
make a gesture simply with the shape. Here, the streamlined shape
means that the curved shape of the robot 10 is natural so that a
human recognizes the expression of the feeling or state of mind of
the robot 10 during a process of nonverbal communication between
the robot 10 and the human.
[0025] The robot 10 includes a head 20, a body 30, arms 80, and a
support 70. Particularly, the robot 10 changes the body 30 into a
streamlined shape, and thus makes a gesture.
[0026] The body 30 includes a plurality of link members 41-45. The
plural link members 41-45 include a first link member 41, a second
link member 42, a third link member 43, a fourth link member 44,
and a fifth link member 45. Each of the plural link members 41-45
has a rectilinear shape.
[0027] The body 30 further includes spinal joints 51 installed
among the plural link members 41-45. The spinal joints 51 are
rotated in two perpendicular directions. The plural link members
41-45 are respectively rotated in the X direction or the Y
direction by the spinal joints 51. Therefore, the shape of the body
30 is varied by the rotation of the plural link members 41-45.
However, since the plural link members 41-45 have a rectilinear
shape, although the shapes of the plural link members 41-45 are
varied, the body 30 has difficulty in having a natural curved
shape. Particularly, when the plural link members 41-45
respectively have designated lengths and the number of the joints
51 installed among the link members 41-45 is limited, the body 30
has greater difficulty in having a natural curved shape.
[0028] Therefore, the body 30 further includes an outer cover
member 61 surrounding the plural link members 41-45. The outer
cover member 61 is made of a flexible and elastic material. The
shape of the outer cover member 61 may be varied according to the
variation of the shape of the plural link members 41-45. Further,
since the shape of the outer cover member 61 is varied when the
outer cover member 61 is adhered closely to the plural link members
41-45, the shape of the outer cover member 61 is substantially the
same as the shape of the plural link members 41-45. Moreover, in
view of the property of the material of the outer cover member 61,
the outer cover member 61 has a natural curved shape when the shape
of the outer cover member 61 is varied. Thereby, the body 30 makes
a natural curved shape due to the outer cover member 61, and thus
the robot 10 can make a gesture using the body 30.
[0029] The support 70 is movably provided to support the body 30.
The support 70 is connected to the body 30 by a lower joint 52, and
more particularly, the fifth link member 45 out of the plural link
members 41-45 and the support 70 are connected by the lower joint
52. The support 70 includes wheels 71 and driving devices (not
shown) to drive the wheels 71, and thus allows the robot 10 to
move.
[0030] The head 20 is supported by the body 30. The head 20 is
connected to the body 30 by an upper joint 53, and more
particularly, the first link member 41 out of the plural link
members 41-45 and the head 20 are connected by the upper joint 53.
Further, the head 20 includes a display device 21 to display data,
and a user recognizes the data displayed by the robot 10 through
the display device 21. The head 20 is capable of expressing a
gesture together with the body 30.
[0031] The arms 80 are supported by the body 30. The arms 80 are
connected to the body 30 by shoulder joints (not shown), and more
particularly, the first link member 41 out of the plural link
members 41-45 and the arms 80 are connected by the shoulder joints
(not shown). Further, the arms 80 are capable of expressing a
gesture together with the body 30.
[0032] The support 70 may be surrounded by a second outer cover
member 62. The second outer cover member 62 surrounding the support
70 may be formed integrally with the outer cover member 61
surrounding the plural link members 41-45, or may be formed
separately from the outer cover member 61. Further, the head 20 the
arms 80 may be respectively surrounded by separate outer cover
members.
[0033] If the second outer cover member 62 surrounding the support
70 is formed integrally with the outer cover member 61 surrounding
the plural link members 41-45, the lower end of the outer cover
member 61 is fixed to the support 70 by the second cover member 61
surrounding the support 70, and the upper end of the outer cover
member 61 is fixed to the upper end of the first link member
41.
[0034] FIG. 3 is a perspective view illustrating the body of the
robot in accordance with the embodiment of the present
invention.
[0035] As shown in FIG. 3, the outer cover member 61 surrounding
the plural link members 41-45 may be formed separately from the
second outer cover member 62 surrounding other parts except for the
plural link members 41-45. Since the upper end of the outer cover
member 61 is partially opened and the lower end of the outer cover
member 61 is fully opened, the plural link members 41-45 are
inserted into the outer cover member 61 through the opened lower
end of the outer cover member 61. In this case, the lower end of
the outer cover member 61 is fixed to the lower end of the fifth
link member 45, and the upper end of the outer cover member 61 is
fixed to the upper end of the first link member 41. Here, in order
to fix the outer cover member 61 to the lower end of the fifth link
member 45, various methods including a screw connection method may
be used.
[0036] The reason why the outer cover member 61 is fixed to both
ends of the plural link members 41-45 is that the outer cover
member 61 has a more natural curved shape and thus the body 30 has
a naturally curved shape. That is, if the outer cover member 61 is
fixed to the second link member 42, the third link member 43, and
the fourth link member 44 out of the plural link members 41-45, the
natural curved shape of the outer cover member 61 may be deformed
due to the fixed portions.
[0037] Hereinafter, an operation of the robot making a gesture in
accordance with the embodiment of the present invention will be
described in detail. FIGS. 4 and 5 are views respectively
illustrating gestures made by the robot in accordance with the
embodiment of the present invention. As shown in FIGS. 4 and 5, the
robot 10 in accordance with the embodiment of the present invention
makes various gestures.
[0038] FIG. 4 illustrates the body 30 in a wave shape. The plural
link members 41-45 are respectively rotated in the X1 direction or
the X2 direction, and thus the upper portion of the body 30 is bent
in the X1 direction and the lower portion of the body 30 is bent in
the X2 direction. As described above, the overall shape of the
plural link members 41-45 is varied according to the rotation of
the plural link members 41-45 in the X direction, and thus the
shape of the outer cover member 61 surrounding the plural link
members 41-45 is varied. At this time, since the outer cover member
61 is varied into a naturally curved shape, the body 30 may make
the wave shape. Consequently, the robot 10 makes a gesture, such as
a wave, and thus may communicate nonverbally with a human.
Moreover, the robot 10 may make additional gestures using the arms
80 and the head 20.
[0039] FIG. 5 illustrates the body 30 expressed in a twisted shape.
The plural link members 41-45 are respectively rotated at different
angles in the Y1 direction and thus the body 30 is twisted in the
Y1 direction, and simultaneously, the plural link members 41-45 are
respectively rotated in the X1 direction or the X2 direction and
thus the body 30 is bent in the X1 direction. As described above,
the overall shape of the plural link members 41-45 is varied
according to the rotation of the plural link members 41-45 in the X
direction and the Y direction, and thus the shape of the outer
cover member 61 surrounding the plural link members 41-45 is
varied. At this time, since the outer cover member 61 is varied
into a natural curved shape, the body 30 may naturally express the
twisted shape. Consequently, the robot 10 makes a gesture, such as
a twist, and thus may communicate nonverbally with a human.
Moreover, the robot 10 may make additional gestures using the arms
80 and the head 20.
[0040] As is apparent from the above description, in accordance
with the embodiment of the present invention, the robot including
links and joints makes a natural curved line using an outer cover
member, thus achieving the expression of the feeling and state of
mind of the robot through nonverbal communication.
[0041] Although an embodiment of the present invention has been
shown and described, it would be appreciated by those skilled in
the art that changes may be made in this embodiment without
departing from the principles and spirit of the invention, the
scope of which is defined in the claims and their equivalents.
* * * * *