Moving body and moving body control method

{
  "publication_number": "US11733705B2",
  "country": "US",
  "kind": "B2",
  "title": "Moving body and moving body control method",
  "abstract": "A control unit drives a drive source to move the moving body. A detection unit detects external force applied to the moving body. A movement information deriving unit derives, based on the detected external force, a movement direction and movement speed of the moving body. The control unit drives the drive source based on the movement direction and movement speed derived by the movement information deriving unit.",
  "claims": [
    "1. A moving body comprising: a control unit configured to drive a drive source, thereby moving the moving body in response to a self-propulsion assist function within the moving body; a detection unit configured to detect an external force directly applied by an external device to the moving body; and a movement information deriving unit configured to derive, based on the detected external force, a movement direction and movement speed of the moving body, wherein the control unit drives the drive source based on the movement direction and movement speed.",
    "2. The moving body according to claim 1, further comprising: an acquisition unit configured to acquire virtual external force applied to the moving body, wherein the movement information deriving unit derives, based on the acquired virtual external force, the movement direction and movement speed of the moving body.",
    "3. The moving body according to claim 1, further comprising: an identification unit configured to identify an object that has applied the external force, wherein the movement information deriving unit derives, based on the object identified by the identification unit, the movement direction and movement speed of the moving body.",
    "4. The moving body according to claim 1, further comprising: a region setting unit configured to set a region in real space in which the moving body is movable, wherein the movement information deriving unit changes at least the movement direction at a boundary of the region.",
    "5. The moving body according to claim 4, wherein the movement information deriving unit derives the movement speed depending on the set region.",
    "6. The moving body according to claim 1, wherein after the control unit has moved the moving body at the movement speed derived based on the external force, the movement information deriving unit gradually decreases the movement speed of the moving body.",
    "7. The moving body according to claim 6, wherein the movement information deriving unit gradually decreases the movement speed of the moving body in consideration of an effect of virtual friction on a ground surface.",
    "8. A control method for a moving body, comprising: driving a drive source, thereby moving the moving body in response to a self-propulsion assist function within the moving body; detecting an external force directly applied by an external device to the moving body; and deriving, based on the detected external force, a movement direction and movement speed of the moving body; and wherein the driving includes driving the drive source based on the movement direction and movement speed.",
    "9. A non-transitory, computer readable storage medium containing a program for causing a computer mounted on a moving body to carry out actions, comprising: driving a drive source, thereby moving the moving body in response to a self-propulsion assist function within the moving body; detecting an external force directly applied by an external device to the moving body; and deriving, based on the detected external force, a movement direction and movement speed of the moving body; and wherein the driving includes driving the drive source based on the movement direction and movement speed."
  ],
  "description_excerpt": "The present invention relates to a technology that is used in robotic systems.\n\nHitherto, various types of robots have been studied and developed. PTL 1 discloses various learning methods for the walk control of a humanoid two-legged mobile robot. In PTL 1, as one of the learning methods, there is discussed a stable walk trajectory learning method that allows, in a case where a robot cannot walk stably on an initially given walk trajectory, the robot to walk using the framework of reinforcement learning. PTL 2 discloses a spherical robot including a highly safe moving mechanism.\n\n[PTL 1] Japanese Patent Laid-open No. 2005-96068 [PTL 2] Japanese Patent Laid-open No. 2000-218578\n\nTechnological advances have brought the day-to-day evolution of robotic functions. As commercially available robot models, pet robots that are quadrupedal walking robots have hitherto been popular. In recent years, however, humanoid robots capable of performing various types of operation such as dancing have been distributed. Further, the enhancement of the processing performance of computers and the improvement of learning models have put deep learning to practical use. It is therefore expected that robots having mounted thereon AI (artificial intelligence) become capable of enhancing existing functions and acquiring new functions by learning themselves. The inventors of the present invention have paid attention to such evolution of the robotics and peripheral technologies, to thereby arrive at a technology that is an element for realizing entertainment using robots.",
  "cpc": [
    "G05D 1/0227",
    "B25J 5/00",
    "G05D 1/0297"
  ],
  "ipc": [
    "G05D 1/02"
  ],
  "assignees": [
    "Sony Interactive Entertainment Inc"
  ],
  "inventors": [
    "Teiji Yutaka",
    "Takeshi Yamagishi"
  ],
  "filing_date": "2018-01-16",
  "publication_date": "2023-08-22",
  "grant_date": "2023-08-22",
  "priority_date": "2018-01-16",
  "application_number": "US-201816958947-A",
  "family_id": "67300992",
  "cited_by_count": 0,
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