Information processing device, information processing method, and program

{
  "publication_number": "US2020409365A1",
  "country": "US",
  "kind": "A1",
  "title": "Information processing device, information processing method, and program",
  "abstract": "There is provided an information processing device to realize a rich motion expression of an autonomous mobile object by easier attitude control. The information processing device includes: a motion control unit that controls a motion of an autonomous mobile object, wherein the autonomous mobile object includes a wheel that can be stored inside a main body and that can be protruded to an outside of the main body, and the motion control unit keeps a standing state by making the wheel protruded to the outside of the main body and performs driving control of the wheel and attitude control of the autonomous mobile object in movement of the autonomous mobile object, and makes the autonomous mobile object remain still in a seated state during a stop thereof by storing the wheel inside the main body is provided.",
  "claims": [
    "1. An information processing device comprising: a motion control unit that controls a motion of an autonomous mobile object, wherein the autonomous mobile object includes a wheel that can be stored inside a main body and that can be protruded to an outside of the main body, and the motion control unit keeps a standing state by making the wheel protruded to the outside of the main body and performs driving control of the wheel and attitude control of the autonomous mobile object in movement of the autonomous mobile object, and makes the autonomous mobile object remain still in a seated state during a stop thereof by storing the wheel inside the main body. 2. The information processing device according to claim 1, wherein the motion control unit performs the attitude control in such a manner that the autonomous mobile object keeps a forward-inclined attitude in the standing state. 3. The information processing device according to claim 2, wherein the motion control unit makes the autonomous mobile object make a moving motion in a state in which the forward-inclined attitude is kept, and the moving motion includes at least one of forward/backward movement, turning movement, and rotational movement. 4. The information processing device according to claim 2, wherein the motion control unit performs control in such a manner that a center of gravity of the autonomous mobile object is placed in a vertical direction with respect to a rotation axis of the wheel in the standing state. 5. The information processing device according to claim 4, wherein the motion control unit rotates the wheel, in a transition from the seated state to the standing state, on the basis of an amount of deviation between the center of gravity of the autonomous mobile object in the vertical direction and the rotation axis. 6. The information processing device according to claim 5, wherein the motion control unit performs control, in the transition from the seated state to the standing state, in such a manner that the center of gravity of the autonomous mobile object is placed in the vertical direction with respect to the rotation axis of the wheel by rotating the wheel on the basis of the amount of deviation when the wheel comes into contact with a traveling surface. 7. The information processing device according to claim 1, wherein the motion control unit makes the autonomous mobile object remain still with a forward-inclined attitude being kept in the seated state. 8. The information processing device according to claim 1, wherein the motion control unit makes the autonomous mobile object remain still with an upright attitude being kept in the seated state. 9. The information processing device according to claim 1, wherein the autonomous mobile object includes a flywheel inside the main body, and the motion control unit performs the attitude control of the autonomous mobile object by rotating the flywheel on the basis of an attitude state of the autonomous mobile object. 10. The information processing device according to claim 9, wherein in a case where the autonomous mobile object falls, the motion control unit makes the autonomous mobile object return to the standing state by rotation control of the flywheel. 11. The information processing device according to claim 10, wherein in a case where the autonomous mobile object falls, the motion control unit makes the autonomous mobile object return to the standing state by inclining the rotated flywheel in a tilt direction. 12. The information processing device according to claim 11, wherein in a case where the autonomous mobile object falls, the motion control unit adjusts a direction, in which rotational force of the flywheel due to a gyro effect is generated, by inclining the flywheel in a pan direction. 13. The information processing device according to claim 1, wherein the information processing device is the autonomous mobile object. 14. An information processing method comprising: controlling a motion of an autonomous mobile object, the controlling being performed by a processor, wherein the autonomous mobile object includes a wheel that can be stored inside a main body and that can be protruded to an outside of the main body, and the controlling further includes to keep a standing state by protruding the wheel to the outside of the main body and to perform driving control of the wheel and attitude control of the autonomous mobile object in movement of the autonomous mobile object, and to make the autonomous mobile object remain still in a seated state during a stop thereof by storing the wheel inside the main body. 15. A program causing a computer to function as an information processing device including a motion control unit that controls a motion of an autonomous mobile object, wherein the autonomous mobile object includes a wheel that can be stored inside a main body and that can be protruded to an outside of the main body, and the motion control unit keeps a standing state by making the wheel protruded to the outside of the main body and performs driving control of the wheel and attitude control of the autonomous mobile object in movement of the autonomous mobile object, and makes the autonomous mobile object remain still in a seated state during a stop thereof by storing the wheel inside the main body."
  ],
  "cpc": [
    "G05D 1/0088",
    "A63H 11/00",
    "A63H 2200/00",
    "A63H 33/005",
    "G05D 1/00",
    "G05D 1/0251",
    "G05D 1/228",
    "G05D 1/2435",
    "G05D 1/43"
  ],
  "assignees": [
    "SONY CORP",
    "SONY MOBILE COMMUNICATIONS INC"
  ],
  "filing_date": "2019-01-08",
  "publication_date": "2020-12-31",
  "priority_date": "2018-02-26",
  "application_number": "US-201916975580-A",
  "family_id": "67687655"
}