Robot apparatus

Abstract

A robot apparatus including a mechanical system having at least one mechanical portion arranged to be operated by a drive portion; a mechanical-system-command converter arranged to receive a command which is independent from a mechanical system and which does not depend on the mechanical system to convert the command independent from the mechanical system into a command depending on the mechanical system and adaptable to the mechanical system; and a control portion for controlling the operation of the drive portion in accordance with the command depending on the mechanical system supplied from the mechanical-system-command converter.

What is claimed is:  
     
         1 . A robot apparatus comprising: 
 a mechanical system having at least one mechanical portion arranged to be operated by a drive portion;    a mechanical-system-command converter arranged to receive a command which is independent from a mechanical system and which does not depend on the mechanical system to convert the command independent from the mechanical system into a command depending on the mechanical system and adaptable to the mechanical system; and    a control portion for controlling the operation of the drive portion in accordance with the command depending on the mechanical system supplied from said mechanical-system-command converter.    
     
     
         2 . A robot apparatus according to    claim 1   , wherein 
 said mechanical-system-command converter converts a command independent from the mechanical system into a command depending on the mechanical system in the form of an attitude transition string adapted to the mechanical system.    
     
     
         3 . A robot apparatus according to    claim 2   , further comprising a mechanical system having legs for permitting self-standing of said robot apparatus, wherein said control portion follows a command depending on the mechanical system corresponding to a command independent from the mechanical system supplied from said mechanical-system-command converter and in the form of an attitude transition string to control the operation of the drive portion of the mechanical system.  
     
     
         4 . A robot apparatus according to    claim 1   , wherein said mechanical-system-command converter converts a command independent from the mechanical system into a command depending on the mechanical system for controlling rotations adaptable to the mechanical system.  
     
     
         5 . A robot apparatus according to    claim 4   , further comprising a mechanical system which permits self-running of said robot apparatus when wheels are rotated, wherein said control portion follows a command depending on the mechanical system for controlling rotations to correspond to a command independent from the mechanical system supplied from said mechanical-system-command converter to control the operation of the drive portion of the mechanical system.  
     
     
         6 . A method of controlling a robot apparatus including a mechanical system having at least one mechanical portion arranged to be operated by a drive portion, said method comprising the steps of: 
 converting a command which is independent from a mechanical system and which does not depend on the mechanical system into a command depending on the mechanical system adapted to the mechanical system; and    controlling the drive portion in accordance with the command depending on the mechanical system.    
     
     
         7 . A method of controlling a robot apparatus according to    claim 6   , wherein the command independent from the mechanical system is converted into a command depending on the mechanical system and formed into an attitude transition string adapted to the mechanical system to control the drive portion of the mechanical system.  
     
     
         8 . A method of controlling a robot apparatus according to    claim 6   , wherein a command independent from the mechanical system is converted into a command depending on the mechanical system for controlling rotations to be adaptable to the mechanical system so that the operation of a drive portion of a mechanical system for permitting self-running when wheels are rotated is controlled.