US 12,343,650 B2
Robot, robot control method, and storage medium
Hirokazu Hasegawa, Koganei (JP); Atsushi Shibutani, Tokorozawa (JP); Yoshihiro Kawamura, Fussa (JP); and Miyuki Urano, Akiruno (JP)
Assigned to CASIO COMPUTER CO., LTD., Tokyo (JP)
Filed by CASIO COMPUTER CO., LTD., Tokyo (JP)
Filed on Feb. 8, 2022, as Appl. No. 17/666,650.
Claims priority of application No. 2021-042129 (JP), filed on Mar. 16, 2021.
Prior Publication US 2022/0297018 A1, Sep. 22, 2022
Int. Cl. A63H 13/00 (2006.01); A63H 29/22 (2006.01)
CPC A63H 29/22 (2013.01) [A63H 13/005 (2013.01); A63H 2200/00 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A robot comprising:
a body part configured to contact a placement surface;
a head part connected to a front end of the body part and configured to contact the placement surface, the head part being rotatable about (i) a first axis of rotation extending in a front-back direction of the body part, and (ii) a second axis of rotation extending in a width direction of the body part;
a drive unit which performs a rotation of the head part about the first axis of rotation and a rotation of the head part about the second axis of rotation independently of each other; and
a processor, wherein the processor controls the drive unit to:
perform preparation control to rotate the head part about the second axis of rotation to a preparation angle; and
after performing the preparation control, performing vibration control to alternately repeat forward rotation and reverse rotation of the head part about the first axis of rotation while both the body part and the head part remain in contact with the placement surface.