Information processing device, information processing method, and program
Provided is an information processing device including a measured value acquisition section, a contact event detection section, and an activeness determination section. The measured value acquisition section acquires a measured value indicative of a change in the motion state of a part of a housing. The contact event detection section detects, on the basis of the measured value, a contact event that has occurred on the part of the housing. The activeness determination section determines, in a case where the contact event is detected on a moved portion included in the part of the housing, that the contact event is active.
1 . An information processing device comprising:
one or more memory devices configured to store instructions; and
one or more processors, that upon execution of the instructions, are configured to:
cause a motor to drive a joint to perform one or more motions based on a motion pattern;
obtain, from a sensor, a measured value corresponding to the joint, the measured value indicative of a motion state of a part, coupled to the joint, among one or more parts of a housing;
detect a contact event that has occurred on the part of the housing based on the measured value;
identify, upon the contact event, a moved portion of the housing based on the motion pattern, the measured value, or a combination thereof; and
determine that the contact event is active upon the contact event being detected on the moved portion based on the motion pattern.
2 . The information processing device according to claim 1 ,
wherein the part is supported by another part, and
wherein the one or more processors are configured to determine that the contact event on the part is active if an end of the part is in a predetermined positional relation with the other part at the contact event.
3 . The information processing device according to claim 1 ,
wherein the measured value comprises a torque value from the motor that is configured to drive the joint of the housing and further configured to measure the torque value, and
wherein the one or more processors are configured to detect the contact event when either the torque value or a value based on the torque value is greater than a threshold range.
4 . The information processing device of claim 3 , wherein the value based on the torque value includes a time difference between torque value measurements.
5 . The information processing device of claim 3 , wherein the value based on the torque value includes an angle difference between a measured angle value and an indicated angle value regarding the motor.
6 . The information processing device of claim 5 , wherein the one or more processors are configured to obtain the measured angle value based on an output value of at least one of a potentiometer or an encoder attached to the joint.
7 . The information processing device of claim 3 , wherein the value based on the torque value is a fluctuation in the torque value.
8 . An information processing method comprising:
causing a motor to drive a joint to perform one or more motions based on a motion pattern;
obtaining, from a sensor, a measured value corresponding to the joint, the measured value indicative of a motion state of a part, coupled to the joint, among one or more parts of a housing;
detecting a contact event that has occurred on the part of the housing based on the measured value;
identifying, upon the contact event, a moved portion of the housing based on the motion pattern, the measured value, or a combination thereof; and
upon detecting the contact event on the moved portion based on the motion pattern, determining that the contact event is active.
9 . The information processing method of claim 8 ,
wherein the part is supported by another part, and
wherein the method further comprises determining that the contact event on the part is active if an end of the part is in a predetermined positional relation with the other part at the contact event.
10 . The information processing method of claim 8 , further comprising:
receiving a torque value from the motor; and
detecting the contact event when either the torque value or a value based on the torque value is greater than a threshold range.
11 . The information processing method of claim 10 , wherein the value based on the torque value includes a time difference between torque value measurements.
12 . The information processing method of claim 10 , wherein the value based on the torque value includes an angle difference between a measured angle value and an indicated angle value regarding the motor.
13 . The information processing method of claim 10 , wherein the value based on the torque value is a fluctuation in the torque value.
14 . A non-transitory, computer-readable storage medium containing a computer program, which when executed by a computer, causes the computer to function as an information processing device, which carries out actions, comprising:
causing a motor to drive a joint to perform one or more motions based on a motion pattern;
obtaining, from a sensor, a measured value corresponding to the joint, the measured value indicative of a motion state of a part, coupled to the joint, among the one or more parts of the housing;
detecting a contact event that has occurred on the part of the housing based on the measured value;
identifying, upon the contact event, a moved portion of the housing based on the motion pattern, the measured value, or a combination thereof; and
upon detecting the contact event on the moved portion based on the motion pattern, determining that the contact event is active.
15 . The non-transitory, computer-readable storage medium of claim 14 ,
wherein the part is supported by another part, and
wherein the actions further comprise determining that the contact event on the part is active if an end of the part is in a predetermined positional relation with the other part at the contact event.
16 . The non-transitory, computer-readable storage medium of claim 14 , wherein the actions further comprise:
receiving a torque value from the motor; and
detecting the contact event when either the torque value or a value based on the torque value is greater than a threshold range.
17 . The non-transitory, computer-readable storage medium of claim 16 , wherein the value based on the torque value includes a time difference between torque value measurements.
18 . The non-transitory, computer-readable storage medium of claim 16 , wherein the value based on the torque value includes an angle difference between a measured angle value and an indicated angle value regarding the motor.
19 . The non-transitory, computer-readable storage medium of claim 16 , wherein the value based on the torque value is a fluctuation in the torque value.