专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

21. 发明授权

US07603234B2 Controller of legged mobile robot 有权
标题翻译：腿式移动机器人控制器
公开(公告)号：US07603234B2
公开(公告)日：2009-10-13
申请号：US10562327
申请日：2004-06-28
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： The occurrence of a slippage of a robot in operation, following a desired gait, is determined, and the permissible range of a restriction object amount, such as a floor reaction force horizontal component or a floor reaction force moment vertical component to be applied to the robot, is variably set according to a slippage determination result. A provisional motion of a desired gait is determined using a dynamic model, and if the restriction object amount defined by the provisional motion deviates from the permissible range, then the motion of a desired gait is determined by correcting the provisional motion by changing the changing rate of the angular momentum of the robot from the provisional motion so as to limit the restriction object amount to the permissible range, while satisfying a dynamic balance condition.
摘要翻译：确定在期望的步态之后操作的机器人的滑动的发生，并且将限制对象量的允许范围，例如地板反作用力水平分量或地板反作用力矩垂直分量施加到机器人，根据滑动判定结果可变地设定。使用动态模型确定期望步态的临时运动，并且如果由临时动作限定的限制对象量偏离允许范围，则通过改变变化率来校正临时动作来确定期望步态的运动的机器人的角动量从临时动作开始，以将限制对象量限制在允许范围内，同时满足动态平衡条件。

22. 发明授权

US07496428B2 Gait producing device for leg type movable robot 有权
标题翻译：腿式可移动机器人步态生产装置
公开(公告)号：US07496428B2
公开(公告)日：2009-02-24
申请号：US10499839
申请日：2002-12-26
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B62D57/02
摘要： A desired gait is generated so as to satisfy a dynamical equilibrium condition concerning the resultant force of gravity and an inertial force applied to a legged mobile robot 1 using a dynamics model which describes a relationship among at least a horizontal translation movement of a body 24 of the robot 1, a posture varying movement in which the posture of a predetermined part, such as the body 24, of the robot 1 is varied while keeping the center of gravity of the robot 1 substantially unchanged and floor reaction forces generated due to the movements and is defined on the assumption that a total floor reaction force generated due to a combined movement of the movements is represented as a linear coupling of the floor reaction forces associated with the movements. The dynamics model represents movements as a movement of a body material particle or the like and a rotational movement of a flywheel. The desired gait adapted for not only walking but also running or the like can be generated with a reduced amount of calculation.
摘要翻译：产生期望的步态，以满足关于合成重力的动力平衡条件和施加到有腿可移动机器人1的惯性力，该动力学模型描述了至少一个主体24的主体24的水平平移运动之间的关系机器人1，其中机器人1的诸如身体24的预定部分的姿势在保持机器人1的重心基本不变的同时变化并且由于移动而产生的地板反作用力的姿势变化运动并且假设由于运动的组合运动而产生的总楼面反作用力被表示为与运动相关联的地面反作用力的线性联接。动力学模型表示作为身体材料颗粒等的运动和飞轮的旋转运动的运动。可以以减少的计算量生成适于不仅行走而且行驶等的期望步态。

23. 发明授权

US07319302B2 Gate generating system for mobile robot 有权
标题翻译：移动机器人门生成系统
公开(公告)号：US07319302B2
公开(公告)日：2008-01-15
申请号：US10597732
申请日：2005-02-16
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： B25J9/08
CPC分类号： B62D57/032
摘要： A gait generating system for a mobile robot has n dynamic models and determines a first gait parameter defining a desired gait such that the boundary condition of a gait on a first dynamic model is satisfied. The first gait parameter is corrected step by step by using an m-th dynamic model (m: integer satisfying 2≦m≦n), which is each dynamic model other than the first dynamic model, and an m-th gait parameter that satisfies the boundary condition on the m-th dynamic model is determined. The m-th gait parameter is determined by correcting an object of an (m−1)th gait parameter to be corrected on the basis of the degree of deviation of the gait generated on the m-th dynamic model by using the (m−1)th gait parameter from the boundary condition. A final determined n-th gait parameter and an n-th dynamic model are used to generate a desired gait.
摘要翻译：用于移动机器人的步态生成系统具有n个动态模型，并且确定定义期望步态的第一步态参数，使得满足第一动态模型上的步态的边界条件。第一个步态参数通过使用第m个动态模型（m：满足2 <= m <= n）的整数，其是除第一动态模型之外的每个动态模型，以及第m步态参数确定满足第m个动态模型的边界条件。通过使用（m-）步态参数，通过基于在第m动态模型上产生的步态的偏离程度来校正要校正的第（m-1）步态参数的对象来确定第m步态参数， 1）步态参数从边界条件。使用最终确定的第n步态参数和第n动态模型来产生期望的步态。

24. 发明授权

US07308336B2 Gait producing device for leg type movable robot 有权
标题翻译：腿式可移动机器人步态生产装置
公开(公告)号：US07308336B2
公开(公告)日：2007-12-11
申请号：US10499696
申请日：2002-12-26
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B62D57/02
摘要： An allowable range of a frictional force component, such as a horizontal component of a translation floor reaction force, applied to a legged mobile robot 1 is set, and a provisional movement with a current time gait of the robot 1 is determined so as to satisfy a condition concerning the allowable range and a dynamical equilibrium condition that a moment produced about a point of application of a provisional desired floor reaction force substantially agrees with a provisional desired floor reaction force moment. The provisional movement is determined by adjusting movements in two movement modes which are different in ratio between the translation floor reaction force and the floor reaction force moment. Based on the final state of the provisional movement, the current time gait is determined by correcting the provisional movement and at least one of the point of application of the provisional desired floor reaction force and the provisional desired floor reaction force moment in such a manner that the current time gait is connected to or brought close to a normal gait. The correction is performed when the frictional force component is unlikely to exceed the allowable range.
摘要翻译：设置施加到有腿可动机器人1的平移平面反作用力的水平分量的摩擦力分量的允许范围，并且确定机器人1的当前时间步态的临时运动以满足关于允许范围和动力学平衡条件的条件，其临时期望的地板反作用力的施加点基本上与临时期望的地板反作用力力矩一致。暂时移动通过调整平移平台反作用力和地板反作用力力矩之间的比例不同的两种运动模式中的运动来确定。根据临时运动的最终状态，通过以下方式校正当前时间步态，即以暂时移动以及暂时期望的地面反作用力矩的施加点和至少一个施加临时期望的地面反作用力力矩的至少一个来确定，当前时间步态连接到或接近正常步态。当摩擦力分量不太可能超过允许范围时进行校正。

25. 发明申请

US20070210739A1 LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT 审中-公开
标题翻译： LEG联合协助手机移动机器人
公开(公告)号：US20070210739A1
公开(公告)日：2007-09-13
申请号：US11573922
申请日：2005-08-05
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Katsushi Tanaka
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Katsushi Tanaka
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J19/0091
摘要： In a state wherein a solenoid switching valve in a gas passage in communication with air chambers is closed, an assist device produces an assisting driving force by compression or expansion of a gas as a knee joint (specific joint) of a leg bends or stretches, and applies the produced assisting driving force to the knee joint. In a valve-open state of the solenoid switching valve, no assisting driving force is produced. The solenoid switching valve is constructed of a solenoid switching valve having a self-holding feature, and installed in the gas passage such that a pressure difference between air chambers acts in a valve closing direction of a valve element in a predetermined period during which the solenoid switching valve is closed. This arrangement effectively reduces the power consumption of the solenoid switching valve by a simple construction.
摘要翻译：在与气室连通的气体通道中的电磁切换阀关闭的状态下，辅助装置通过作为腿部弯曲或拉伸的膝关节（特定接头）的气体的压缩或膨胀产生辅助驱动力，并将产生的辅助驱动力施加到膝关节。在电磁换向阀的阀打开状态下，不产生辅助驱动力。电磁切换阀由具有自保持特征的电磁切换阀构成，并且安装在气体通道中，使得空气室之间的压力差在阀元件的阀闭合方向作用在预定时间段内，在螺线管切换阀关闭。这种布置通过简单的结构有效地降低了电磁开关阀的功耗。

26. 发明申请

US20070156284A1 Gait producing device for moving robot 有权
标题翻译：用于移动机器人的步态生产装置
公开(公告)号：US20070156284A1
公开(公告)日：2007-07-05
申请号：US10597931
申请日：2005-02-28
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： By using a first dynamic model of a moving robot 1, a provisional motion, which indicates a provisional value of a desired motion of the robot 1, is created such that a desired value of a floor reaction force moment horizontal component and a permissible range of a translational floor reaction force horizontal component are satisfied on the first dynamic model. The difference between a floor reaction force produced on a second dynamic model, which has a dynamic accuracy that is higher than that of the first dynamic model, by the provisional motion and a floor reaction force produced on the first dynamic model is defined as a floor reaction force error. Based on this floor reaction force error, the provisional motion is corrected on the first dynamic model to generate a desired motion. The desired motion is generated such that the value obtained by adding the floor reaction force error to the floor reaction force generated on the first dynamic model satisfies the aforesaid desired value and permissible range.
摘要翻译：通过使用移动机器人1的第一动态模型，创建表示机器人1的期望运动的临时值的临时运动，使得地板反作用力矩水平分量的期望值和允许范围在第一动态模型上满足平移地板反作用力水平分量。在第二动态模型上产生的地板反作用力之间的差异，其具有比第一动态模型高的动态精度，通过临时动作产生的地板反作用力和在第一动态模型上产生的地板反作用力的差定义为底板反作用力误差。基于该地板反作用力误差，在第一动态模型上校正临时运动以产生期望的运动。产生期望的运动，使得通过将地板反作用力误差加到在第一动态模型上产生的地板反作用力而获得的值满足上述期望值和容许范围。

27. 发明授权

US07228923B2 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US07228923B2
公开(公告)日：2007-06-12
申请号：US10499056
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B62D57/032
CPC分类号： B62D57/032 , B25J19/0091 , F16F9/0481
摘要： A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (a variable capacity element) is provided at a ground-contacting face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber and has a restoring force. An interior portion of the bag-like member 19 is communicated with the atmosphere side through a flow passage 20. During a landing motion of the leg, the bag-like member 19 makes contact with the ground to be compressed, and the air in the interior portion thereof flows out into the atmosphere through the flow passage 20, so that its outflow resistance is generated. Accordingly, a landing shock is reduced. In a lifting state of the leg, the restoring force of the bag-like member 19 allows the bag-like member 19 to be inflated while the air flows into the interior portion thereof. An impact load during the landing of the leg of the legged mobile robot may smoothly be reduced in a light-weight configuration.
摘要翻译：设置在机器人腿部的脚部机构6中的着陆减震装置18，其中在脚部机构6的接地面侧设置有可膨胀的袋状构件19（可变容量元件）。袋类构件19由橡胶等弹性材料构成，具有回复力。袋状构件19的内部通过流路20与大气侧连通。在腿的着陆运动期间，袋状构件19与地面接触以被压缩，并且空气在其内部部分通过流路20流入大气，从而产生其流出阻力。因此，降低着陆冲击。在腿的提升状态下，袋状构件19的恢复力允许袋状构件19在空气流入其内部部分时膨胀。腿型移动式机器人腿部着陆时的冲击载荷可以在轻型构型中平滑地减少。

28. 发明申请

US20060249314A1 Leg type mobile robot 有权
标题翻译：腿式移动机器人
公开(公告)号：US20060249314A1
公开(公告)日：2006-11-09
申请号：US10544305
申请日：2005-04-28
申请人： Toru Takenaka , Keizo Matsumoto , Hiroshi Gomi , Kazushi Hamaya
发明人： Toru Takenaka , Keizo Matsumoto , Hiroshi Gomi , Kazushi Hamaya
IPC分类号： B62D51/06
CPC分类号： F16F1/44 , B25J19/0091 , B62D57/032 , F16F3/12
摘要： A leg type mobile robot (R) including an body (R2), legs (R1) each connected to the body (R2) via a first joint (12, 13), and foots (R17) each connected to an end part of the leg part (R1) via a second joint (15, 16), the foot (17) including a foot portion (61) having a lower end part having a ground area (64, 66) grounded on a floor surface, the foot portion (61) including a plate spring part (62) supporting empty weight while bending at the time of being grounded.
摘要翻译：一种腿型移动机器人（R），其包括主体（R 2），经由第一接头（12,13）连接到主体（R 2）的腿部（R 1）和每个连接到主体通过第二接头（15,16）的脚部（R 1）的端部，脚部（17）包括具有底部部分（61）的脚部（61），底部部分具有接地区域（64,66）表面，所述脚部（61）包括在接地时弯曲时支撑空重的板弹簧部（62）。

29. 发明申请

US20060106495A1 Control device of legged mobile robot 有权
标题翻译：腿式移动机器人控制装置
公开(公告)号：US20060106495A1
公开(公告)日：2006-05-18
申请号：US10512231
申请日：2003-04-28
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto
IPC分类号： G05B11/58
CPC分类号： B62D57/032
摘要： A control device of a legged mobile robot, wherein a state amount error (for example, an error of a vertical position of a body 3), which is a difference between an actual state amount and a state amount of a desired gait related to a translational motion in a predetermined direction (for example, a translational motion in a vertical direction) of a legged mobile robot 1, is determined, and then a desired motion of the desired gait is determined such that the state amount error approaches zero. The desired motion is determined using a dynamic model by additionally inputting a virtual external force determined on the basis of the state amount error to the dynamic model for generating desired gaits. At the same time, a desired floor reaction force of the robot 1 is corrected on the basis of a state amount error of zero, and compliance control is carried out to make the motion and the floor reaction force of the robot 1 follow the desired motion and the desired floor reaction force of the desired gait.
摘要翻译：一种有腿式移动机器人的控制装置，其中，状态量误差（例如，主体3的垂直位置的误差）是与实际状态量和期望步态的状态量之间的差异确定有腿可移动机器人1的预定方向（例如，垂直方向的平移运动）的平移运动，然后确定所需步态的期望运动，使得状态量误差接近零。使用动态模型通过将基于状态量误差确定的虚拟外力输入到用于产生期望步态的动态模型来确定期望的运动。同时，基于零的状态量误差来校正机器人1的期望的地板反作用力，并且执行顺从性控制以使机器人1的运动和地面反作用力遵循所需的运动和期望的步态的期望的地板反作用力。

30. 发明授权

US06967456B2 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US06967456B2
公开(公告)日：2005-11-22
申请号：US10499117
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032 , F16F9/04
CPC分类号： F16F9/0481 , B25J19/0091 , B62D57/032
摘要： A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow/outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state. Furthermore, during the bag-like member 19 in the inflating state during the lifting state of the foot mechanism 6, by controlling timing when the solenoid valve 27 is switched from a valve opening state to a valve closing state, a height of the bag-like member 19 in a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.
摘要翻译：设置在机器人腿部的脚部机构6中的着陆减震装置18包括在脚部机构6的底面侧的可膨胀且可压缩的袋状构件19（可变容量元件）。袋状构件19由橡胶等弹性材料构成。大气中的空气可以通过设置有电磁阀27等的流入/流出装置20流入和流出袋状构件19。在脚部机构6的着陆状态下，并且在脚部机构从着陆状态转移到提升状态之后的状态下，电磁阀27关闭，以将袋状部件19维持在压缩状态。此外，在脚部机构6的提升状态期间处于充气状态的袋状部件19中，通过控制电磁阀27从开阀状态切换到关闭状态的定时，压缩方向的板状构件19被控制为适合于步态机器人的高度。因此，能够容易地确保机器人的姿势稳定性，同时减少有腿可动机器人的腿部的着陆运动中的冲击负荷，并且还可以实现轻量化的构造。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式