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71. 发明授权

US06963185B2 System for estimating attitude of leg type moving robot itself 有权
标题翻译：用于估计腿型移动机器人本身姿态的系统
公开(公告)号：US06963185B2
公开(公告)日：2005-11-08
申请号：US10511128
申请日：2003-04-28
申请人： Toru Takenaka , Takashi Matsumoto
发明人： Toru Takenaka , Takashi Matsumoto
IPC分类号： B25J13/08 , B62D57/02 , B62D57/032 , G01C19/00 , G01C21/16 , G01P15/18 , G05D1/02 , B25J5/00
CPC分类号： B62D57/032 , B25J13/088 , B62D57/02 , G01C21/16
摘要： A system for estimating a posture angular velocity of a predetermined part, such as a body 3, of a robot by using motion state amounts of the robot, including a desired motion of a desired gait, a detected value of a joint displacement, and a desired value of a joint displacement of a robot 1 having a gyro sensor (angular velocity sensor) mounted on the body 3 or the like in a case where no slippage is taking place between the robot and a floor, e.g., a state wherein the robot is not in a motion. A drift correction value of the angular velocity sensor is determined on the basis of a difference between the estimated value of the posture angular velocity and a detected posture angular velocity value by the angular velocity sensor, and the detected posture angular velocity value corrected by the drift correction value is integrated to determine an estimated value of the posture angle of the predetermined part.
摘要翻译：一种用于通过使用机器人的运动状态量来估计机器人的诸如身体3的预定部分的姿势角速度的系统，包括期望的步态的期望的运动，关节位移的检测值和在机器人与地面之间不发生滑动的情况下，具有安装在主体3上的陀螺仪传感器（角速度传感器）等的机器人1的联合位移的期望值，例如机器人没有动议。角速度传感器的漂移校正值基于姿态角速度的估计值与角速度传感器的检测姿势角速度值之间的差异以及通过漂移校正的检测到的姿势角速度值来确定积分校正值以确定预定部分的姿势角的估计值。

72. 发明授权

US06920374B2 Floor shape estimation system of legged mobile robot 有权
标题翻译：腿式移动机器人的地板形状估计系统
公开(公告)号：US06920374B2
公开(公告)日：2005-07-19
申请号：US10276742
申请日：2001-05-17
申请人： Toru Takenaka , Tadaaki Hasegawa , Takashi Matsumoto
发明人： Toru Takenaka , Tadaaki Hasegawa , Takashi Matsumoto
IPC分类号： B25J13/08 , B25J5/00 , B62D57/02 , B62D57/024 , B62D57/032 , G06F19/00
CPC分类号： B62D57/02 , B62D57/024 , B62D57/032
摘要： A floor shape estimation system for a legged mobile robot, in particular a biped walking robot, which estimates a floor shape, more specifically a foot-to-foot floor inclination difference based on at least a control error of the total floor reaction force's moment and based on the estimated value and corrects a feet compensating angle based on the estimated value. Further, the system estimates a floor shape, more specifically a foot floor inclination difference based on at least a control error of the foot floor reaction force about a desired foot floor reaction force central point and corrects a foot compensating angle based on the estimated value. With this, it can accurately estimate the shape of a floor with which the robot is in contact. Further, if the floor shape is different from what has been supposed, it can produce the floor reaction force as desired by absorbing the influence of difference.
摘要翻译：一种用于腿部移动机器人，特别是两足动作机器人的地面形状估计系统，其基于至少总楼面反作用力的时刻的控制误差来估计楼层形状，更具体地，估计脚到脚楼板倾斜差;以及基于估计值，并且基于估计值校正脚补偿角度。此外，该系统基于至少基于期望的脚踏板反作用力中心点的脚踏板反作用力的控制误差来估计底板形状，更具体地，足底倾斜差，并且基于估计值来校正脚补偿角度。由此，能够精确地估计机器人接触的地板的形状。此外，如果地板形状与所假定的不同，则可以通过吸收差异的影响来产生所需的地板反作用力。

73. 发明申请

US20050126833A1 Self-position estimating device for leg type movable robots 有权
标题翻译：腿型可移动机器人自身位置估算装置
公开(公告)号：US20050126833A1
公开(公告)日：2005-06-16
申请号：US10512263
申请日：2003-04-28
申请人： Toru Takenaka , Takashi Matsumoto
发明人： Toru Takenaka , Takashi Matsumoto
IPC分类号： B25J13/08 , B62D57/02 , B62D57/032 , G01C19/00 , G01C21/16 , G01P15/18 , B62D51/06
CPC分类号： B62D57/032 , B25J13/088 , B62D57/02 , G01C21/16
摘要： Based on a detected or estimated value of an actual posture of a predetermined part, such as a body 3, of a robot 1 and a deviation the actual posture from a posture of a desired gait, a posture rotational deviation's variation is determined as the temporal variation of the deviation, and the position of the robot 1 (for example, the position where the robot comes into contact with a floor) is estimated on the assumption that the robot 1 rotates about a rotation center by the rotational deviation's variation. In addition, in accordance with the difference between the estimated position and the estimated position of the robot 1 determined by an inertial navigation method using an accelerometer or the like, the estimated position of the robot 1 determined by the inertial navigation method is corrected, thereby improving the precision of the estimated position.
摘要翻译：基于机器人1的诸如身体3的预定部分的实际姿势的检测或估计值以及实际姿势与期望步态的姿势的偏差，姿势旋转偏差的变化被确定为时间假设机器人1绕旋转中心旋转旋转偏差的变化来估计偏差的变化和机器人1的位置（例如，机器人与地板接触的位置）。此外，根据通过使用加速度计等的惯性导航方法确定的机器人1的估计位置和估计位置之间的差异，校正由惯性导航方法确定的机器人1的估计位置，由此提高估计头寸的精度。

74. 发明申请

US20050051368A1 Gait producing device for leg type movable robot, and control device 有权
标题翻译：腿式可移动机器人步态生产装置及控制装置
公开(公告)号：US20050051368A1
公开(公告)日：2005-03-10
申请号：US10499909
申请日：2002-12-26
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshike
IPC分类号： B62D57/02 , B62D57/032 , B62D51/06
CPC分类号： B62D57/032 , B62D57/02
摘要： A desired trajectory of a vertical component of a translation floor reaction force of a legged mobile robot 1, a vertical component of a total center-of-gravity acceleration or a body acceleration's vertical component of the robot 1 is determined, and a desired vertical position of a total center-of-gravity or body of the robot 1 is determined in such a manner that the vertical component of the translation floor reaction force, the vertical component of the total center-of-gravity acceleration or the body acceleration's vertical component agrees with the desired trajectory (that is, a dynamical equilibrium condition in the vertical direction is satisfied). Since the movement of the total center-of-gravity or the like in the vertical direction is determined after the desired trajectory of the vertical component of the translation floor reaction force or the like, a desired gait for the robot 1 suitable not only for walking but also for running can be generated.
摘要翻译：确定有腿可移动机器人1的平移底板反作用力的垂直分量的期望轨迹，机器人1的总重心加速度或身体加速度垂直分量的垂直分量，以及期望的垂直位置以如下方式确定机器人1的总重心或主体：翻译平面反作用力的垂直分量，总重心加速度的垂直分量或身体加速度的垂直分量是一致的具有期望的轨迹（即，满足垂直方向上的动态平衡条件）。由于在平移平面反作用力等的垂直分量的期望轨迹之后确定垂直方向上的总重心等的移动，所以机器人1的期望的步态不仅适合于步行也可以生成运行。

75. 发明授权

US06289265B1 Controller for legged mobile robot 有权
标题翻译：腿式移动机器人控制器
公开(公告)号：US06289265B1
公开(公告)日：2001-09-11
申请号：US09673629
申请日：2000-10-19
申请人： Toru Takenaka , Tadaaki Hasegawa , Takashi Matsumoto
发明人： Toru Takenaka , Tadaaki Hasegawa , Takashi Matsumoto
IPC分类号： G06F1900
CPC分类号： B62D57/032 , B25J5/00 , B25J13/085
摘要： The posture inclination of the robot is detected, a moment of compensating total floor reaction force about a desired total floor reaction force central point is determined therefrom to be distributed to each foot such that the position/posture of the feet are rotated by predetermined amounts about the desired total floor reaction force central point and a desired foot floor reaction force central points respectively. And by parallel-translating the feet in phase, the force component of the actual total floor reaction force is also controlled. In addition, the internal force components (which do not influence on the actual total floor reaction force) generated by the actual foot floor reaction force are controlled independently. With this, the system can appropriately control the actual total floor reaction force and the actual foot floor reaction force acting on the biped mobile robot, can realize walking with stable posture even when walking on the floor having not only a slant or undulation extending over a relatively long distance, but also on an unexpected local slant or level difference, and can absorb the foot-landing impact to improve the contactability of robot foot with the floor. Moreover, the system can prevent the spinning from happening and decrease the load to be exerted on the joint actuators.
摘要翻译：检测到机器人的姿势倾斜度，从其确定围绕期望的总楼面反作用力中心点补偿总楼面反作用力的时刻分配给每个脚，使得脚的位置/姿态围绕所需的总地板反作用力中心点和所需的脚踏板反作用力中心点。并且通过相位平行平移脚，也控制实际总楼面反作用力的力分量。另外，由实际脚踏反作用力产生的内力分量（不影响实际总楼面反作用力）是独立控制的。因此，该系统可以适当地控制作用在两足动物机器人上的实际总楼面反作用力和实际脚踏板反作用力，即使在不仅倾斜或起伏延伸的地板上行走时，也能以稳定的姿势实现步行相对较长的距离，也可以意外地局部倾斜或水平差异，并可以吸收脚踏撞击，提高机器人脚与地板的接触性。此外，该系统可以防止旋转发生，并且减小施加在关节致动器上的负载。

76. 发明授权

US06177776B1 Apparatus for recognizing the landed state of foot of legged moving robot 失效
标题翻译：用于识别腿式移动机器人脚部的着陆状态的装置
公开(公告)号：US06177776B1
公开(公告)日：2001-01-23
申请号：US09100682
申请日：1998-06-19
申请人： Takayuki Kawai , Toru Takenaka , Tadaaki Hasegawa , Takashi Matsumoto
发明人： Takayuki Kawai , Toru Takenaka , Tadaaki Hasegawa , Takashi Matsumoto
IPC分类号： B62D57032
CPC分类号： B25J13/085 , B62D57/032
摘要： A legged moving robot has a plurality of movable legs for repeatedly touching and leaving a floor. A force sensor is mounted on each of the movable legs at a position spaced from a foot sole thereof toward a proximal end thereof, and detects at least a force and a moment based on a reactive force applied from the floor to the foot when the foot is landed on the floor. The foot is tilted along a ridge on the floor by actuators when the foot is landed on the ridge such as the edge of a stair. A position of the center of the reactive force applied from the floor to the foot is recognized on the basis of the force and the moment detected by the force sensor, in a plurality of tilted attitudes of the foot when the foot is tilted. A landed direction and/or a landed position of the foot with respect to the ridge is recognized on the basis of the position of the center of the reactive force recognized in the plurality of tilted attitudes of the foot.
摘要翻译：有腿的移动机器人具有多个用于反复接触和离开地板的活动腿。力传感器被安装在每个可动腿上，在与其脚底距离其近端隔开的位置处，并且当足部基于从地板施加到脚部的反作用力时，至少检测力和力矩被降落在地板上。当脚落在台阶边缘的脚上时，脚通过执行器沿着地板上的脊倾斜。基于由力传感器检测到的力和当脚倾斜时的脚的多个倾斜态度，基于从地板施加到脚的反作用力的中心的位置被识别。基于在脚的多个倾斜姿势中识别的反作用力的中心的位置来识别脚的相对于脊的落地方向和/或着陆位置。

77. 发明授权

US07337040B2 Self-position estimating device for leg type movable robots 有权
标题翻译：腿型可移动机器人自身位置估算装置
公开(公告)号：US07337040B2
公开(公告)日：2008-02-26
申请号：US10512263
申请日：2003-04-28
申请人： Toru Takenaka , Takashi Matsumoto
发明人： Toru Takenaka , Takashi Matsumoto
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B25J13/088 , B62D57/02 , G01C21/16
摘要： Based on a detected or estimated value of an actual posture of a predetermined part, such as a body 3, of a robot 1 and a deviation the actual posture from a posture of a desired gait, a posture rotational deviation's variation is determined as the temporal variation of the deviation, and the position of the robot 1 (for example, the position where the robot comes into contact with a floor) is estimated on the assumption that the robot 1 rotates about a rotation center by the rotational deviation's variation. In addition, in accordance with the difference between the estimated position and the estimated position of the robot 1 determined by an inertial navigation method using an accelerometer or the like, the estimated position of the robot 1 determined by the inertial navigation method is corrected, thereby improving the precision of the estimated position.
摘要翻译：基于机器人1的诸如身体3的预定部分的实际姿势的检测或估计值以及实际姿势与期望步态的姿势的偏差，姿势旋转偏差的变化被确定为时间假设机器人1绕旋转中心旋转旋转偏差的变化来估计偏差的变化和机器人1的位置（例如，机器人与地板接触的位置）。此外，根据通过使用加速度计等的惯性导航方法确定的机器人1的估计位置和估计位置之间的差异，校正由惯性导航方法确定的机器人1的估计位置，由此提高估计头寸的精度。

78. 发明授权

US07319919B2 Control device and footstep determination device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的控制装置和脚步确定装置
公开(公告)号：US07319919B2
公开(公告)日：2008-01-15
申请号：US10511360
申请日：2003-04-28
申请人： Toru Takenaka , Takashi Matsumoto
发明人： Toru Takenaka , Takashi Matsumoto
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B25J13/085
摘要： A landing position/orientation of a foot (22) to be landed in a landing action of a robot (1) such as a biped mobile robot or the like is estimated, and a desired footstep path for the robot (1) is set up. Based on the estimated landing position/orientation and the desired footstep path, a future desired landing position/orientation is determined in order to cause actual footsteps of the robot (1) (a sequence of landing positions/orientations of the foot (22)) to approach desired footsteps. Using at least the determined desired landing position/orientation, a desired gait for the robot (1) is determined, and the robot (1) is controlled in operation depending on the desired gait. For determining the desired landing position/orientation, mechanism-dependent limitations of the robot (1) such as an interference between the legs thereof, etc., and limiting conditions of an allowable range in which a desired ZMP can exist are taken into consideration.
摘要翻译：估计要在诸如两足动物机器人之类的机器人（1）的着陆动作中降落的脚（22）的着陆位置/方向，并且建立机器人（1）的期望的脚步路径。基于估计的着陆位置/方向和期望的脚步路径，确定未来期望的着陆位置/取向，以便引起机器人（1）的实际脚步（脚的顺序（着陆位置/取向））接近所需的脚步声。至少使用所确定的所需着陆位置/方向，确定机器人（1）的期望步态，并且根据期望的步态来操纵机器人（1）。为了确定期望的着陆位置/方位，考虑到机器人（1）的依赖于机构的限制，例如其腿部之间的干扰等，以及可以存在期望的ZMP的允许范围的限制条件。

79. 发明授权

US07191036B2 Motion generation system of legged mobile robot 有权
标题翻译：腿式移动机器人运动发生系统
公开(公告)号：US07191036B2
公开(公告)日：2007-03-13
申请号：US11337497
申请日：2006-01-24
申请人： Toru Takenaka , Takashi Matsumoto , Tadaaki Hasegawa
发明人： Toru Takenaka , Takashi Matsumoto , Tadaaki Hasegawa
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model) 100c2 that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is calculated or determined based on a difference (full-model ZMP's error) between the calculated model's ZMP and the desired ZMP, whilst a corrected desired body position is calculated or determined. Since the robot posture is corrected by the calculated ZMP-converted value and the corrected desired body position, the corrected gait can satisfy the dynamic equilibrium condition accurately.
摘要翻译：模型的ZMP（全模型ZMP）使用动态模型（反向全模型）100 c 2计算，表示机器人运动与地板反应之间的关系，ZMP转换的全模型关于所需ZMP的校正时间的值基于计算出的模型的ZMP和期望的ZMP之间的差（全模型ZMP的误差）来计算或确定，同时计算或确定校正的所需身体位置。由于通过计算的ZMP转换值和校正的所需身体位置校正机器人姿势，所以校正的步态可以精确地满足动态平衡条件。

80. 发明申请

US20060247800A1 Gait generation device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的步态生成装置
公开(公告)号：US20060247800A1
公开(公告)日：2006-11-02
申请号：US10562626
申请日：2004-06-28
申请人： Toru Takenaka , Takashi Matsumoto
发明人： Toru Takenaka , Takashi Matsumoto
IPC分类号： G05B13/02
CPC分类号： B62D57/032
摘要： A vertical component or the like of a floor reaction force moment to be applied to a robot 1 is defined as a restriction object amount, and the permissible range of the restriction object amount is set. A provisional motion of the robot that satisfies a predetermined dynamic balance condition is determined on a predetermined dynamic model, and if a restriction object amount determined 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 angular momentum changing rate of the robot from the provisional motion while limiting the restriction object amount to the permissible range on the dynamic model.
摘要翻译：将要施加到机器人1的地板反力力矩的垂直分量等定义为限制对象量，并且限制目标量的容许范围被设定。在预定的动态模型中确定满足预定的动态平衡条件的机器人的临时运动，如果由临时动作确定的限制对象量偏离容许范围，则通过校正所需的步态来确定期望的步态的运动通过将机器人的角动量变化率从临时动作改变而将限制对象量限制在动态模型的允许范围上来进行临时运动。

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