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1. 发明授权

US07386364B2 Operation control device for leg-type mobile robot and operation control method, and robot device 有权
标题翻译：腿式移动机器人操作控制装置及操作控制方法及机器人装置
公开(公告)号：US07386364B2
公开(公告)日：2008-06-10
申请号：US10477452
申请日：2003-03-17
申请人： Tatsuo Mikami , Jinichi Yamaguchi , Atsushi Miyamoto
发明人： Tatsuo Mikami , Jinichi Yamaguchi , Atsushi Miyamoto
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B62D57/02
摘要： A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behavior plan of a foot part thereof is disabled. At this time, the variation amount ΔS/Δt of the area S of a support polygon of the body per time t is minimized and the support polygon when the body drops onto a floor is maximized to distribute an impact which acts upon the body from the floor when the body drops onto the floor to the whole body to suppress the damage to the body to the minimum. Further, the legged mobile robot autonomously restores a standing up posture from an on-floor posture thereof such as a supine posture or a prone posture.
摘要翻译：有腿的移动机器人放弃正常的步行运动，并且当施加过大的外力或外力矩并且其脚部的行为计划被禁用时，开始滚动运动。此时，身体每时刻t的支撑多边形的区域S的变化量DeltaS / Deltat最小化，并且当身体落到地板上时的支撑多边形被最大化，从而将从身体的作用的冲击从当身体掉落到地板上，使身体的身体受到最小的伤害时，身体就会下降。此外，有腿的移动机器人自主地恢复从仰卧姿势或俯卧姿态的地板上姿势的站立姿势。

2. 发明授权

US07054718B2 Motion editing apparatus and method for legged mobile robot and computer program 有权
标题翻译：腿式移动机器人和计算机程序的运动编辑装置和方法
公开(公告)号：US07054718B2
公开(公告)日：2006-05-30
申请号：US10681881
申请日：2003-10-09
申请人： Atsushi Miyamoto , Tatsuo Mikami , Jinichi Yamaguchi
发明人： Atsushi Miyamoto , Tatsuo Mikami , Jinichi Yamaguchi
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： G06N3/008 , B62D57/032 , G05B2219/40424
摘要： A motion editing system for a robot in which the motion of a robot edited is corrected as the movements performed by an actual robot are checked. An optional range of motion data is reproduced using an actual robot. At this time, an output from each sensor mounted to the actual robot, that is, the sensor information, is transmitted to the motion editing system. The robot's movements are evaluated on the motion editing system based on the sensor information acquired during motion reproduction. If, as a result of the robot's movements, a predetermined evaluation criterium is not met, the motion correction processing is carried out. If the predetermined evaluation criterium is met, a motion data file, in which is embedded the reference sensor information, is formulated.
摘要翻译：检查机器人的运动编辑系统，其中所述机器人编辑的运动被校正为由实际机器人执行的运动。使用实际机器人再现运动数据的可选范围。此时，将安装到实际机器人的每个传感器，即传感器信息的输出传送到运动编辑系统。基于在运动再现期间获取的传感器信息，在运动编辑系统上评估机器人的运动。如果作为机器人运动的结果，不满足预定的评估标准，则执行运动校正处理。如果满足预定的评估标准，则制定嵌入了参考传感器信息的运动数据文件。

3. 发明申请

US20050125099A1 Motion editing apparatus and method for robot device, and computer program 有权
标题翻译：机器人装置运动编辑装置及方法，计算机程序
公开(公告)号：US20050125099A1
公开(公告)日：2005-06-09
申请号：US10970977
申请日：2004-10-22
申请人： Tatsuo Mikami , Atsushi Miyamoto , Jinichi Yamaguchi
发明人： Tatsuo Mikami , Atsushi Miyamoto , Jinichi Yamaguchi
IPC分类号： B25J9/22 , B25J5/00 , G06F19/00 , G06N3/00 , G06T13/40
CPC分类号： G06N3/008 , B25J9/1671 , B62D57/032 , G05D1/0891 , G05D2201/0217
摘要： To implement a dynamic, elegant motion performance of an actual robot, a motion editing system is provided which includes a motion editor to edit motions of an upper body and whole body of the robot and a foot trajectory editor to create a gait pattern and lower-body motion to stabilize the entire robot. The foot trajectory editor includes the same gait pattern generator and motion stabilized as those installed in the actual robot. Before performing the edited motions on the actual robot, the motions are created, corrected and stabilized on a 3D viewer.
摘要翻译：为了实现实际机器人的动态，优雅的运动性能，提供了一种运动编辑系统，其包括运动编辑器，用于编辑机器人的上身和全身的运动，以及脚轨迹编辑器，以创建步态图案，身体运动来稳定整个机器人。脚踏轨迹编辑器包括与实际机器人中安装的相同的步态模式发生器和运动稳定。在对实际的机器人执行编辑的动作之前，在3D查看器上创建，修正和稳定运动。

4. 发明授权

US07099747B2 Motion editing apparatus and method for robot device, and computer program 有权
标题翻译：机器人装置运动编辑装置及方法，计算机程序
公开(公告)号：US07099747B2
公开(公告)日：2006-08-29
申请号：US10970977
申请日：2004-10-22
申请人： Tatsuo Mikami , Atsushi Miyamoto , Jinichi Yamaguchi
发明人： Tatsuo Mikami , Atsushi Miyamoto , Jinichi Yamaguchi
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , B25J9/1671 , B62D57/032 , G05D1/0891 , G05D2201/0217
摘要： To implement a dynamic, elegant motion performance of an actual robot, a motion editing system is provided which includes a motion editor to edit motions of an upper body and whole body of the robot and a foot trajectory editor to create a gait pattern and lower-body motion to stabilize the entire robot. The foot trajectory editor includes the same gait pattern generator and motion stabilized as those installed in the actual robot. Before performing the edited motions on the actual robot, the motions are created, corrected and stabilized on a 3D viewer.
摘要翻译：为了实现实际机器人的动态，优雅的运动性能，提供了一种运动编辑系统，其包括运动编辑器，用于编辑机器人的上身和全身的运动，以及脚轨迹编辑器，以创建步态图案，身体运动来稳定整个机器人。脚踏轨迹编辑器包括与实际机器人中安装的相同的步态模式发生器和运动稳定。在对实际的机器人执行编辑的动作之前，在3D查看器上创建，修正和稳定运动。

5. 发明申请

US20050055131A1 Operation control device for leg-type mobile robot and operation control method, and robot device 有权
标题翻译：腿式移动机器人操作控制装置及操作控制方法及机器人装置
公开(公告)号：US20050055131A1
公开(公告)日：2005-03-10
申请号：US10477452
申请日：2003-03-17
申请人： Tatuso Mikami , Jinichi Yamaguchi , Atsushi Miyamoto
发明人： Tatuso Mikami , Jinichi Yamaguchi , Atsushi Miyamoto
IPC分类号： B62D57/02 , B62D57/032 , G06F19/00
CPC分类号： B62D57/032 , B62D57/02
摘要： A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behavior plan of a foot part thereof is disabled. At this time, the variation amount ΔS/Δt of the area S of a support polygon of the body per time t is minimized and the support polygon when the body drops onto a floor is maximized to distribute an impact which acts upon the body from the floor when the body drops onto the floor to the whole body to suppress the damage to the body to the minimum. Further, the legged mobile robot autonomously restores a standing up posture from an on-floor posture thereof such as a supine posture or a prone posture.
摘要翻译：有腿的移动机器人放弃正常的步行运动，并且当施加过大的外力或外力矩并且其脚部的行为计划被禁用时，开始滚动运动。此时，身体每时刻t的支撑多边形的区域S的变化量DeltaS / Deltat最小化，并且当身体落到地板上时的支撑多边形被最大化，从而将从身体的作用的冲击从当身体掉落到地板上，使身体的身体受到最小的伤害时，身体就会下降。此外，有腿的移动机器人自主地恢复从仰卧姿势或俯卧姿态的地板上姿势的站立姿势。

6. 发明授权

US07881824B2 System and method of controlling a legged locomotion robot 有权
标题翻译：控制有腿运动机器人的系统和方法
公开(公告)号：US07881824B2
公开(公告)日：2011-02-01
申请号：US10508062
申请日：2003-03-18
申请人： Kenichiro Nagasaka , Jinichi Yamaguchi , Satoru Shimizu , Yoshihiro Kuroki
发明人： Kenichiro Nagasaka , Jinichi Yamaguchi , Satoru Shimizu , Yoshihiro Kuroki
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： B62D57/02 , B25J13/085 , B25J13/088 , B62D57/032
摘要： The lumbar part of a robot as a controlled-object point where the mass amount becomes maximum is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.
摘要翻译：将作为质量量变为最大的受控对象点的机器人的腰部设定为局部坐标的原点，将加速度传感器设置在受控对象点处，以直接测量该位置处的姿态和加速度控制机器人在ZMP的基础上采取稳定的姿势。此外，在接触步行面的每个脚处，设置有地板反作用力传感器和加速度传感器，以直接测量ZMP和力，并且ZMP方程式直接配制在最靠近ZMP位置的脚处。因此，可以实现对于稳定姿态的机器人的更严格和快速的控制。

7. 发明授权

US07366587B2 Legged mobile robot 有权
标题翻译：有腿的移动机器人
公开(公告)号：US07366587B2
公开(公告)日：2008-04-29
申请号：US10726597
申请日：2003-12-04
申请人： Masatsugu Iribe , Jinichi Yamaguchi
发明人： Masatsugu Iribe , Jinichi Yamaguchi
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： The characteristics of actuators themselves and the characteristics of controllers for the actuators are dynamically or statically controlled to achieve stable and highly efficient movements. In a stage in which a leg in the flight state is uplifted such that the reactive force from the floor received by the foot sole of the leg is zero, the characteristics of the respective actuators for the knee joint pitch axis and the ankle pitch and roll axes of the leg in the flight state are set for decreasing the low range gain, increasing the quantity of phase lead and for decreasing the viscous resistance of the actuators, in order to impart mechanical passiveness and fast response characteristics. The followup control for the high frequency range may be achieved as the force of impact at the instant of touchdown is buffered.
摘要翻译：执行器本身的特性和执行器控制器的特性被动态或静态控制，以实现稳定高效的运动。在飞行状态下的腿被抬起使得来自腿部足底接收到的地板的反作用力为零的阶段中，用于膝关节俯仰轴线和脚踝俯仰和滚动的各个致动器的特征为了赋予机械被动性和快速响应特性，设定处于飞行状态的腿的轴线用于降低低范围增益，增加相引线的数量和降低致动器的粘性阻力。当触地瞬间的冲击力被缓冲时，可以实现高频范围的后续控制。

8. 发明授权

US07278501B2 Legged walking robot and motion control method therefor 有权
标题翻译：有腿行走机器人及其运动控制方法
公开(公告)号：US07278501B2
公开(公告)日：2007-10-09
申请号：US10398070
申请日：2002-08-01
申请人： Naoto Mori , Jinichi Yamaguchi
发明人： Naoto Mori , Jinichi Yamaguchi
IPC分类号： G60F19/00
CPC分类号： B25J9/1641 , B62D57/032
摘要： In a robot having at least one rotating joint (which may have at least two degrees of freedom), in order to perform a high-speed switching operation between a closed link mode and an open link mode with the outside world or a working object, each limb is provided with minimum-required, passive degrees-of-freedom (such as a backlash of a reducer) for removing a dynamic closing error and also the movable range of the limb is properly controlled. Even when an actuator for driving the corresponding joint has no means for obtaining a torque signal, a high-speed switching operation between the closed link mode and the open link mode can be stably achieved.
摘要翻译：在具有至少一个旋转接头（其可以具有至少两个自由度）的机器人中，为了在外部世界或工作对象之间执行闭合连接模式和开放链接模式之间的高速切换操作，每个肢体具有最小要求的被动自由度（例如减速器的间隙），用于消除动态关闭误差，并且肢体的可移动范围被适当地控制。即使用于驱动对应关节的致动器也没有获得转矩信号的方式，也可以稳定地实现闭环模式和开链模式之间的高速切换操作。

9. 发明授权

US07031806B2 Motion controller and motion control method for legged walking robot, and robot apparatus 有权
标题翻译：腿式步行机器人运动控制器及运动控制方法及机器人装置
公开(公告)号：US07031806B2
公开(公告)日：2006-04-18
申请号：US10935607
申请日：2004-09-07
申请人： Yoshihiro Kuroki , Tatsuzo Ishida , Jinichi Yamaguchi
发明人： Yoshihiro Kuroki , Tatsuzo Ishida , Jinichi Yamaguchi
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , B62D57/032
摘要： A robot operates accurately while canceling an affect of pitch-axis, rollaxis, and yaw-axis moments, these moments being applied on the robot body during a leg-moving operation such as walking. By calculating a pitch-axis moment and/or a roll-axis moment generated on the robot body at a preset ZMP by set motions of upper limbs, a trunk, and lower limbs, motions of the lower limbs and the trunk for canceling the pitch-axis moment and/or the roll-axis moment: are obtained. Then, by calculating a yaw-axis moment generated on the robot body lying at the preset ZMP by the calculated motions of the lower limbs and the trunk, a motion of the upper limbs for canceling the yaw-axis moment is obtained.
摘要翻译：机器人精确地操作，同时消除俯仰轴，滚动轴和偏航轴力矩的影响，这些力矩在诸如行走的腿部运动操作期间施加在机器人体上。通过计算通过上肢，躯干和下肢的设定运动，预设ZMP在机器人身体上产生的俯仰轴力矩和/或滚动轴力矩，下肢和躯干的运动用于消除俯仰得到轴向力矩和/或滚动轴力矩。然后，通过计算通过计算出的下肢和躯干的运动而在机器人身上产生的偏航轴力矩，计算出所述下肢和躯干的运动，得到用于抵消偏航轴力矩的上肢运动。

10. 发明申请

US20050203667A1 Ambulation control apparatus and ambulation control method of robot 有权
标题翻译：机器人的行走控制装置和行走控制方法
公开(公告)号：US20050203667A1
公开(公告)日：2005-09-15
申请号：US11126774
申请日：2005-05-11
申请人： Yoshihiro Kuroki , Tatsuzo Ishida , Jinichi Yamaguchi
发明人： Yoshihiro Kuroki , Tatsuzo Ishida , Jinichi Yamaguchi
IPC分类号： A63H11/00 , B25J5/00 , B25J9/16 , B25J13/00 , B62D57/032 , G06F19/00
CPC分类号： B62D57/032
摘要： The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method according to the invention if it is lost in the course of a gesture for which the upper limbs take a major role. The apparatus and the method obtain the pattern of movement of the entire body for walking by deriving the pattern of movement of the loins from an arbitrarily selected pattern of movement of the feet, the trajectory of the ZMP, the pattern of movement of the trunk and that of the upper limbs. Therefore, according to the invention, a robot can determine the gait of the lower limbs so as to realize a stable walk regardless if the robot is standing upright or walking. Particularly, if the robot is made to gesture, using the upper body half including the upper limbs and the trunk while standing upright, it can determine the gait of the lower limbs so as to make a stable walk in response to such a gait of the upper body half.
摘要翻译：如果在上肢起主要作用的手势的过程中丢失了根据本发明的行走控制装置和行走控制方法，则可以恢复机器人姿态的稳定性。该装置和方法通过从脚的运动的任意选择的模式，ZMP的轨迹，躯干的运动模式和从躯体的移动模式获得腰部的移动模式来获得整个身体的行走模式上肢的。因此，根据本发明，机器人可以确定下肢的步态，以便实现稳定的行走，而不管机器人站立直立或行走。特别地，如果使机器人手势，使用包括上肢和躯干在内的上半身直立，则可以确定下肢的步态，以便响应于这样的步态上半身

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