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1. 发明申请

US20050077856A1 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：US20050077856A1
公开(公告)日：2005-04-14
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的底面侧上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。

2. 发明授权

US07664572B2 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：US07664572B2
公开(公告)日：2010-02-16
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： G05B19/18 , G06F19/00 , G05B19/408
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。

3. 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。

4. 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。

5. 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。

6. 发明授权

US06962220B2 Leg joint assist device for leg type movable robot 有权
标题翻译：腿式可动机器人腿部关节辅助装置
公开(公告)号：US06962220B2
公开(公告)日：2005-11-08
申请号：US10490802
申请日：2002-09-24
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto
IPC分类号： A63H11/18 , B25J5/00 , B25J19/00 , F16F9/06 , G06F19/00
CPC分类号： F16F9/06 , B25J19/0008 , B25J19/0091 , Y10T74/20305
摘要： An assist device that applies an auxiliary driving force to a joint in parallel with a driving force of a joint actuator between a thigh portion and a crus portion, which are a pair of link members of a leg. The assist device generates the auxiliary driving force by use of spring device, such as a solid spring or an air spring. A member supporting a rod member connected to the spring device is provided with a device for transmitting a bending and stretching motion of the leg at the joint (a relative displacement motion between the thigh portion and the crus portion) to the spring device to generate an elastic force of the spring device, and for discontinuing the transmission of the bending and stretching motion to the spring device. This transmitting device is controlled in accordance with a gait of a robot. Thus, a burden on the joint actuator is reduced where necessary and favorable utilization efficiency of energy can be stably ensured.
摘要翻译：一种辅助装置，其将辅助驱动力与作为腿部的一对连杆构件的腿部和腿部之间的关节致动器的驱动力平行的接头施加。辅助装置通过使用诸如固体弹簧或空气弹簧的弹簧装置产生辅助驱动力。支撑连接到弹簧装置的杆构件的构件设置有用于将腿部在关节处的弯曲和拉伸运动（大腿部分和小腿部分之间的相对位移运动）传递到弹簧装置的装置，以产生弹簧装置的弹性力，以及用于中止弯曲和拉伸运动到弹簧装置的传递。该发送装置根据机器人的步态进行控制。因此，必要时能够减轻关节致动器的负担，能够稳定地确保能量利用效率。

7. 发明授权

US08014896B2 Legged mobile robot and control program 有权
标题翻译：有腿的移动机器人和控制程序
公开(公告)号：US08014896B2
公开(公告)日：2011-09-06
申请号：US11577404
申请日：2005-09-14
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
IPC分类号： G06F19/00 , B25J5/00
CPC分类号： B62D57/032
摘要： In a legged mobile robot, a pivoting motion of a foot (22) relative to a leg is controlled such that, from an intermediate time point in a period of departure of a leg from a floor to a starting time point of a period of landing of the leg on the floor, an angle (θ) of inclination of the foot (22) of the leg relative to the floor surface gradually approaches zero. This eases impact to the foot of the leg at the time of landing on the floor and prevents a slip or spin of the sole, thereby enabling stable walking or running.
摘要翻译：在有腿的移动机器人中，脚部（22）相对于腿部的枢转运动被控制，使得从腿部离开地板的时间段到落地时间段的起始时间点的中间时间点腿部在地板上的脚部（22）相对于地板表面的倾斜角度（θ）渐渐接近零。这样在脚底落地时可以减轻腿脚的冲击，防止鞋底的滑动或旋转，从而稳定地行走或跑步。

8. 发明授权

US07860613B2 Legged mobile robot and control program for the robot 有权
标题翻译：用于机器人的腿式移动机器人和控制程序
公开(公告)号：US07860613B2
公开(公告)日：2010-12-28
申请号：US11718054
申请日：2005-09-14
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
IPC分类号： B25J5/00
CPC分类号： B62D57/032
摘要： A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided.According to a robot 1 in accordance with the present invention, a deformation amount (mechanism deformation amount) of a compliance mechanism 42 that occurs due to a desired floor reaction force of a foot (ground contacting portion) 22 is determined, and the operation of a leg 2 is controlled such that the foot 22 lands onto a floor at a predetermined velocity in a vertical direction or in a direction perpendicular to the floor surface on the basis of a component of the mechanism deformation amount in the vertical direction or a component thereof in the direction perpendicular to the floor surface.
摘要翻译：提供了一种腿式移动机器人，其允许将实际地板反作用力改进到期望的地板反作用力并且可以被稳定地控制。根据本发明的机器人1，确定由于脚（地面接触部）22的期望的地面反作用力而发生的顺应机构42的变形量（机械变形量），并且操作控制腿部2，使得脚部22基于垂直方向上的机构变形量的分量或其部分，以垂直方向或垂直于地板表面的方向以预定速度落在地板上在垂直于地板表面的方向上。

9. 发明申请

US20080046123A1 Legged Mobile Robot and Control Program 有权
标题翻译：有腿的移动机器人和控制程序
公开(公告)号：US20080046123A1
公开(公告)日：2008-02-21
申请号：US11577404
申请日：2005-09-14
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
IPC分类号： B62D57/032 , G06N3/00
CPC分类号： B62D57/032
摘要： In a legged mobile robot, a pivoting motion of a foot (22) relative to a leg is controlled such that, from an intermediate time point in a period of departure of a leg from a floor to a starting time point of a period of landing of the leg on the floor, an angle (θ) of inclination of the foot (22) of the leg relative to the floor surface gradually approaches zero. This eases impact to the foot of the leg at the time of landing on the floor and prevents a slip or spin of the sole, thereby enabling stable walking or running.
摘要翻译：在有腿的移动机器人中，脚部（22）相对于腿部的枢转运动被控制，使得从腿部离开地板的时间段到落地时间段的起始时间点的中间时间点腿部在地板上的脚部（22）相对于地板表面的倾斜角（θ）逐渐接近零。这样在脚底落地时可以减轻腿脚的冲击，防止鞋底的滑动或旋转，从而稳定地行走或跑步。

10. 发明申请

US20080300721A1 Legged Mobile Robot and Control Program for the Robot 有权
标题翻译：机器人的移动机器人和控制程序
公开(公告)号：US20080300721A1
公开(公告)日：2008-12-04
申请号：US11718054
申请日：2005-09-14
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
IPC分类号： B25J5/00 , B25J13/00
CPC分类号： B62D57/032
摘要： A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided.According to a robot 1 in accordance with the present invention, a deformation amount (mechanism deformation amount) of a compliance mechanism 42 that occurs due to a desired floor reaction force of a foot (ground contacting portion) 22 is determined, and the operation of a leg 2 is controlled such that the foot 22 lands onto a floor at a predetermined velocity in a vertical direction or in a direction perpendicular to the floor surface on the basis of a component of the mechanism deformation amount in the vertical direction or a component thereof in the direction perpendicular to the floor surface.
摘要翻译：提供了一种腿式移动机器人，其允许将实际地板反作用力改进到期望的地板反作用力并且可以被稳定地控制。根据本发明的机器人1，确定由于脚（地面接触部）22的期望的地面反作用力而发生的顺应机构42的变形量（机械变形量），并且操作控制腿部2，使得脚部22基于垂直方向上的机构变形量的分量或其部分，以垂直方向或垂直于地板表面的方向以预定速度落在地板上在垂直于地板表面的方向上。

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