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1. 发明授权

US06332372B1 Arm structure for man type working robots 有权
标题翻译：人型工作机器人臂结构
公开(公告)号：US06332372B1
公开(公告)日：2001-12-25
申请号：US09581220
申请日：2000-06-22
申请人： Toru Takenaka , Takayuki Kawai , Tadaaki Hasegawa , Takashi Matsumoto , Hiroshi Gomi , Hideaki Takahashi
发明人： Toru Takenaka , Takayuki Kawai , Tadaaki Hasegawa , Takashi Matsumoto , Hiroshi Gomi , Hideaki Takahashi
IPC分类号： B25J906
CPC分类号： B25J9/06 , B25J17/025 , Y10T74/20329
摘要： An arm structure for anthropomorphic robots minimizes the occurrence of a singularity state of a shoulder joint assembly while the arm of the anthropomorphic robot is normally working, for thereby allowing the arm to operate smoothly. The position and posture of first through third joints (11), (13), (15) of a shoulder joint assembly (5) and the position of an elbow joint assembly (6) with respect to the third joint (15) are established such that the elbow joint assembly (6) is located above a horizontal plane lying through the point of intersection of the axes (10), (12), (14) of the first through third joints (11), (13), (15), while the shoulder joint assembly (5) is operated into a singularity state wherein the first axis (10) of the first joint (11) and the third axis (14) of the third joint (15) are aligned with each other and the elbow joint assembly (6) is positioned laterally of a torso (1).
摘要翻译：用于拟人机器人的臂结构使人形机器人的臂正常工作时，使肩关节组件的奇点状态的发生最小化，从而允许手臂平稳地操作。建立肩关节组件（5）的第一至第三关节（11），（13），（15）和肘关节组件（6）相对于第三关节（15）的位置和姿势使得肘关节组件（6）位于通过第一至第三关节（11），（13），（13），（13）的轴线（10），（12），（14） 15），而肩关节组件（5）被操作成其中第一关节（11）的第一轴线（10）和第三关节（15）的第三轴线（14）彼此对准的奇点状态并且肘关节组件（6）位于躯干（1）的侧面。

2. 发明授权

US06401846B1 Knee pad for a legged walking robot 有权
标题翻译：用于腿式步行机器人的膝垫
公开(公告)号：US06401846B1
公开(公告)日：2002-06-11
申请号：US09630743
申请日：2000-08-02
申请人： Toru Takenaka , Takayuki Kawai , Hiroshi Gomi , Tadaaki Hasegawa , Takashi Matsumoto
发明人： Toru Takenaka , Takayuki Kawai , Hiroshi Gomi , Tadaaki Hasegawa , Takashi Matsumoto
IPC分类号： B62D5702
CPC分类号： B62D57/032 , B25J19/0091
摘要： In a biped walking robot having a body and two articulated legs each connected to the body through a hip joint and having a knee joint and an ankle joint, connected by a shank link, a knee pad is mounted on the shank link as a landing/shock absorbing means at a position adjacent to the knee joint which is brought into contact with the floor when coming into knee-first contact with the floor such that the knee joint is to be positioned at a location forward of the center of gravity of the robot in a direction of robot advance, while absorbing impact occurring from the contact with the floor. With this, the robot can be easily stood up from an attitude with its knee joint regions in contact with the floor. Moreover, when coming into knee-first contact with the floor, it can absorb the impact of the contact to protect the knee joint regions and the floor from damage.
摘要翻译：在具有主体和两个铰接腿的双足步行机器人中，每个腿部通过髋关节连接到身体，并且具有通过柄连杆连接的膝关节和踝关节，膝关节垫作为着陆/ 冲击吸收装置位于与膝关节相邻的位置处，当与地板进行膝盖 - 第一次接触时，其与地板接触，使得膝关节位于机器人重心的前方位置在机器人前进的方向上，同时吸收与地板接触发生的冲击。这样，机器人可以容易地从与膝盖接合区域与地板接触的姿态站起来。此外，当与地板进行膝盖首次接触时，它可以吸收接触的冲击，以保护膝关节区域和地板免受损坏。

3. 发明授权

US5974366A Apparatus for detecting the landing position of foot sole of legged moving robot 失效
标题翻译：用于检测腿式移动机器人脚底的着陆位置的装置
公开(公告)号：US5974366A
公开(公告)日：1999-10-26
申请号：US992849
申请日：1997-12-18
申请人： Takayuki Kawai , Toru Takenaka , Takashi Matsumoto , Tadaaki Hasegawa
发明人： Takayuki Kawai , Toru Takenaka , Takashi Matsumoto , Tadaaki Hasegawa
IPC分类号： B25J5/00 , B25J13/08 , B25J19/02 , B62D57/032 , G06F7/70
CPC分类号： B62D57/032
摘要： A legged moving robot has a plurality of movable legs for repeatedly touching and leaving a floor. An apparatus for detecting the landing position of a foot sole of each of the movable legs has a force sensor mounted on each of the movable legs at a position spaced from a foot sole thereof toward a proximal end thereof. The force sensor detects at least a perpendicular force perpendicular to the foot sole and a moment about an axis extending in a lateral direction of the foot sole and passing through a predetermined reference point on the foot sole. A time when the foot sole touches or leaves the floor is detected on the basis of the perpendicular force detected by the force sensor. A landing position for the foot sole to start touching or end leaving the floor is determined on the basis of the perpendicular force and the moment detected by the force sensor, at the detected time or in a predetermined time range near the detected time.
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。用于检测每个可移动支脚的脚底的着陆位置的装置具有安装在每个可移动支腿上的力传感器，该力传感器在与其脚底间隔开的位置朝向其近端安装。力传感器至少检测垂直于脚底的垂直力，并且围绕在鞋底的横向方向延伸并穿过脚底上的预定参考点的轴线的力矩。基于由力传感器检测到的垂直力来检测脚底触摸或离开地板的时间。基于在检测时间或检测到的时间附近的预定时间范围内由力传感器检测到的垂直力和力矩来确定足底开始触摸或结束离开地面的着陆位置。

4. 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。

5. 发明授权

US6064167A Control system for controlling the knee joint actuators of a legged robot in response to a detected fall condition so as to lower the center of gravity of the robot 失效
标题翻译：控制系统，用于响应于检测到的跌倒状况来控制腿式机器人的膝关节致动器，以降低机器人的重心
公开(公告)号：US6064167A
公开(公告)日：2000-05-16
申请号：US123695
申请日：1998-07-28
申请人： Toru Takenaka , Takayuki Kawai , Tadaaki Hasegawa , Takashi Matsumoto
发明人： Toru Takenaka , Takayuki Kawai , Tadaaki Hasegawa , Takashi Matsumoto
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032
CPC分类号： B25J19/005 , B62D57/032
摘要： A legged moving robot has a plurality of movable legs extending downwardly from an upper body and having actuators associated respectively with joints thereof. A fall judging unit decides whether the robot is likely to fall down while the robot is operating. An actuator controller controls the actuators associated respectively with the joints of the movable legs to lower the center of gravity of the robot when the fall judging unit determines that the robot is likely to fall down.
摘要翻译：腿式移动机器人具有从上部主体向下延伸并具有分别与其关节相关联的致动器的多个可动腿。坠落判断单元决定机器人在机器人操作期间是否可能掉落。执行器控制器控制分别与可移动支腿的关节相关联的致动器，以在下降判断单元确定机器人可能跌落时降低机器人的重心。

6. 发明授权

US06505096B2 Posture control system of legged mobile robot 有权
标题翻译：腿式移动机器人姿态控制系统
公开(公告)号：US06505096B2
公开(公告)日：2003-01-07
申请号：US09319266
申请日：1999-08-16
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： B62D57/02
摘要： In a legged mobile robot, in particular a biped robot having arms, the control is conducted such that the dynamic balance is preserved so as to keep a stable posture, even when the robot is subject to unexpected reaction force from an object. It is configured such that the difference or error (i.e., moment about the central point of total floor reaction force) between the desired object reaction force, and the actual value is determined and is distributed to the desired body position/posture and the desired feet position/posture, and based thereon, robot link joints are controlled to be driven.
摘要翻译：在有腿的移动机器人中，特别是具有臂的双足机器人，即使当机器人受到来自物体的意想不到的反作用力时，进行控制，使得保持动态平衡以保持稳定的姿势。它被构造成使得期望的物体反作用力和实际值之间的差异或误差（即，总地板反作用力的中心点的力矩）被确定并且被分配到期望的身体位置/姿势和期望的脚位置/姿势，并且基于此，机器人连杆关节被控制以被驱动。

7. 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。

8. 发明授权

US07112938B2 Attitude control device of mobile robot 有权
标题翻译：移动机器人姿态控制装置
公开(公告)号：US07112938B2
公开(公告)日：2006-09-26
申请号：US10512819
申请日：2003-04-18
申请人： Toru Takenaka , Tadaaki Hasegawa , Takashi Matsumoto
发明人： Toru Takenaka , Tadaaki Hasegawa , Takashi Matsumoto
IPC分类号： B25J5/00 , B25J13/00 , G06F19/00
CPC分类号： B62D57/032 , B62D57/02
摘要： A posture control system for a mobile robot. When an unexpected external force acts, the system is configured to control and stabilize the posture of the robot driving an arm link such that, in response to a first external force that is a component in a predetermined direction of an unexpected external force, a second external force acts on the arm link in a direction orthogonal to the predetermined direction. With this, when the mobile robot receives a reaction force, even if the posture becomes unstable or the robot receives an unexpected reaction force, it becomes possible to preserve the dynamic balance and to maintain a stable posture.
摘要翻译：一种移动机器人姿态控制系统。当意外的外力作用时，该系统构造成控制和稳定驱动臂连杆的机器人的姿势，使得响应于作为意外外力的预定方向上的部件的第一外力，第二外力外力在垂直于预定方向的方向作用在臂连杆上。这样，当移动机器人接收到反作用力时，即使姿势变得不稳定或者机器人接收到意想不到的反作用力，也能够保持动平衡并保持姿势稳定。

9. 发明授权

US06922609B2 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：US06922609B2
公开(公告)日：2005-07-26
申请号：US10276780
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 , G05D3/12 , G06F19/00
CPC分类号： B62D57/032 , B62D57/02 , B62D57/024
摘要： A floor shape estimation system for a legged mobile robot, in particular a biped walking robot, which estimates a foot-to-foot floor inclination difference based on at least a control error of the total floor reaction force's moment and corrects a feet compensating angle based on the estimated value. Further, the system estimates 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. Furthermore, it determines whether it is in a situation where the accuracy of estimation is liable to degrade based on at least a time of the gait of the robot and when it is in the situation, the system interrupts the estimation. With this, the system can accurately estimate the shape of floor with which the robot is in contact.
摘要翻译：一种用于腿式移动机器人，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脚 - 脚地板倾斜差，并且基于脚补偿角度校正估计值。此外，该系统基于至少一个围绕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脚底倾斜差，并且基于估计值校正脚补偿角度。此外，根据至少一个机器人步态的时间，判定是否处于估计精度容易降低的情况下，系统中断了该估计。这样，系统可以准确估计机器人接触的地板的形状。

10. 发明申请

US20050104548A1 Attitude control device of mobile robot 有权
标题翻译：移动机器人姿态控制装置
公开(公告)号：US20050104548A1
公开(公告)日：2005-05-19
申请号：US10512819
申请日：2003-04-18
申请人： Toru Takenaka , Tadaaki Hasegawa , Takashi Matsumoto
发明人： Toru Takenaka , Tadaaki Hasegawa , Takashi Matsumoto
IPC分类号： A63H11/18 , B25J5/00 , B25J13/00 , B62D57/02 , B62D57/032
CPC分类号： B62D57/032 , B62D57/02
摘要： In a posture control system of a mobile robot, when unexpected external force acts, it is configured to control to stabilize the posture of the robot driving the arm link such that, in response to a first external force that is a component in a predetermined direction of the unexpected external force, a second external force acts on the arm link in a direction orthogonal to the predetermined direction. With this, when the mobile robot is controlled to work that is likely to receive a reaction force from the object, even if the posture becomes unstable or the robot receives the unexpected reaction force acting from the object, it becomes possible to preserve the dynamic balance and to maintain a stable posture.
摘要翻译：在移动机器人的姿势控制系统中，当意外的外力作用时，其被配置为控制以稳定驱动臂连杆的机器人的姿势，使得响应于作为在预定方向上的部件的第一外力的第二外力沿与预定方向正交的方向作用在臂连杆上。由此，当移动机器人被控制为可能从物体接收到反作用力的作业时，即使姿势变得不稳定或机器人接收到从物体起作用的意外的反作用力，也可以保持动平衡并保持稳定的姿势。

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