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1. 发明授权

EP1552910B1 ROBOT DEVICE OPERATION CONTROL DEVICE AND OPERATION CONTROL METHOD 有权
公开(公告)号：EP1552910B1
公开(公告)日：2019-08-21
申请号：EP03754091.1
申请日：2003-10-10
申请人： Sony Corporation , Yamaguchi, Jinichi
发明人： SHIMIZU, Satoru , YAMAGUCHI, Jinichi , KUROKI, Yoshihiro
IPC分类号： B62D57/032 , B25J5/00

2. 发明授权

EP1484134B1 LEG DEVICE FOR LEG TYPE MOVABLE ROBOT, AND METHOD OF CONTROLLING LEG TYPE MOVABLE ROBOT 有权转让
公开(公告)号：EP1484134B1
公开(公告)日：2019-05-01
申请号：EP03705182.8
申请日：2003-02-14
申请人： Sony Corporation , Yamaguchi, Jinichi
发明人： KATO, Keisuke , KOIKE, Goushi , TOSAKA, Susumu , MORIKAWA, Hiroaki , YAMAGUCHI, Jinichi , NAGASAKA, Kenichiro , NAGANO, Masakuni
IPC分类号： B62D57/02 , B25J19/00

3. 发明授权

EP2305436B1 Robot device and movement controlling method for a robot device 有权
标题翻译：对于能够在移动机器人的机器人装置和方法
公开(公告)号：EP2305436B1
公开(公告)日：2015-10-28
申请号：EP10187802.3
申请日：2003-03-18
申请人： Sony Corporation , Yamaguchi, Jinichi
发明人： Nagasaka, Kenichiro , Yamaguchi, Jinichi , Shimizu, Satoru , Kuroki, Yoshihiro
IPC分类号： B25J5/00 , B25J13/00
CPC分类号： B62D57/02 , B25J13/085 , B25J13/088 , B62D57/032

4. 发明公开

EP2305436A1 Robot device and movement controlling method for a robot device 有权
标题翻译： Robotervorrichtung und Verfahrenfüreinenfortbewegungsfähigen机器人
公开(公告)号：EP2305436A1
公开(公告)日：2011-04-06
申请号：EP10187802.3
申请日：2003-03-18
申请人： Sony Corporation , Yamaguchi, Jinichi
发明人： Nagasaka, Kenichiro , Yamaguchi, Jinichi , Shimizu, Satoru , Kuroki, Yoshihiro
IPC分类号： B25J5/00 , B25J13/00
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 is moved to the largest extent 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：作为局部坐标的原点的机器人作为受控对象点的腰部被设定为局部坐标的原点，加速度传感器设置在受控对象点处，以直接测量姿态和加速度该位置控制机器人在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。

5. 发明公开

EP2151374A2 Motion controlling apparatus and motion controlling method for legged mobile robot, and robot apparatus 有权
标题翻译：运动控制装置和运动控制方法，用于配有腿和机器人装置的移动机器人
公开(公告)号：EP2151374A2
公开(公告)日：2010-02-10
申请号：EP09009597.7
申请日：2003-03-17
申请人： Sony Corporation , Yamaguchi, Jinichi
发明人： Mikami, Tatsuo , Yamaguchi, Jinichi , Miyamoto, Atsushi
IPC分类号： B62D57/032
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 behaviour plan of a foot part thereof is disabled.
The robot comprises external force detection means for detecting application of an external force to a body of said legged mobile robot; zero moment point trajectory planning means for disposing a zero moment point at which moments applied to said body balance each other on or on the inner side of a side of a support polygon formed from a sole landed point and a floor based on a result of the detection by said external force detection means; and tumbling motion execution means for executing a tumbling motion of said body in response to that the disposition of the zero moment point in the support polygon by said zero moment point trajectory planning means is rendered difficult or impossible by the external force applied to said body.
摘要翻译：有腿可动机器人放弃正常步行动作而开始翻滚运动当过高的外力或外部力矩施加和脚部部分的行为计划其被禁用于此。该机器人包括外力检测装置，用于检测外部力到所述腿式移动机器人的主体应用; 零力矩点轨迹规划，是指用于放置零力矩点在哪个时刻施加到所述身体平衡海誓山盟上或从鞋底形成的支撑多边形的边的内侧降落点和地面基础上的结果所述检测由外力检测装置; 和摇摆运动执行装置，用于由所述零力矩点轨迹规划方法是通过施加到所述本体上的外力变得困难或不可能响应执行所述主体的摇摆运动到并在支撑多边形的零力矩点的布置。

6. 发明公开

EP1552910A4 ROBOT DEVICE OPERATION CONTROL DEVICE AND OPERATION CONTROL METHOD 有权
标题翻译：一种用于控制机器人装置和运算控制方法的操作
公开(公告)号：EP1552910A4
公开(公告)日：2008-02-20
申请号：EP03754091
申请日：2003-10-10
申请人： SONY CORP , YAMAGUCHI JINICHI
发明人： SHIMIZU SATORU , YAMAGUCHI JINICHI , KUROKI YOSHIHIRO
IPC分类号： B62D57/032 , B25J5/00
CPC分类号： B62D57/032
摘要： A ZMP equilibrium equation stating the relationship of various moments applied to a robot body of a robot, based on desirable motion data made up by trajectories of respective parts, imaginarily divided from the robot body, is generated, and moment errors in a ZMP equilibrium equation are calculated. A priority sequence of the parts, the target trajectories of which are corrected to cancel out the moment errors, is set. The target trajectories are corrected from one part to another, in a sequence corresponding to the priority sequence, to compensate the moment errors.

7. 发明授权

EP1486298B1 ROBOT DEVICE WITH AN CONTROL DEVICE. 有权
标题翻译：与对照方法机械手设备
公开(公告)号：EP1486298B1
公开(公告)日：2011-05-04
申请号：EP03710407.2
申请日：2003-03-18
申请人： Sony Corporation , Yamaguchi, Jinichi
发明人： NAGASAKA, Kenichiro, c/o SONY CORPORATION , YAMAGUCHI, Jinichi , SHIMIZU, Satoru, c/o SONY CORPORATION , KUROKI, Yoshihiro, c/o SONY CORPORATION
IPC分类号： B25J5/00 , B25J13/00
CPC分类号： B62D57/02 , B25J13/085 , B25J13/088 , B62D57/032
摘要： A hip where the mass operation amount becomes maximum as a control point on the robot body is set to be a local coordinate origin and an acceleration sensor is arranged there so that an attitude and an acceleration at that position are directly measured to perform attitude control based on ZMP. Furthermore, on the legs which are in contact with a road surface, there are arranged a floor reaction sensor and an acceleration sensor for directly measuring the ZMP and force, so that a ZMP equation is established at the leg which is nearest to the ZMP position, thereby realizing accurate high-speed attitude control.

8. 发明授权

EP2112057B1 Legged mobile robot and method for controlling the operation of a robot 有权
标题翻译：与腿和方法用于控制机器人移动机器人
公开(公告)号：EP2112057B1
公开(公告)日：2011-01-26
申请号：EP09010539.6
申请日：2000-11-24
申请人： Sony Corporation , Yamaguchi, Jinichi
发明人： Ishida, Tatsuzo , Kuroki, Yoshihiro , Yamaguchi, Jinichi
IPC分类号： B62D57/032
CPC分类号： B62D57/032

9. 发明授权

EP1344612B1 DEVICE AND METHOD FOR CONTROLLING MOTION OF LEGGED MOBILE ROBOT, AND MOTION UNIT GENERATING METHOD FOR LEGGED MOBILE ROBOT 有权
标题翻译：设备及其控制方法进行生产运动形态腿和方法的移动机器人腿移动机器人
公开(公告)号：EP1344612B1
公开(公告)日：2011-01-05
申请号：EP01982809.4
申请日：2001-11-16
申请人： Sony Corporation , Yamaguchi, Jinichi
发明人： Yamaguchi, Jinichi , Kuroki, Yoshihiro, c/o Sony Corporation , Ishida, Tatsuzo, c/o Sony Corporation
IPC分类号： B25J5/00
CPC分类号： B62D57/02 , B62D57/032
摘要： A predetermined behavior sequence is developed by using a basic motion unit comprising time series motions of each joint and a combined motion unit comprising combined basic motions. Motion modes including a walk of a robot are classified into motion units to realize complicated and diversified motions are realized by combining at least two motion units. Dynamic motion units are defined based on a dynamic basic attitude, and a desired behavior sequence can be constituted using these dynamic motion units. This basic control system is essential when the robot autonomously performs continuous motions, when the robot performs a series of continuous motions, or when the robot performs motions while changing the motion according to a command.

10. 发明公开

EP1466817A3 Legged mobile robots and methods of controlling operation of the same 有权
标题翻译： Auf Beinen laufende机器人和Verfahrenfürihre Steuerung
公开(公告)号：EP1466817A3
公开(公告)日：2006-02-01
申请号：EP04077083.6
申请日：2000-11-23
申请人： SONY CORPORATION , Yamaguchi, Jinichi
发明人： Hattori, Yuichi, c/o Sony Corporation , Ishida, Tatsuzo, c/o Sony Corporation , Yamaguchi, Jinichi, c/o Tama Research Institute
IPC分类号： B62D57/032
CPC分类号： B62D57/032
摘要： A legged mobile robot possesses degrees of freedom which are provided at roll, pitch, and yaw axes at a trunk. By using these degrees of freedom which are provided at the trunk, the robot can smoothly get up from any fallen-down posture. In addition, by reducing the required torque and load on movable portions other than the trunk, and by spreading/averaging out the load between each of the movable portions, concentration of a load on a particular member is prevented from occurring. As a result, the robot is operated more reliably, and energy is used with greater efficiency during a getting-up operation. It is possible for the robot to independently, reliably, and smoothly get up from various fallen-down postures such as a lying-on-the-face posture, a lying-on-the-back posture, and a lying sideways posture.
摘要翻译：有腿的移动机器人具有在躯干处的辊，俯仰和偏航轴处提供的自由度。通过使用在躯干上提供的这些自由度，机器人可以从任何堕落姿势平稳地起床。此外，通过减少除躯干以外的可动部分上的所需扭矩和负载，并且通过扩展/平均每个可移动部分之间的负载，防止了特定部件上的负载集中。结果，机器人操作更可靠，并且在起床操作期间以更高的效率使用能量。机器人可以从诸如躺在脸上的姿势，躺着的姿势和躺着的侧面姿势的各种堕落的姿势中独立地，可靠地并且平稳地起床。

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