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1. 发明专利

JP2008225607A Control device, control system, and program 审中-公开
标题翻译：控制装置，控制系统和程序
公开(公告)号：JP2008225607A
公开(公告)日：2008-09-25
申请号：JP2007059672
申请日：2007-03-09
申请人： Institute Of Physical & Chemical Research , Toyota Motor Corp , トヨタ自動車株式会社 , 独立行政法人理化学研究所
发明人： SHIMODA SHINGO , KIMURA HIDENORI , YAMAOKA MASAAKI , SUGIHARA HISAYOSHI
IPC分类号： G06N3/00 , G06N3/04
摘要： PROBLEM TO BE SOLVED: To provide a control device for easily controlling various control objects by introducing a survival principle to a neuron simulating a nerve cell, and combining basic structures. SOLUTION: In a control device 501, an input layers 502, a learning layer 504 and an output layer 505 in which a plurality of neuron parts 101 based on a bursting model are arranged are connected by a weight α[i, j] and a weight β[j, i], and an update part 507 updates and learns the weight α[i, j] based on a Hebb rule from the corresponding relation of the ignition or an output of the input layer 503 and the output layer 505, and a control input such as a target value or an actual measurement value is applied through a control input part 502 to the input layer 503, and a control output part 508 outputs a quantity proportional to the number of pieces of the ignition of the output layer 505 as a control output applied to a control object, and initial values of variables corresponding to thresholds of ignition are made different in respective neuron parts 101 in the input layer 503, the learning layer 504, and the output layer 505. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种控制装置，用于通过向模拟神经细胞的神经元引入生存原理并组合基本结构来容易地控制各种控制对象。解决方案：在控制装置501中，输入层502，学习层504和输出层505，其中布置有基于突发模型的多个神经元部分101通过权重α[i，j ]和权重β[j，i]，并且更新部分507根据来自点火的对应关系或输入层503的输出和输出的对应关系，基于Hebb规则更新并学习权重α[i，j] 层505，并且诸如目标值或实际测量值的控制输入通过控制输入部分502施加到输入层503，并且控制输出部分508输出与点火次数成比例的量作为施加到控制对象的控制输出的输出层505和对应于点火门限的变量的初始值在输入层503，学习层504和输出层505中的各个神经元部分101中不同。 P>版权所有（C）2008，JPO＆INPIT

2. 发明专利

JP2017113409A 上肢リハビリ支援装置审中-公开
公开(公告)号：JP2017113409A
公开(公告)日：2017-06-29
申请号：JP2015254095
申请日：2015-12-25
申请人：トヨタ自動車株式会社 , Toyota Motor Corp , 国立研究開発法人理化学研究所 , Institute Of Physical & Chemical Research
发明人： SUGIHARA HISAYOSHI , YAMADA HITOSHI , DEO TAKASHI , YAMASHITA KATSUJI , HOJO KEIICHI , SHIMODA SHINGO
IPC分类号： A61H1/02 , B25J11/00
CPC分类号： A63B23/12 , A61H1/0274 , A61H2201/1276 , A61H2201/1638 , A63B21/00178 , A63B21/055 , A63B21/4035 , A63B21/4049 , A63B22/0002 , A63B22/0005 , A63B23/03533 , A63B23/14 , A63B2022/0092 , A63B2022/0094
摘要：【課題】多様な動作を行うことができ、重力負荷を掛けることでその動作時に十分な負荷を掛けること。【解決手段】上肢リハビリ支援装置は、重力方向に対して垂直方向に向けて回転可能に設けられた第1回転軸と、第1回転軸に連結され訓練者の右手が把持し回転操作する第1ハンドルと、を有する第1回転機構と、重力方向に対して垂直方向に向けて回転可能に設けられた第2回転軸と、第2回転軸に連結され訓練者の左手が把持し回転操作する第2ハンドルと、を有する第2回転機構と、第1及び第2回転機構の第1及び第2回転軸を連結し、第1及び第2ハンドルの回転を連動させる連結手段と、第1及び第2ハンドルの一方のハンドルを回転させたときに他方のハンドルに対して連結手段により連動させる回転の方向を切替える切替手段と、を備える。【選択図】図1

3. 发明专利

JP2009214268A Body cooperative control device, robot and robot control method 有权
标题翻译：身体合作控制装置，机器人和机器人控制方法
公开(公告)号：JP2009214268A
公开(公告)日：2009-09-24
申请号：JP2008062817
申请日：2008-03-12
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： SUGIHARA HISAYOSHI , MIYAGAWA TORU
IPC分类号： B25J13/00 , B25J5/00
摘要： PROBLEM TO BE SOLVED: To provide a robot and robot control method capable of accurately controlling positioning of the robot even during a cooperative operation. SOLUTION: This robot includes a motor, a motor driver to drive the motor and a cooperative control part 133 to input a joint angle as a command value in the motor driver. The cooperative control part 133 includes: angular speed calculating means 14 for calculating a joint angular speed from the speed of the center of gravity; integration means 13 for calculating a first joint angle from the angular speed calculated by the angular speed calculating means 14; joint angle input means 11 for inputting a predetermined second joint angle; center of gravity position calculation means 14a for calculating a center of gravity position from the first joint angle calculated by the integration means 13 and the second joint angle input by the joint angle input means 11; and feedback means 15a for calculating the speed of the center of gravity from the gravity position calculated by the center of gravity position calculation means 14a and a target center of gravity position to be input from the outside. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种即使在协作操作期间也能够精确地控制机器人的定位的机器人和机器人控制方法。解决方案：该机器人包括电动机，用于驱动电动机的电机驱动器和协调控制部件133，以在电动机驱动器中输入作为指令值的关节角度。协作控制部分133包括：角速度计算装置14，用于根据重心的速度计算关节角速度; 积分装置13，用于根据角速度计算装置14计算的角速度计算第一关节角度; 用于输入预定的第二关节角度的关节角度输入装置11; 重心位置计算装置14a，用于根据由积分装置13计算的第一关节角度和由关节角度输入装置11输入的第二关节角度来计算重心位置; 以及反馈装置15a，用于从重心位置计算装置14a计算的重力位置和从外部输入的目标重心位置计算重心的速度。版权所有（C）2009，JPO＆INPIT

4. 发明专利

JP2006068871A Leg type robot and its control method, and apparatus and method for forming walking pattern data 有权
标题翻译： LEG型机器人及其控制方法，以及形成跑步图案数据的装置和方法
公开(公告)号：JP2006068871A
公开(公告)日：2006-03-16
申请号：JP2004257671
申请日：2004-09-03
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： SUGIHARA HISAYOSHI
IPC分类号： B25J5/00 , A63H11/00 , A63H11/18 , B25J13/00
CPC分类号： B62D57/032
摘要： PROBLEM TO BE SOLVED: To provide a technology for making a leg type robot walk while straightening a group of leg links (particularly, grounded legs). SOLUTION: The leg type robot comprises a trunk, a plurality of leg links which are swingably connected to the trunk at their base ends and have foots at their tip ends, a means for correcting the preliminarily prepared walking pattern data based on actual walking states, a means for specifying the positions of the base ends based on target positions of the trunk in the corrected walking pattern data for every leg link, a means for calculating vertical displacement for every leg in the case where the distances from the target positions of the foot in the corrected walking pattern data become a predetermined distances when the specified positions of the base points have been vertically moved for every leg link, a means for selecting the maximum movements in the vertically downward direction from the vertical displacement calculated for every leg link, and a means for correcting the vertical co-ordinates of the target positions of the trunk in the corrected walking pattern data in a vertical direction by the vertical movements selected by the selecting means. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种在使一组腿连杆（特别是接地的腿）矫正的情况下制造腿型机器人走路的技术。解决方案：腿型机器人包括躯干，多个腿部连杆，它们的底端可摆动地连接到躯干，并且在其末端具有脚，用于基于实际的步骤校正预先准备的行走模式数据的装置步行状态，用于基于每个腿连杆的校正步行图形数据中的躯干的目标位置来指定基端的位置的装置，用于在距离目标位置的距离的情况下计算每条腿的垂直位移的装置当基准点的指定位置已经针对每个腿连杆垂直移动时，校正后的行走图形数据中的脚的位置变为预定距离;用于从针对每个腿计算的垂直位移中选择垂直向下方向上的最大运动的装置链接，以及用于校正在ve中的校正的步行模式数据中的躯干的目标位置的垂直坐标的装置通过由选择装置选择的垂直运动来确定方位。版权所有（C）2006，JPO＆NCIPI

5. 发明专利

JP2008238328A Walking robot and walking control method 有权
标题翻译：运动机器人和步行控制方法
公开(公告)号：JP2008238328A
公开(公告)日：2008-10-09
申请号：JP2007081856
申请日：2007-03-27
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： SUGIHARA HISAYOSHI
IPC分类号： B25J5/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a walking robot capable of stably walking, even when there are irregularities on a floor surface, and its walking method.
SOLUTION: This walking robot 10 is provided with a means for calculating target acceleration of the walking robot 10, a means for detecting actual acceleration of the walking robot 10, a means for calculating an acceleration deviation between the target acceleration and the actual acceleration, and a means for adjusting a copy control based on the acceleration deviation. Concretely, when the acceleration deviation is large, the copy control is adjusted to be weak.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：即使在地板表面上存在不规则的情况下，也能够提供能够稳定行走的行走机器人及其行走方法。该步行机器人10设置有用于计算步行机器人10的目标加速度的装置，用于检测步行机器人10的实际加速度的装置，用于计算目标加速度与实际加速度之间的加速度偏差的装置加速度，以及用于基于加速度偏差来调整复印控制的装置。具体地，当加速度偏差大时，复制控制被调整为弱。版权所有（C）2009，JPO＆INPIT

6. 发明专利

JP2007040763A Correction device of acceleration sensor 审中-公开
标题翻译：加速度传感器校正装置
公开(公告)号：JP2007040763A
公开(公告)日：2007-02-15
申请号：JP2005223504
申请日：2005-08-01
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SUGIHARA HISAYOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
IPC分类号： G01P21/00
CPC分类号： G01P21/00
摘要： PROBLEM TO BE SOLVED: To provide a device capable of correcting the sensor output of an acceleration sensor with a simple constitution and capable of precisely detecting the acceleration, in its turn detecting the attitude angle of a moving body.
SOLUTION: An attitude angle operation unit 14 operates the attitude angle of a robot from the output of acceleration sensor 10. An attitude angle comparator 16 compares the angle at a prescribed attitude angle set in a register 20 with a detected attitude angle, and outputs the difference to a correction operator unit 18. A correction operator 18 outputs the correction value to a zero point corrector 26 or a sensitivity corrector 28 so as to eliminate the difference. The attitude angle set in the register 20 can be set via the input unit 22.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够以简单的结构校正加速度传感器的传感器输出并且能够精确地检测加速度的装置，从而检测移动体的姿态角度。姿态角度运算单元14根据加速度传感器10的输出对机器人的姿势角进行动作。姿势角比较器16将设定在寄存器20中的规定姿态角度的角度与检测到的姿势角进行比较，并将差值输出到校正运算器单元18.校正运算器18将校正值输出到零点校正器26或灵敏度校正器28，以消除差异。寄存器20中设置的姿态角可以通过输入单元22来设定。版权所有：（C）2007，JPO＆INPIT

7. 发明专利

JP2007007796A Walking robot 审中-公开
标题翻译：跑步机器人
公开(公告)号：JP2007007796A
公开(公告)日：2007-01-18
申请号：JP2005193272
申请日：2005-07-01
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： SUGIHARA HISAYOSHI
IPC分类号： B25J19/02 , B25J5/00 , B25J13/00 , G01P21/00 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To set an offset value for canceling a bias value contained in output of an acceleration sensor fixed to the trunk of a robot including a plurality of links.
SOLUTION: A robot body 100 is caused to take a predetermined static attitude. In that state, the output of the acceleration sensor fixed to the trunk and the output of an attitude angle sensor for detecting the attitude angle to the vertical direction of the acceleration sensor are read. The acceleration detecting direction of the acceleration sensor is calculated from the attitude angle. The component of the gravity acceleration vector in that direction is calculated. The component of the calculated gravity acceleration vector is subtracted from the value of the taken acceleration sensor. The value of subtraction is taken as an offset value to the bias value. In controlling the robot, when the output value of the acceleration sensor is taken, the offset value is subtracted from the taken value to be used for control. It is possible to use an accurate acceleration value within the roboto control device.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：设置用于消除固定在包括多个链接的机器人的躯干的加速度传感器的输出中包含的偏置值的偏移值。
解决方案：使机器人主体100采取预定的静态姿势。在该状态下，读取固定在躯干上的加速度传感器的输出和用于检测与加速度传感器的垂直方向的姿态角的姿势角传感器的输出。根据姿态角计算加速度传感器的加速度检测方向。计算该方向上重力加速度矢量的分量。从加速度传感器的值中减去计算出的重力加速度矢量的分量。减法的值作为偏置值的偏移值。在控制机器人时，当采用加速度传感器的输出值时，从用于控制的取值中减去偏移值。可以在滚动控制装置内使用精确的加速度值。版权所有（C）2007，JPO＆INPIT

8. 发明专利

JP2008229847A Leg type robot and walking control method of leg type robot 审中-公开
公开(公告)号：JP2008229847A
公开(公告)日：2008-10-02
申请号：JP2008175469
申请日：2008-07-04
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： YAMAMOTO TAKASHI , SUGIHARA HISAYOSHI , SUGA KEISUKE , TSUSAKA YUJI , TAJIMA RYUSUKE
IPC分类号： B25J5/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a leg type robot and its walking control method, for performing stable walking without using a tiptoe sensor.
SOLUTION: This leg type robot has a body trunk, a leg link rockably connected to the body trunk, a means 210 for storing tiptoe walking figure data for describing a change with the lapse of time of target tiptoe motion, a means 210 for storing body trunk walking figure data for describing a change with the lapse of time of target body trunk motion for realizing target ZMP for following a change in a target tiptoe position, a body trunk motion detecting means 218, 220 for detecting actual body trunk motion, a deviation calculating means 312 for calculating a deviation between the target body trunk motion and the actual body trunk motion, a correction quantity calculating means 308 for determining a correction quantity on the basis of a predetermined transfer function from the calculated deviation, and a correcting means 306 for correcting data for describing the target body trunk motion on the basis of the determined correction quantity.
COPYRIGHT: (C)2009,JPO&INPIT

9. 发明专利

JP2008229845A Leg type robot and walking control method of leg type robot 有权
标题翻译： LEG型机器人和LEG型机器人的行车控制方法
公开(公告)号：JP2008229845A
公开(公告)日：2008-10-02
申请号：JP2008156546
申请日：2008-06-16
申请人： Toyota Motor Corp , トヨタ自動車株式会社
发明人： YAMAMOTO TAKASHI , SUGIHARA HISAYOSHI , SUGA KEISUKE , TSUSAKA YUJI , TAJIMA RYUSUKE
IPC分类号： B25J5/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a leg type robot and its walking control method, for performing stable walking without using a tiptoe sensor.
SOLUTION: This leg type robot has a body trunk, a leg link rockably connected to the body trunk, a means 210 for storing tiptoe walking figure data for describing a change with the lapse of time of target tiptoe motion, a means 210 for storing body trunk walking figure data for describing a change with the lapse of time of target body trunk motion for realizing target ZMP for following a change in a target tiptoe position, a body trunk motion detecting means 218, 220 for detecting actual body trunk motion, a deviation calculating means 312 for calculating a deviation between the target body trunk motion and the actual body trunk motion, a correction quantity calculating means 308 for determining a correction quantity on the basis of a predetermined transfer function from the calculated deviation, and a correcting means 306 for correcting data for describing the target body trunk motion on the basis of the determined correction quantity.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了提供腿型机器人及其行走控制方法，用于在不使用脚尖传感器的情况下进行稳定的行走。解决方案：该腿型机器人具有身体躯干，与身体躯干可摇摆地连接的腿部连接件，用于存储用于描述随着目标脚尖运动的时间流逝而改变的脚尖行走图数据的装置210，装置210 用于存储身体躯干行走图数据，用于描述随着目标躯干运动的时间流逝实现目标ZMP以跟随目标脚尖位置的变化的变化;身体躯干运动检测装置218,220，用于检测实际躯干运动，用于计算目标躯干运动与实际躯干运动之间的偏差的偏差计算装置312，用于根据计算的偏差确定基于预定传递函数的校正量的校正量计算装置308，以及校正量校正装置用于基于所确定的校正量来校正用于描述目标体干运动的数据的装置306。版权所有（C）2009，JPO＆INPIT

10. 发明专利

JP2007040765A Zero point correction device of angular velocity sensor 审中-公开
标题翻译：角速度传感器的零点校正装置
公开(公告)号：JP2007040765A
公开(公告)日：2007-02-15
申请号：JP2005223508
申请日：2005-08-01
申请人： Toyota Central Res & Dev Lab Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： SUGIHARA HISAYOSHI , NONOMURA YUTAKA , FUJIYOSHI MOTOHIRO
IPC分类号： G01C19/00
CPC分类号： G01C25/005 , G01P13/00
摘要： PROBLEM TO BE SOLVED: To correct a zero point of an angular velocity sensor with a simple constitution.
SOLUTION: The angular velocity sensor 10 is provided on a moving body such as a robot. A change range setter 14 determines a static state by whether the change width of an angular velocity is below a prescribed value or not, and a static state determiner 20 determines whether the static state is continued over a determination time or not. A total sum averaging unit 34 calculates the total sum average of data to the number of (n-i) determined by removing data to the number of i just before a finish timing from data to the number of n in a period determined to be in the static state, and performs zero point offset. A zero point corrector 36 corrects the zero point of a sensor output and outputs the result to an output unit 28.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：以简单的结构校正角速度传感器的零点。解决方案：角速度传感器10设置在诸如机器人的移动体上。变化范围设定器14通过角速度的变化宽度是否低于规定值来决定静止状态，静止状态判断部20判定静止状态是否在判定时间内持续。总和平均单元34计算数据的总和平均值，其数量与通过在确定为静态的周期中从数据到数目n之间的数据去除数据之前i完成定时之前的i的数量确定状态，并执行零点偏移。零点校正器36校正传感器输出的零点并将结果输出到输出单元28.版权所有：（C）2007，JPO＆INPIT

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