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121. 发明授权

US07319918B2 Gait generation device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的步态生成装置
公开(公告)号：US07319918B2
公开(公告)日：2008-01-15
申请号：US10499935
申请日：2002-12-27
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A gait generation device for setting a translation floor reaction force's horizontal component (component concerning a friction force) applied to a robot 1, a limitation-target quantity, such as a ZMP, and an allowable range, for determining at least a provisional instantaneous value of a desired floor reaction force and a provisional instantaneous value for a desired movement of the robot 1, that receives at least the provisional instantaneous value for the desired movement and determines a model floor reaction force instantaneous value with the aid of a dynamics model. Based on the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of the desired floor reaction force or the allowable range of the limitation-target quantity, the provisional instantaneous value for the desired movement is corrected so that the limitation-target quantity falls within the allowable range and a dynamical equilibrium condition on the dynamics model is satisfied, thereby determining a desired instantaneous value.
摘要翻译：一种用于设置平移反作用力的应用于机器人1的水平分量（关于摩擦力的分量）的步态生成装置，诸如ZMP的限制目标量和允许范围，用于至少确定临时瞬时值具有期望的地面反作用力和用于机器人1的期望运动的临时瞬时值，其至少接收用于期望运动的临时瞬时值，并且借助于动力学模型来确定模型楼层反作用力瞬时值。基于模型楼层反作用力瞬时值与期望地板反作用力的临时瞬时值或限制目标量的允许范围之间的差异，校正期望移动的临时瞬时值，使得限制目标数量在允许范围内，动态模型的动力学平衡条件得到满足，从而确定所需的瞬时值。

122. 发明授权

US07319917B2 Gait generation device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的步态生成装置
公开(公告)号：US07319917B2
公开(公告)日：2008-01-15
申请号：US10499516
申请日：2002-12-26
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B62D57/02
摘要： A gait generation device for generating a desired gait which includes floating periods in which all the legs 2, 2 of a legged mobile robot 1 float in the air and landing periods in which at least one leg 2 is in contact with a floor which appear alternately generates the desired gait in such a manner that, at least when shifting from the floating period to the landing period, the velocity of an end portion 22 of a landing leg with respect to the floor and the acceleration thereof with respect to the floor is substantially 0 at the instant of landing. After both the velocity of the end portion of the leg with respect to the floor and the acceleration thereof with respect to the floor are determined to be substantially 0, a movement of the body of the robot with the desired gait is determined in such a manner that the horizontal component of a moment produced about the desired ZMP by the resultant force of gravity and an inertial force applied to the robot 1 is substantially 0. This eliminates the landing impact.
摘要翻译：一种用于产生期望的步态的步态生成装置，其包括浮动周期，其中腿式可移动机器人1的所有腿部2,2在空中漂浮，并且着陆期间中至少一个腿部2与交替出现的地板接触产生期望的步态，使得至少在从浮动周期转移到着陆阶段时，着陆腿相对于地板的端部22的速度和相对于地板的加速度基本上是 0在登陆的时刻。在腿部相对于地面的端部的速度和相对于地板的加速度被确定为大致为零之后，以这种方式确定机器人的主体以期望的步态的移动通过合成重力和施加到机器人1的惯性力围绕期望的ZMP产生的力矩的水平分量基本为0.这消除了着陆冲击。

123. 发明申请

US20070168080A1 Gait generating system for mobile robot 有权
标题翻译：移动机器人步态生成系统
公开(公告)号：US20070168080A1
公开(公告)日：2007-07-19
申请号：US10597732
申请日：2005-02-16
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A gait generating system for a mobile robot has n dynamic models and determines a first gait parameter defining a desired gait such that the boundary condition of a gait on a first dynamic model is satisfied. The first gait parameter is corrected step by step by using an m-th dynamic model (m: integer satisfying 2≦m≦n), which is each dynamic model other than the first dynamic model, and an m-th gait parameter that satisfies the boundary condition on the m-th dynamic model is determined. The m-th gait parameter is determined by correcting an object of an (m−1)th gait parameter to be corrected on the basis of the degree of deviation of the gait generated on the m-th dynamic model by using the (m−1)th gait parameter from the boundary condition. A final determined n-th gait parameter and an n-th dynamic model are used to generate a desired gait.
摘要翻译：用于移动机器人的步态生成系统具有n个动态模型，并且确定定义期望步态的第一步态参数，使得满足第一动态模型上的步态的边界条件。第一个步态参数通过使用第m个动态模型（m：满足2 <= m <= n）的整数，其是除第一动态模型之外的每个动态模型，以及第m步态参数确定满足第m个动态模型的边界条件。通过使用（m-）步态参数，通过基于在第m动态模型上产生的步态的偏离程度来校正要校正的第（m-1）步态参数的对象来确定第m步态参数， 1）步态参数从边界条件。使用最终确定的第n步态参数和第n动态模型来产生期望的步态。

124. 发明申请

US20070126387A1 Control device for mobile body 有权
标题翻译：移动体控制装置
公开(公告)号：US20070126387A1
公开(公告)日：2007-06-07
申请号：US10596051
申请日：2004-11-29
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G05B19/04
CPC分类号： B25J13/085 , B62D57/032
摘要： A control system for a mobile robot is provided with a base body 53 and a plurality of link mechanisms 52 and 54 connected thereto. A sensor 90 for detecting external forces is provided on a predetermined portion (knee) between the base body 53 and a distal portion (foot) 58 of the link mechanism (leg) 52. In a motion posture in which a robot 61 has a predetermined portion (knee) in contact with the ground, the displacement of at least a joint 55 between the base body 53 and the predetermined portion (knee) is controlled so as to bring an external force (floor reaction force) detected by the sensor 90 close to a desired external force. In a state wherein a portion other than a distal portion of a leg or arm of the robot 61 is in contact with a floor or the like and subject to an external force, the external force acting on the portion other than the distal portion of the leg or arm is properly controlled, thereby maintaining a stable posture of the robot 61.
摘要翻译：用于移动机器人的控制系统设置有基体53和与其连接的多个连杆机构52和54。用于检测外力的传感器90设置在基体53和连杆机构（支腿）52的远端部分（脚）58之间的预定部分（膝盖）上。在机器人61具有与地面接触的预定部分（膝盖）的运动姿势中，控制基体53与预定部分（膝盖）之间的至少一个接合部55的位移，以使外部由传感器90检测到的力（地板反作用力）接近期望的外力。在机器人61的腿部或臂部的远端部以外的部分与地板等接触而受到外力的状态下，作用于除了远端部以外的部分的外力腿或臂被适当地控制，从而保持机器人61的稳定的姿势。

125. 发明申请

US20070061038A1 GAIT GENERATING DEVICE FOR MOVING ROBOT 有权
标题翻译：用于移动机器人的GAIT生成装置
公开(公告)号：US20070061038A1
公开(公告)日：2007-03-15
申请号：US10597933
申请日：2005-02-28
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： To generate a desired gait of a robot 1 such that a permissible range of a predetermined component (a translational floor reaction force horizontal component or the like) of a floor reaction force acting on the mobile robot 1, a gait generating system for a mobile robot creates a provisional motion, which indicates a provisional value of a desired motion, and repeats processing for correcting the provisional motion by using a first dynamic model and a second dynamic model having a dynamic accuracy that is higher than that of the first dynamic model until a predetermined condition is satisfied, thereby obtaining a final corrected motion as the desired motion. Relative to the provisional motion and a corrected motion at each correction, a difference between a predetermined component of a floor reaction force produced on the second dynamic model and a predetermined component of a floor reaction force produced on the first dynamic model is determined as a floor reaction force error, and a change amount of the error at each correction is also determined. A corrected motion when the change amount has converged to zero is determined as the desired motion.
摘要翻译：为了产生机器人1的所需步态，使得作用在移动机器人1上的地板反作用力的预定部件（平移地板反作用力水平部件等）的允许范围，用于移动机器人的步态生成系统创建指示期望运动的临时值的临时运动，并且通过使用具有比第一动态模型的动态精度更高的动态精度的第一动态模型和第二动态模型来重复用于校正临时运动的处理，直到满足预定条件，从而获得作为期望运动的最终校正运动。相对于临时运动和在每次校正处的校正运动，将在第二动态模型上产生的地面反作用力的预定分量与在第一动态模型上产生的地板反作用力的预定分量之间的差确定为底板反作用力误差和每次校正时的误差的变化量也被确定。当变化量已经收敛到零时的校正运动被确定为期望的运动。

126. 发明申请

US20070013506A1 Control device for mobile body 有权
标题翻译：移动体控制装置
公开(公告)号：US20070013506A1
公开(公告)日：2007-01-18
申请号：US10596048
申请日：2004-10-29
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike
IPC分类号： G08B23/00
CPC分类号： B25J13/085 , B62D57/032
摘要： Ground contact portions are categorized in a tree structure manner such that all of the ground contact portions of a mobile body (mobile robot) equipped with three or more ground contact portions become leaf nodes and that an intermediate node exists between the leaf nodes and a root node having all the leaf nodes as its descendant nodes. On each node (a C-th node) having child nodes, the correction amounts of the desired relative heights of the ground contact portions of the C-th node are determined such that at least the difference between an actual posture inclination and a desired posture inclination of a predetermined portion, such as a base body, (posture inclination difference) is approximated to zero, and joints of the mobile body 1 are operated so that a desired relative height obtained by combining the correction amounts is satisfied.
摘要翻译：接地部分以树结构的方式分类，使得装备有三个或更多个接地部分的移动体（移动机器人）的所有接地部分成为叶节点，并且中间节点存在于叶节点和根节点之间节点具有所有叶节点作为其后代节点。在具有子节点的每个节点（第C节点）上，确定第C个节点的接地部分的期望相对高度的校正量，使得至少实际姿势倾斜与期望姿势之间的差异诸如基体的预定部分的倾斜（姿势倾斜差）近似为零，并且操作移动体1的关节，使得满足通过组合校正量而获得的期望相对高度。

127. 发明授权

US07145305B2 System for estimating attitude of leg type moving robot itself 有权
标题翻译：用于估计腿型移动机器人本身姿态的系统
公开(公告)号：US07145305B2
公开(公告)日：2006-12-05
申请号：US10511451
申请日：2003-04-28
申请人： Toru Takenaka , Takashi Matsumoto
发明人： Toru Takenaka , Takashi Matsumoto
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J13/088 , B62D57/02 , G01C21/16
摘要： A system for estimating an acceleration of a motion of an accelerometer itself that is generated by a motion of a robot 1, using amounts of motional states of the robot, including a desired motion of a desired gait, a detected value of a displacement of a joint, and a desired value of the displacement of the joint of the robot 1 having a gyro sensor (angular velocity sensor) and an accelerometer installed on a body 3 or the like thereof, and for estimating an actual posture of a predetermined part, such as the body 3, on the basis of the acceleration of the motion, the detected acceleration value of the accelerometer, and the angular velocity detected value of the angular velocity sensor. An error of the estimated value of the actual posture of the predetermined part is estimated on the basis of a difference between the detected acceleration value and the motional acceleration, and then an input of an integrating means for integrating angular velocity detected values is corrected to bring the aforesaid error close to zero so as to obtain an output of the integrating means as an estimated value of the actual posture. Thus, an actual posture of a predetermined part is accurately estimated.
摘要翻译：一种用于估计由机器人1的运动产生的加速度计本身的运动的加速度的系统，使用机器人的运动状态量，包括所需步态的期望运动，检测到的位移的值关节，以及具有安装在主体3等上的具有陀螺仪传感器（角速度传感器）和加速度计的机器人1的关节的位移的期望值，并且用于估计预定部分的实际姿势，作为主体3，基于运动的加速度，检测到的加速度计的加速度值和角速度传感器的角速度检测值。基于检测到的加速度值和运动加速度之间的差来估计预定部分的实际姿势的估计值的误差，然后校正用于积分角速度检测值的积分装置的输入以带来上述误差接近零，以便获得积分装置的输出作为实际姿势的估计值。因此，精确地估计预定部分的实际姿势。

128. 发明申请

US20050228539A1 Control device and footstep determination device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的控制装置和脚步确定装置
公开(公告)号：US20050228539A1
公开(公告)日：2005-10-13
申请号：US10511360
申请日：2003-04-28
申请人： Toru Takenaka , Takashi Matsumoto
发明人： Toru Takenaka , Takashi Matsumoto
IPC分类号： B62D57/02 , B62D57/032 , G06F19/00
CPC分类号： B62D57/032 , B25J13/085
摘要： A landing position/orientation of a foot (22) to be landed in a landing action of a robot (1) such as a biped mobile robot or the like is estimated, and a desired footstep path for the robot (1) is set up. Based on the estimated landing position/orientation and the desired footstep path, a future desired landing position/orientation is determined in order to cause actual footsteps of the robot (1) (a sequence of landing positions/orientations of the foot (22)) to approach desired footsteps. Using at least the determined desired landing position/orientation, a desired gait for the robot (1) is determined, and the robot (1) is controlled in operation depending on the desired gait. For determining the desired landing position/orientation, mechanism-dependent limitations of the robot (1) such as an interference between the legs thereof, etc., and limiting conditions of an allowable range in which a desired ZMP can exist are taken into consideration.
摘要翻译：估计要在诸如两足动物机器人之类的机器人（1）的着陆动作中降落的脚（22）的着陆位置/方向，并且建立机器人（1）的期望的脚步路径。基于估计的着陆位置/方向和期望的脚步路径，确定未来期望的着陆位置/取向，以便引起机器人（1）的实际脚步（脚的顺序（着陆位置/取向））接近所需的脚步声。至少使用所确定的所需着陆位置/方向，确定机器人（1）的期望步态，并且根据期望的步态来操纵机器人（1）。为了确定期望的着陆位置/方位，考虑到机器人（1）的依赖于机构的限制，例如其腿部之间的干扰等，以及可以存在期望的ZMP的允许范围的限制条件。

129. 发明申请

US20050120444A1 Control system 有权
公开(公告)号：US20050120444A1
公开(公告)日：2005-06-02
申请号：US10498966
申请日：2002-12-26
申请人： Toru Takenaka
发明人： Toru Takenaka
IPC分类号： G05B11/36 , G05B13/02 , G05B13/04 , B25J11/00
CPC分类号： G05B11/36 , G05B13/021 , G05B13/041
摘要： A control system that constantly and accurately controls a control variable so that it remains within an allowable range is provided. The control system in accordance with the present invention estimates a steady-state deviation d in a controlled object as a steady-state deviation estimation value d′ on the basis of a control variable y and a final desired value y2. A control variable y in a controlled object based on the initial desired value y1 is estimated as the primary estimation value y1′ on the basis of at least the initial desired value y1 and the steady-state deviation estimation value d′. If a primary estimation value y1′ is within an allowable range, then a final desired value y2 agreeing with an initial desired value y1 is determined, while, if the primary estimation value y1′ is out of the allowable range, then the final desired value y2 is determined on the basis of at least a boundary value of the allowable range. A manipulation variable x is determined on the basis of the final desired value y2.

130. 发明授权

US06876903B2 Gait pattern generating device for legged mobile robot 有权
标题翻译：用于腿式移动机器人的步态图案生成装置
公开(公告)号：US06876903B2
公开(公告)日：2005-04-05
申请号：US10416817
申请日：2001-11-16
申请人： Toru Takenaka
发明人： Toru Takenaka
IPC分类号： B25J5/00 , B25J13/00 , B62D57/032 , G05B19/00
CPC分类号： B62D57/032
摘要： A gait generation system of a legged mobile robot, in particular a biped robot that has the dynamic model expressing the relationship between the motion of the body and leg and the floor reaction force, and provisionally determines the current time gait parameters including at least parameters that determine leg trajectory and the like in response to a demand, supposes the parameters of a periodic gait, corrects the current time gait parameters such that the body trajectory determined from the dynamic model and the parameters of the current time gait, etc., converges to a body trajectory determined from the parameters of the periodic gait, and determines instantaneous values of the current time gait based on the corrected current time gait parameter. With this, the system can generates a gait of any stride, turning angle and walking period, including the floor reaction force acting on the legged mobile robot, that satisfies the dynamic equilibrium condition. Further, the system can generates a gait in such a manner that the displacement and velocity of each robot part are continues at the boundary of the generated gait and that succeeding thereto, can generate a gait that is high in the margin of stability, can predict future behavior of the robot and generate a gait such that no disadvantages such as posture divergence occurs.
摘要翻译：腿式移动机器人的步态生成系统，特别是具有表示身体和腿部的运动与地面反作用力之间的关系的动力学模型的双足机器人，并临时确定当前时间步态参数，其包括至少参数根据需要确定腿部轨迹等，假设周期性步态的参数，校正当前时间步态参数，使得从动态模型确定的身体轨迹和当前时间步态等的参数收敛于根据周期性步态的参数确定的身体轨迹，并且基于校正的当前时间步态参数确定当前时间步态的瞬时值。由此，该系统可以产生任何步幅，转角和行走时间，包括作用在有腿的移动机器人上的地面反作用力，满足动态平衡状态。此外，该系统可以以这样的方式生成步态，使得每个机器人部件的位移和速度在生成的步态的边界处继续，并且随后的步态可以产生在稳定边缘中高的步态，可以预测机器人的未来行为并产生步态，使得不存在诸如姿势发散的缺点。

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