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31. 发明授权

US07881824B2 System and method of controlling a legged locomotion robot 有权
标题翻译：控制有腿运动机器人的系统和方法
公开(公告)号：US07881824B2
公开(公告)日：2011-02-01
申请号：US10508062
申请日：2003-03-18
申请人： Kenichiro Nagasaka , Jinichi Yamaguchi , Satoru Shimizu , Yoshihiro Kuroki
发明人： Kenichiro Nagasaka , Jinichi Yamaguchi , Satoru Shimizu , Yoshihiro Kuroki
IPC分类号： G05B15/00 , G05B19/00
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 amount becomes maximum 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：将作为质量量变为最大的受控对象点的机器人的腰部设定为局部坐标的原点，将加速度传感器设置在受控对象点处，以直接测量该位置处的姿态和加速度控制机器人在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。

32. 发明申请

US20100206651A1 ROBOT APPARATUS AND METHOD OF CONTROLLING THE SAME, AND COMPUTER PROGRAM 有权
标题翻译：机器人装置及其控制方法和计算机程序
公开(公告)号：US20100206651A1
公开(公告)日：2010-08-19
申请号：US12698550
申请日：2010-02-02
申请人： Kenichiro Nagasaka
发明人： Kenichiro Nagasaka
IPC分类号： B25J9/00 , B62D61/00 , G05B15/00 , G06F19/00 , B25J5/00
CPC分类号： B25J5/007
摘要： In a robot apparatus having a base unit, a wheel unit of an opposed-two-wheel type mounted on the base unit and having driving wheels drivable so as to face each other, and an upper-body unit provided on an upper portion of the base unit and configured by concatenating one or more joints; a robot apparatus includes an opposed-two-wheel equivalent model, a robot-state observing unit, a control unit performing a control arithmetic operation for the opposed-two-wheel equivalent model, a transforming unit transforming a part of control target values calculated by the control unit to a control target value for the wheel unit, and a joint control unit controlling a joint-driving actuator of the wheel unit and also controlling a joint-driving actuator other than the joint-driving actuator.
摘要翻译：在具有基座单元的机器人装置中，安装在基座上的相对的两轮式车轮单元，具有能够彼此相对驱动的驱动轮，以及设置在所述基座单元的上部的上部单元基本单元并通过连接一个或多个接头来配置; 机器人装置包括相对的两轮等效模型，机器人状态观察单元，对相对的两轮当量模型进行控制算术运算的控制单元，变换由所述控制单元为所述车轮单元的控制目标值，以及关节控制单元，其控制所述车轮单元的关节驱动致动器，并且还控制所述关节驱动致动器以外的关节驱动致动器。

33. 发明申请

US20090105997A1 DYNAMICS SIMULATION DEVICE, DYNAMICS SIMULATION METHOD, AND COMPUTER PROGRAM 失效
标题翻译：动力学模拟装置，动力学模拟方法和计算机程序
公开(公告)号：US20090105997A1
公开(公告)日：2009-04-23
申请号：US12247715
申请日：2008-10-08
申请人： Kenichiro Nagasaka
发明人： Kenichiro Nagasaka
IPC分类号： G06F7/60 , G06F17/10
CPC分类号： G06F17/5009 , G06F2217/16
摘要： A dynamics simulation device for dynamically simulating physical interactions acting on a plurality of objects under an environment where the objects coexist is disclosed. The device includes: nominal value providing means for providing a nominal value Λn of an operational space inertial matrix; nominal inertial force calculating means for calculating a nominal inertial force acting on the operational space by the use of the nominal value Λn of the operational space inertial matrix and a target acceleration value of the physical quantity x; a disturbance observer estimating forces other than the nominal inertial force acting on the operational space as a disturbance; and means for calculating the force f acting on the physical quantity on the basis of the nominal inertial force and the estimated disturbance fd.
摘要翻译：公开了一种动态模拟在物体共存的环境下作用于多个物体的物理相互作用的动力学模拟装置。该装置包括：用于提供操作空间惯性矩阵的标称值Lambdan的标称值提供装置; 标称惯性力计算装置，用于通过使用操作空间惯性矩阵的标称值Lambdan和物理量x的目标加速度值来计算作用在操作空间上的标称惯性力; 估计作为干扰作用于作战空间的标称惯性力之外的力的扰动观测器; 以及用于基于标称惯性力和估计的扰动fd来计算作用于物理量的力f的装置。

34. 发明申请

US20090105878A1 CONTROL SYSTEM, CONTROL METHOD, AND ROBOT APPARATUS 有权
标题翻译：控制系统，控制方法和机器人装置
公开(公告)号：US20090105878A1
公开(公告)日：2009-04-23
申请号：US12248121
申请日：2008-10-09
申请人： Kenichiro Nagasaka
发明人： Kenichiro Nagasaka
IPC分类号： B25J13/00
CPC分类号： B25J13/084
摘要： There is provided a control system which controls a link structure constructed by connecting a plurality of rigid body links and driven by making a joint actuator generate an actuator force. The control system includes a mechanical model including geometric parameters and dynamical parameters of the link structure, a virtual external force calculating means for calculating a virtual force acting on the mechanical model of the link structure, a contact part detecting means for detecting contact parts between the link structure and the outside, and an actual force converting means for converting the virtual force calculated by the virtual external force calculating means into an external force capable of existing actually and the actuator force of the joint actuator, using contact information detected by the contact part detecting means. The joint actuator is made to generate the actuator force output by the actual force converting means.
摘要翻译：提供了一种控制系统，其控制通过连接多个刚体链节而构成的连杆结构，并且通过使关节致动器产生致动器力而被驱动。控制系统包括包括连杆结构的几何参数和动力学参数的机械模型，用于计算作用在连杆结构的机械模型上的虚拟力的虚拟外力计算装置，用于检测连杆结构的接触部分的接触部分检测装置连杆结构和外部，以及实际力转换装置，用于将由虚拟外力计算装置计算出的虚拟力转换为能够实际存在的外力和接合致动器的致动器力，使用由接触部检测到的接触信息检测装置。使关节致动器产生由实际力转换装置输出的致动器力。

35. 发明申请

US20080204425A1 Force/tactile display, method for controlling force/tactile display, and computer program 有权
标题翻译：力/触觉显示，力/触觉显示控制方法和计算机程序
公开(公告)号：US20080204425A1
公开(公告)日：2008-08-28
申请号：US12072225
申请日：2008-02-25
申请人： Kenichiro Nagasaka , Masakuni Nagano , Keisuke Kato
发明人： Kenichiro Nagasaka , Masakuni Nagano , Keisuke Kato
IPC分类号： G06F3/041
CPC分类号： G06F3/016
摘要： A force/tactile display that presents force/tactile sensation that occurs in response to physical interaction with each of a plurality of objects present in a virtual environment includes an action point defined on the mechanical structure, the action point presenting the force/tactile sensation, an applied force control means for controlling the force exerted on the action point, and an action point control means for controlling the position of the action point.
摘要翻译：呈现响应于存在于虚拟环境中的多个物体的物理相互作用而发生的力/触感的力/触觉显示包括在机械结构上定义的动作点，呈现力/触觉的动作点，用于控制施加在作用点上的力的施加力控制装置和用于控制作用点的位置的动作点控制装置。

36. 发明申请

US20070196801A1 Sound effects generation device, sound effects generation method, and computer program product 失效
标题翻译：音效生成装置，声音效果生成方法和计算机程序产品
公开(公告)号：US20070196801A1
公开(公告)日：2007-08-23
申请号：US11634989
申请日：2006-12-07
申请人： Kenichiro Nagasaka , Masakuni Nagano
发明人： Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： G09B23/28
CPC分类号： G09B23/06 , G09B23/28
摘要： A sound effect generation device for generating a sound effect corresponding to a physical interaction between objects in a virtual space in which a plurality of virtual objects coexists, includes interaction detection means for detecting an object on which the physical interaction occurs in the virtual space, mechanical quantity calculation means for calculating mechanical quantity acting on the object in accordance with the interaction using a mechanical model for determining, based on physics, behavior between the objects on which the physical interaction acts, and sound effect generation means for generating the sound effect caused in the object by the interaction using the calculated mechanical quantity.
摘要翻译：一种用于生成与多个虚拟对象共存的虚拟空间中的对象之间的物理交互相对应的声音效果的声音效果生成装置，包括用于检测虚拟空间中物理交互发生的对象的交互检测装置，机械数量计算装置，用于根据所述交互使用机械模型来计算作用在所述物体上的机械量，所述机械模型基于物理学来确定物理相互作用所执行的物体之间的行为，以及用于产生在对象通过交互使用计算的机械量。

37. 发明申请

US20070021870A1 Robot apparatus 有权
标题翻译：机器人装置
公开(公告)号：US20070021870A1
公开(公告)日：2007-01-25
申请号：US11490759
申请日：2006-07-21
申请人： Kenichiro Nagasaka
发明人： Kenichiro Nagasaka
IPC分类号： G06F19/00
CPC分类号： B25J13/084
摘要： An external force estimation system for estimating an external force acting upon a robot apparatus which includes a machine body which in turn includes a plurality of movable joints is disclosed which includes a distribution type contacting state detection section, an actuator current state measurement section, a motion state measurement section, a motion equation setting section, a known term calculation section, and an external force estimation section.
摘要翻译：一种用于估计作用于机器人装置的外力的外力估计系统，其包括机体，该机体又包括多个可动接头，该机体包括分配型接触状态检测部，致动器电流状态测量部，运动状态测量部，运动方程设定部，已知项计算部，外力推定部。

38. 发明申请

US20050038560A1 Robot device, motion control device for robot device and motion control method 有权
标题翻译：机器人装置，机器人装置运动控制装置及运动控制方法
公开(公告)号：US20050038560A1
公开(公告)日：2005-02-17
申请号：US10500372
申请日：2003-10-29
申请人： Kenichiro Nagasaka
发明人： Kenichiro Nagasaka
IPC分类号： A63H11/00 , A63H11/18 , B25J5/00 , B25J13/08 , B62D57/032 , G06F19/00
CPC分类号： B62D57/032
摘要： A motion equation with a boundary condition regarding a future center-of-gravity horizontal trajectory of a robot is solved so that the moment around a horizontal axis at a point within a support polygon is zero when the robot is in contact with a floor or so that horizontal translational force is zero when the robot is not in contact with the floor and so that connection is made to a current horizontal position and speed of the center of gravity. In addition, a motion equation with a boundary condition regarding a future center-of-gravity vertical trajectory of the robot is solved so that vertical translational force acting upon the robot other than gravity is zero when the robot is not in contact with the floor and so that connection is made to a current vertical position and speed of the center of gravity. A motion state of a next time is determined so that, when the robot is not in contact with the floor, the moment around the center of gravity is zero, and the determined center-of-gravity position is achieved. Therefore, a stable motion pattern which allows transition between a floor contact period and a floor non-contact period is generated in real time.
摘要翻译：解决了关于机器人的未来重心水平轨迹的边界条件的运动方程，使得当机器人与地面等接触时，支撑多边形内的点处的水平轴周围的力矩为零当机器人不与地板接触时，水平平移力为零，并且使得连接成当前的水平位置和重心的速度。此外，解决了关于机器人的未来重心垂直轨迹的边界条件的运动方程，使得当机器人不与地面接触时作用于机器人而不是重力的垂直平移力为零; 使得连接到当前的垂直位置和重心的速度。确定下一次的运动状态，使得当机器人不与地板接触时，重心周围的力矩为零，并且确定了确定的重心位置。因此，能够实时地生成能够在地板接触时间段和地板非接触时间段之间进行转换的稳定运动模式。

39. 发明授权

US08725293B2 Control device for robot, control method and computer program 有权
标题翻译：机器人控制装置，控制方法和计算机程序
公开(公告)号：US08725293B2
公开(公告)日：2014-05-13
申请号：US13236718
申请日：2011-09-20
申请人： Kenichiro Nagasaka
发明人： Kenichiro Nagasaka
IPC分类号： G05B19/00
CPC分类号： B25J9/1607 , G05B2219/39261 , G05B2219/39286 , G05B2219/42153
摘要： A control device for a robot including: a hybrid dynamics calculator calculating joint forces that act on immovable joints and the joint accelerations that are generated at movable joints by performing a hybrid dynamics calculation that includes inverse dynamics and forward dynamics using an auxiliary model in which the actuated joints of the robot having the actuated joints and the unactuated joints are immovable; a forward dynamics calculator calculating the acceleration that is generated by known force that acts on the robot using a main model; a joint force determination unit determining the joint force; and a joint force controller controlling the joint force of each joint of the robot.
摘要翻译：一种用于机器人的控制装置，包括：混合动力学计算器，通过执行包括反向动力学和前向动力学的混合动力学计算来计算在不可移动关节处产生的接合力，以及在可移动关节处产生的关节加速度，其中，具有致动接头和未致动接头的机器人的致动接头是不可移动的; 计算由使用主模型作用在机器人上的已知力产生的加速度的前向动力学计算器; 确定联合力的联合力确定单元; 以及控制机器人的每个关节的关节力的联合力控制器。

40. 发明授权

US08648797B2 Information input/output device, information input/output method and computer program 有权
标题翻译：信息输入/输出设备，信息输入/输出方法和计算机程序
公开(公告)号：US08648797B2
公开(公告)日：2014-02-11
申请号：US12436222
申请日：2009-05-06
申请人： Kenichiro Nagasaka
发明人： Kenichiro Nagasaka
IPC分类号： G09G5/00
CPC分类号： G06F3/014 , G06F3/016 , G06F3/0346 , G06F3/0481 , G06F3/04815
摘要： An information input/output device includes: a position input unit configured to designate a position by a user in a prescribed operation area Sd in real space; a designated position measurement unit configured to measure a designated position “rd” in the operation area Sd, which is designated by the user in the position input unit; an operation area offset amount determination unit configured to determine an offset amount “Δrv0” of an origin position “rv0” of an operation area Sv in virtual space based on the measured position “rd” in the operation area Sd; and a designated position determination unit configured to determine a designated position “rv” in virtual space which corresponds to the position in real space designated by the user through the position input unit based on the measured position “rd” in the operation area Sd, the origin position “rv0” of the operation area Sv in virtual space and the determined offset amount “Δrv0”.
摘要翻译：信息输入/输出装置包括：位置输入单元，被配置为在实际空间中指定用户在规定操作区域Sd中的位置; 指定位置测量单元，被配置为测量在位置输入单元中由用户指定的操作区域Sd中的指定位置“rd”; 操作区域偏移量确定单元，被配置为基于操作区域Sd中的测量位置“rd”确定虚拟空间中的操作区域Sv的原点位置“rv0”的偏移量“Deltarv0” 以及指定位置确定单元，被配置为基于操作区域Sd中的测量位置“rd”，通过位置输入单元确定与用户指定的实际空间中的位置相对应的虚拟空间中的指定位置“rv”，虚拟空间中的操作区域Sv的起始位置“rv0”和确定的偏移量“Deltarv0”。

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