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31. 发明授权

US06920374B2 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：US06920374B2
公开(公告)日：2005-07-19
申请号：US10276742
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 , G06F19/00
CPC分类号： B62D57/02 , B62D57/024 , B62D57/032
摘要： A floor shape estimation system for a legged mobile robot, in particular a biped walking robot, which estimates a floor shape, more specifically a foot-to-foot floor inclination difference based on at least a control error of the total floor reaction force's moment and based on the estimated value and corrects a feet compensating angle based on the estimated value. Further, the system estimates a floor shape, more specifically 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. With this, it can accurately estimate the shape of a floor with which the robot is in contact. Further, if the floor shape is different from what has been supposed, it can produce the floor reaction force as desired by absorbing the influence of difference.
摘要翻译：一种用于腿部移动机器人，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楼层形状，更具体地，估计脚到脚楼板倾斜差;以及基于估计值，并且基于估计值校正脚补偿角度。此外，该系统基于至少基于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底板形状，更具体地，足底倾斜差，并且基于估计值来校正脚补偿角度。由此，能够精确地估计机器人接触的地板的形状。此外，如果地板形状与所假定的不同，则可以通过吸收差异的影响来产生所需的地板反作用力。

32. 发明授权

US06289265B1 Controller for legged mobile robot 有权
标题翻译：腿式移动机器人控制器
公开(公告)号：US06289265B1
公开(公告)日：2001-09-11
申请号：US09673629
申请日：2000-10-19
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： B62D57/032 , B25J5/00 , B25J13/085
摘要： The posture inclination of the robot is detected, a moment of compensating total floor reaction force about a desired total floor reaction force central point is determined therefrom to be distributed to each foot such that the position/posture of the feet are rotated by predetermined amounts about the desired total floor reaction force central point and a desired foot floor reaction force central points respectively. And by parallel-translating the feet in phase, the force component of the actual total floor reaction force is also controlled. In addition, the internal force components (which do not influence on the actual total floor reaction force) generated by the actual foot floor reaction force are controlled independently. With this, the system can appropriately control the actual total floor reaction force and the actual foot floor reaction force acting on the biped mobile robot, can realize walking with stable posture even when walking on the floor having not only a slant or undulation extending over a relatively long distance, but also on an unexpected local slant or level difference, and can absorb the foot-landing impact to improve the contactability of robot foot with the floor. Moreover, the system can prevent the spinning from happening and decrease the load to be exerted on the joint actuators.
摘要翻译：检测到机器人的姿势倾斜度，从其确定围绕期望的总楼面反作用力中心点补偿总楼面反作用力的时刻分配给每个脚，使得脚的位置/姿态围绕所需的总地板反作用力中心点和所需的脚踏板反作用力中心点。并且通过相位平行平移脚，也控制实际总楼面反作用力的力分量。另外，由实际脚踏反作用力产生的内力分量（不影响实际总楼面反作用力）是独立控制的。因此，该系统可以适当地控制作用在两足动物机器人上的实际总楼面反作用力和实际脚踏板反作用力，即使在不仅倾斜或起伏延伸的地板上行走时，也能以稳定的姿势实现步行相对较长的距离，也可以意外地局部倾斜或水平差异，并可以吸收脚踏撞击，提高机器人脚与地板的接触性。此外，该系统可以防止旋转发生，并且减小施加在关节致动器上的负载。

33. 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。

34. 发明授权

US08793015B2 Control method for legged mobile robot 有权
标题翻译：腿式移动机器人的控制方法
公开(公告)号：US08793015B2
公开(公告)日：2014-07-29
申请号：US11572541
申请日：2005-07-28
申请人： Tadaaki Hasegawa , Naohide Ogawa
发明人： Tadaaki Hasegawa , Naohide Ogawa
IPC分类号： B25J13/00 , B25J5/00 , B25J13/08 , G06F19/00
CPC分类号： B62D57/032
摘要： A control method for a legged mobile robot includes exercising a body of a robot such that a center of gravity of the robot obtains a momentum or the body obtains an angular momentum in a direction in which an object is to be moved while restraining a force from being applied to the object from the robot in a state wherein the robot opposes the object, and applying a force to the object from a hand of an arm body provided in the body of the robot so as to start moving the object in a state wherein the center of gravity has obtained the momentum or the body has an angular momentum. With this arrangement, when moving an object by a robot, a motion of the robot can be smoothly changed while preventing a significant change in ZMP before and after starting to move the object.
摘要翻译：一种腿式移动机器人的控制方法，包括：运动机器人的主体，使得机器人的重心获得动量，或者主体在阻止物体的移动方向上获得角动量，在机器人与物体相对的状态下从机器人施加到物体上，并且从设置在机器人主体中的臂体的手向物体施加力，以便在其中开始移动物体重心已经获得了动量或身体有一个角动量。通过这种布置，当通过机器人移动物体时，可以平滑地改变机器人的运动，同时防止在开始移动物体之前和之后ZMP的显着变化。

35. 发明授权

US08392346B2 Reinforcement learning system 有权
标题翻译：加强学习系统
公开(公告)号：US08392346B2
公开(公告)日：2013-03-05
申请号：US12610709
申请日：2009-11-02
申请人： Yugo Ueda , Tadaaki Hasegawa , Soshi Iba , Koji Akatsuka , Norikazu Sugimoto
发明人： Yugo Ueda , Tadaaki Hasegawa , Soshi Iba , Koji Akatsuka , Norikazu Sugimoto
IPC分类号： G06F15/18 , G06N3/08
CPC分类号： G06N99/005
摘要： A reinforcement learning system (1) of the present invention utilizes a value of a first value gradient function (dV1/dt) in the learning performed by a second learning device (122), namely in evaluating a second reward (r2(t)). The first value gradient function (dV1/dt) is a temporal differential of a first value function (V1) which is defined according to a first reward (r1(t)) obtained from an environment and is served as a learning result given by a first learning device (121). An action policy which should be taken by a robot (R) to execute a task is determined based on the second reward (r2(t)).
摘要翻译：本发明的强化学习系统（1）利用由第二学习装置（122）执行的学习中的第一值梯度函数（dV1 / dt）的值，即评估第二奖励（r2（t））。第一值梯度函数（dV1 / dt）是根据从环境获得的第一奖励（r1（t））定义的第一值函数（V1）的时间微分，并且被用作由第一学习装置（121）。基于第二奖励（r2（t））确定由机器人（R）执行任务应采取的动作策略。

36. 发明授权

US08280110B2 State estimating apparatus and state estimating program 有权
标题翻译：状态估计装置和状态估计程序
公开(公告)号：US08280110B2
公开(公告)日：2012-10-02
申请号：US12475779
申请日：2009-06-01
申请人： Tadaaki Hasegawa
发明人： Tadaaki Hasegawa
IPC分类号： G06K9/00
CPC分类号： G06T7/277 , G06T2207/10016 , G06T2207/30224
摘要： A state estimating apparatus permits efficient, highly accurate estimation of the state of an object. A particle in a state variable space defined by a second state variable preferentially remains or increases as the likelihood thereof relative to a current measured value of a first state variable is higher, while a particle is preferentially extinguished as the likelihood thereof is lower. A particle which transitions in the state variable space according to a state transition model with a high probability of being followed by an object (a high-likelihood model) as a next model tends to increase. On the other hand, although in a small quantity, there are particles having models (low-likelihood models) which are different from the high-likelihood model as their unique models.
摘要翻译：状态估计装置允许对物体的状态进行有效，高精度的估计。由第二状态变量定义的状态变量空间中的粒子优先保持或增加，因为其相对于第一状态变量的当前测量值的可能性较高，而粒子被优先消失，因为其可能性较低。根据状态转换模型在状态变量空间中转移的概率随着对象（高似然模型）作为下一个模型的高概率趋向于增加的粒子。另一方面，尽管少量存在具有与高可能性模型不同的模型（低似然模型）的粒子作为其唯一模型。

37. 发明授权

US07734377B2 Gait generator of legged mobile robot 有权
标题翻译：腿式移动机器人步态发生器
公开(公告)号：US07734377B2
公开(公告)日：2010-06-08
申请号：US11576656
申请日：2005-07-28
申请人： Tadaaki Hasegawa
发明人： Tadaaki Hasegawa
IPC分类号： G05B13/04
CPC分类号： B62D57/032
摘要： A gait generator determines a desired motional trajectory and a desired object reaction force trajectory of an object 120 for a predetermined period after the current time by using an object dynamic model while supplying, to the object dynamic model, a model manipulated variable (estimated disturbance force) for bringing a behavior of the object 120 on the object dynamic model close to an actual behavior, and provisionally generates a gait of a robot 1 for a predetermined period by using the aforesaid determined trajectories. Based on the gait and an object desired motion trajectory, a geometric restrictive condition, such as interference between the robot 1 and the object 120, is checked, and a moving plan for the object 120 or a gait parameter (predicted landing position/posture or the like) of the robot 1 is corrected as appropriate according to a result of the check, so as to generate a gait of the robot 1. Thus, a desired gait that satisfies a predetermined geometric restrictive condition related to the interference between the robot 1 and an object is generated by reflecting an actual environmental condition in real time while carrying out the operational control of the robot 1.
摘要翻译：步态发生器通过使用对象动态模型在当前时间之后的预定时间段内确定对象120的期望的运动轨迹和期望的物体反作用力轨迹，同时向对象动态模型提供模型操作变量（估计的扰动力），用于将对象120的行为导向接近实际行为的对象动态模型，并且通过使用上述确定的轨迹临时生成机器人1的步态达预定时间段。基于步态和对象期望的运动轨迹，检查诸如机器人1和对象120之间的干扰的几何限制条件，以及对象120的移动计划或步态参数（预测的着陆位置/姿势或根据检查结果，适当地校正机器人1的步骤，从而生成机器人1的步态。因此，满足与机器人1之间的干涉有关的规定的几何限制条件的期望的步态并且通过在执行机器人1的操作控制的同时实时反映实际环境条件来生成对象。

38. 发明授权

US07441614B2 Legged mobile robot 有权
标题翻译：有腿的移动机器人
公开(公告)号：US07441614B2
公开(公告)日：2008-10-28
申请号：US10554267
申请日：2004-05-18
申请人： Yoshinari Takemura , Tadaaki Hasegawa , Takafumi Fukushima
发明人： Yoshinari Takemura , Tadaaki Hasegawa , Takafumi Fukushima
IPC分类号： B62D51/06
CPC分类号： B25J17/0283
摘要： In a legged mobile robot, each hip joint that connects a body with a thigh link comprises a first rotary shaft that provides a degree of freedom to rotate about a yaw axis, a second rotary shaft that provides a degree of freedom to rotate about a roll axis, and a third rotary shaft that provides a degree of freedom to rotate about a pitch axis, and in addition thereto, a fourth rotary shaft that provides a redundant degree of freedom. Owing to this configuration, the amount of body bending and the movable range of the legs can be increased, thereby improving the degree of posture and gait freedom.
摘要翻译：在腿式移动机器人中，将身体与大腿连接部连接的每个髋关节包括提供围绕偏转轴线旋转的自由度的第一旋转轴，提供围绕卷轴旋转的自由度的第二旋转轴以及第三旋转轴，其提供围绕俯仰轴线旋转的自由度，并且除此之外，提供冗余自由度的第四旋转轴。由于这种构造，能够增加身体弯曲量和腿部的可动范围，从而提高姿势和步态自由度。

39. 发明申请

US20080208391A1 Gait Pattern Generating Device and Controller of Legged Mobile Robot 有权
标题翻译：步态模式生成装置和有腿移动机器人的控制器
公开(公告)号：US20080208391A1
公开(公告)日：2008-08-28
申请号：US11572677
申请日：2005-07-28
申请人： Tadaaki Hasegawa , Naohide Ogawa
发明人： Tadaaki Hasegawa , Naohide Ogawa
IPC分类号： B25J13/00 , B25J5/00
CPC分类号： B62D57/032
摘要： A gait generating system of a legged mobile robot is provided with a device for determining a desired trajectory of an external force to be applied to a robot 1, a device for determining a parameter of a desired gait (current time gait) for a predetermined period on the basis of a desired trajectory of an external force or the like, a device for determining a parameter of a virtual cyclic gait that follows the current time gait on the basis of the desired trajectory of the external force or the like, a device for correcting the current time gait parameter such that a body motion trajectory of the robot 1 of the current time gait converges to a body motion trajectory of the cyclic gait, and a device for sequentially determining an instantaneous value of the current time gait on the basis of the corrected current time gait parameter. With this arrangement, in an environment wherein an external force acts on a robot as necessary, a desired gait that allows continual stability of the robot to be secured can be generated even if the external force suddenly changes.
摘要翻译：腿式移动机器人的步态生成系统设置有用于确定要施加到机器人1的外力的期望轨迹的装置，用于在预定时段内确定期望步态（当前时间步态）的参数的装置基于期望的外力等的轨迹等的装置，用于基于外力等的期望轨迹确定跟随当前时间步态的虚拟循环步态的参数的装置，用于校正当前时间步态参数，使得当前时间步态的机器人1的身体运动轨迹收敛到循环步态的身体运动轨迹，以及用于依次确定当前时间步态的瞬时值的装置校正的当前时间步态参数。利用这种布置，在外力根据需要作用于机器人的环境中，即使外力突然变化，也可以产生允许保持机器人持续稳定的期望的步态。

40. 发明申请

US20080133057A1 Gait Generating Device Of Legged Mobile Robot 有权
标题翻译：有腿移动机器人的步态发生装置
公开(公告)号：US20080133057A1
公开(公告)日：2008-06-05
申请号：US11722052
申请日：2005-09-28
申请人： Tadaaki Hasegawa
发明人： Tadaaki Hasegawa
IPC分类号： B25J13/00
CPC分类号： B62D57/032
摘要： When a new desired gait of a robot is generated, it is determined, on the assumption that the trajectory of an acting force between the robot and an object at a predetermined time point in the future changes to a trajectory different from a desired trajectory, whether a predetermined dynamical restrictive condition can be satisfied when a desired gait after the predetermined time point is generated. If the condition cannot be satisfied, then a moving schedule for the object is corrected, the desired trajectory or the like of the acting force between the robot and the object is re-determined, and a new desired gait is generated using the re-determined desired trajectory. With this arrangement, the gait of the robot to cause the robot to perform an operation for moving the object is generated such that the stability of the posture of the robot can be secured even if an acting force between the robot and the object in the future deviates from a desired value.
摘要翻译：当产生机器人的新的期望的步态时，假设机器人和物体在将来的预定时间点上的作用力的轨迹将变成不同于期望轨迹的轨迹，当产生预定时间点之后的期望步态时，可以满足预定的动态限制条件。如果条件不能满足，则修正对象的移动计划，重新确定机器人和对象之间的作用力的期望轨迹等，并且使用重新确定的新的期望步态所需轨迹。利用这种布置，机器人使机器人执行用于移动物体的操作的步态被产生，使得即使机器人和物体在将来的作用力也能够确保机器人的姿势的稳定性偏离所需值。

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