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1. 发明授权

US08195332B2 Learning capture points for humanoid push recovery 有权
标题翻译：学习人性推动恢复的捕获点
公开(公告)号：US08195332B2
公开(公告)日：2012-06-05
申请号：US12274263
申请日：2008-11-19
申请人： Jerry Pratt , Ambarish Goswami , John Rebula , Fabian Canas
发明人： Jerry Pratt , Ambarish Goswami , John Rebula , Fabian Canas
IPC分类号： B25J9/10
CPC分类号： B62D57/032
摘要： A system and method is disclosed for controlling a robot having at least two legs, the robot subjected to an event such as a push that requires the robot to take a step to prevent a fall. In one embodiment, a current capture point is determined, where the current capture point indicates a location on a ground surface that is the current best estimate of a stepping location for avoiding a fall and for reaching a stopped state. The robot is controlled to take a step toward the current capture point. After taking the step, if the robot fails to reach a stopped state without taking any additional steps, an updated current capture point is determined based on the state of the robot after taking the step. The current capture points can be stored in a capture point memory and initialized based on a model of the robot.
摘要翻译：公开了一种用于控制具有至少两条腿的机器人的系统和方法，所述机器人经受诸如推动的事件，其需要机器人采取步骤以防止坠落。在一个实施例中，确定当前捕获点，其中当前捕获点指示地面上的位置，其是用于避免跌倒并达到停止状态的步进位置的当前最佳估计。控制机器人向目前的捕获点迈出一步。在步骤之后，如果机器人在不采取任何附加步骤的情况下不能达到停止状态，则基于在步骤之后的机器人的状态来确定更新的当前捕获点。当前捕获点可以存储在捕获点存储器中，并基于机器人的模型进行初始化。

2. 发明申请

US20080133053A1 Determination of Foot Placement for Humanoid Push Recovery 失效
标题翻译：确定人型推动恢复的足部位置
公开(公告)号：US20080133053A1
公开(公告)日：2008-06-05
申请号：US11946702
申请日：2007-11-28
申请人： Jerry Pratt , Ambarish Goswami
发明人： Jerry Pratt , Ambarish Goswami
IPC分类号： G06F19/00 , G06F17/11
CPC分类号： B62D57/032
摘要： A legged robot subjected to a force is controlled by determining an instantaneous capture point where the robot will step with a swing leg to reach a balanced home position, the balanced home position being a state in which the Center of Mass remains substantially over the Center of Pressure and the robot is able to maintain its balance indefinitely. The capture point can be determined using a Linear Inverted Pendulum Plus Flywheel (LIPPF) model of the robot. The LIPPF model includes a flywheel with a mass and a rotational inertia, and a variable length leg link. A torque profile is applied to the flywheel and a set of capture points is determined based on this torque profile An experimentally determined error value can be added to a capture point that is determined based on the model to account for differences between an actual robot and the model.
摘要翻译：经受力的腿式机器人通过确定机器人将与摇摆踏板一起达到平衡的起始位置的瞬时捕获点来控制，平衡的起始位置是质量中心基本上超过中心的状态压力和机器人能够无限期地保持其平衡。捕获点可以使用机器人的线性倒立摆飞轮（LIPPF）模型来确定。 LIPPF型号包括具有质量和旋转惯性的飞轮和可变长度的腿连杆。扭矩曲线应用于飞轮，并且基于该扭矩曲线确定一组捕获点。实验确定的误差值可以被添加到基于模型确定的捕获点，以考虑实际机器人与模型。

3. 发明申请

US20090132087A1 Learning Capture Points for Humanoid Push Recovery 有权
标题翻译：学习人型推动恢复的获取点
公开(公告)号：US20090132087A1
公开(公告)日：2009-05-21
申请号：US12274263
申请日：2008-11-19
申请人： Jerry Pratt , Ambarish Goswami , John Rebula , Fabian Canas
发明人： Jerry Pratt , Ambarish Goswami , John Rebula , Fabian Canas
IPC分类号： G06F17/00
CPC分类号： B62D57/032
摘要： A system and method is disclosed for controlling a robot having at least two legs, the robot subjected to an event such as a push that requires the robot to take a step to prevent a fall. In one embodiment, a current capture point is determined, where the current capture point indicates a location on a ground surface that is the current best estimate of a stepping location for avoiding a fall and for reaching a stopped state. The robot is controlled to take a step toward the current capture point. After taking the step, if the robot fails to reach a stopped state without taking any additional steps, an updated current capture point is determined based on the state of the robot after taking the step. The current capture points can be stored in a capture point memory and initialized based on a model of the robot.
摘要翻译：公开了一种用于控制具有至少两条腿的机器人的系统和方法，所述机器人经受诸如推动的事件，其需要机器人采取步骤以防止坠落。在一个实施例中，确定当前捕获点，其中当前捕获点指示地面上的位置，其是用于避免跌倒并达到停止状态的步进位置的当前最佳估计。控制机器人向目前的捕获点迈出一步。在步骤之后，如果机器人在不采取任何附加步骤的情况下不能达到停止状态，则基于在步骤之后的机器人的状态来确定更新的当前捕获点。当前捕获点可以存储在捕获点存储器中，并基于机器人的模型进行初始化。

4. 发明授权

US07949430B2 Determination of foot placement for humanoid push recovery 失效
标题翻译：确定人形推动恢复的足部位置
公开(公告)号：US07949430B2
公开(公告)日：2011-05-24
申请号：US11946702
申请日：2007-11-28
申请人： Jerry Pratt , Ambarish Goswami
发明人： Jerry Pratt , Ambarish Goswami
IPC分类号： G05B13/04 , G05B19/416
CPC分类号： B62D57/032
摘要： A legged robot subjected to a force is controlled by determining an instantaneous capture point where the robot will step with a swing leg to reach a balanced home position, the balanced home position being a state in which the Center of Mass remains substantially over the Center of Pressure and the robot is able to maintain its balance indefinitely. The capture point can be determined using a Linear Inverted Pendulum Plus Flywheel (LIPPF) model of the robot. The LIPPF model includes a flywheel with a mass and a rotational inertia, and a variable length leg link. A torque profile is applied to the flywheel and a set of capture points is determined based on this torque profile An experimentally determined error value can be added to a capture point that is determined based on the model to account for differences between an actual robot and the model.
摘要翻译：经受力的腿式机器人通过确定机器人将与摇摆踏板一起达到平衡的起始位置的瞬时捕获点来控制，平衡的起始位置是质量中心基本上超过中心的状态压力和机器人能够无限期地保持其平衡。捕获点可以使用机器人的线性倒立摆飞轮（LIPPF）模型来确定。 LIPPF型号包括具有质量和旋转惯性的飞轮和可变长度的腿连杆。扭矩曲线应用于飞轮，并且基于该扭矩曲线确定一组捕获点。实验确定的误差值可以被添加到基于模型确定的捕获点，以考虑实际机器人与模型。

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