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1. 发明授权

US08849454B2 Humanoid robot push recovery on level and non-level ground 有权
标题翻译：人型机器人在水平和非水平地面上推动恢复
公开(公告)号：US08849454B2
公开(公告)日：2014-09-30
申请号：US13425383
申请日：2012-03-20
申请人： Seungkook Yun , Ambarish Goswami , Sung-Hee Lee
发明人： Seungkook Yun , Ambarish Goswami , Sung-Hee Lee
IPC分类号： B25J9/16 , B62D57/032
CPC分类号： B62D57/032 , Y10S901/01
摘要： A robot controller controls a robot to maintain balance in response to an external disturbance (e.g., a push) on level or non-level ground. The robot controller determines a predicted stepping location for the robot such that the robot will be able to maintain a balanced upright position if it steps to that location. As long as the stepping location predicted stepping location remains within a predefined region (e.g., within the area under the robot's feet), the robot will maintain balance in response to the push via postural changes without taking a step. If the predicted stepping location moves outside the predefined region, the robot will take a step to the predicted location in order to maintain its balance.
摘要翻译：机器人控制器控制机器人以响应于水平或非水平地面上的外部干扰（例如，推动）而保持平衡。机器人控制器确定机器人的预测步进位置，使得如果机器人步进到该位置，则机器人将能够保持平衡的直立位置。只要步进位置预测步进位置保持在预定区域内（例如，在机器人脚下的区域内），机器人将通过姿势改变来响应于推动而保持平衡，而不采取步骤。如果预测的步进位置移动到预定区域之外，机器人将采取步骤到预测位置，以保持其平衡。

2. 发明申请

US20120245734A1 HUMANOID ROBOT PUSH RECOVERY ON LEVEL AND NON-LEVEL GROUND 有权
标题翻译： HUMANOID机器人在水平和非水平地面上的恢复
公开(公告)号：US20120245734A1
公开(公告)日：2012-09-27
申请号：US13425383
申请日：2012-03-20
申请人： Seungkook Yun , Ambarish Goswami , Sung-Hee Lee
发明人： Seungkook Yun , Ambarish Goswami , Sung-Hee Lee
IPC分类号： B25J9/16
CPC分类号： B62D57/032 , Y10S901/01
摘要： A robot controller controls a robot to maintain balance in response to an external disturbance (e.g., a push) on level or non-level ground. The robot controller determines a predicted stepping location for the robot such that the robot will be able to maintain a balanced upright position if it steps to that location. As long as the stepping location predicted stepping location remains within a predefined region (e.g., within the area under the robot's feet), the robot will maintain balance in response to the push via postural changes without taking a step. If the predicted stepping location moves outside the predefined region, the robot will take a step to the predicted location in order to maintain its balance.
摘要翻译：机器人控制器控制机器人以响应于水平或非水平地面上的外部干扰（例如，推动）而保持平衡。机器人控制器确定机器人的预测步进位置，使得如果机器人步进到该位置，则机器人将能够保持平衡的直立位置。只要步进位置预测步进位置保持在预定区域内（例如，在机器人脚下的区域内），机器人将通过姿势改变来响应于推动而保持平衡，而不采取步骤。如果预测的步进位置移动到预定区域之外，机器人将采取步骤到预测位置，以保持其平衡。

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