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1. 发明授权

US08352077B2 Inertia shaping for humanoid fall direction change 有权
标题翻译：惯性成形为人形学下降方向变化
公开(公告)号：US08352077B2
公开(公告)日：2013-01-08
申请号：US12610872
申请日：2009-11-02
申请人： Ambarish Goswami , Seung-kook Yun , Kangkang Yin , Yoshiaki Sakagami
发明人： Ambarish Goswami , Seung-kook Yun , Kangkang Yin , Yoshiaki Sakagami
IPC分类号： G05B19/402
CPC分类号： B62D57/032
摘要： A system and method is disclosed for controlling a robot that is falling down from an upright posture. Inertia shaping is performed on the robot to avoid an object during the fall. A desired overall toppling angular velocity of the robot is determined. The direction of this velocity is based on the direction from the center of pressure of the robot to the object. A desired composite rigid body inertia of the robot is determined based on the desired overall toppling angular velocity. A desired joint velocity of the robot is determined based on the desired composite rigid body inertia. The desired joint velocity is also determined based on a composite rigid body inertia Jacobian of the robot. An actuator at a joint of the robot is then controlled to implement the desired joint velocity.
摘要翻译：公开了一种用于控制从直立姿势落下的机器人的系统和方法。在机器人上进行惯性整形，以避免坠落期间的物体。确定机器人的期望的整体倾倒角速度。该速度的方向基于从机器人的压力中心到物体的方向。基于期望的整体倾倒角速度来确定机器人的期望的复合刚体惯性。基于期望的复合刚体惯性来确定机器人的期望接合速度。所需的接合速度也是基于机器人的复合刚体惯性雅可比确定的。然后控制机器人的接头处的致动器以实现所需的接合速度。

2. 发明申请

US20100161131A1 Inertia Shaping For Humanoid Fall Direction Change 有权
标题翻译：惯性成形为人形坠落方向变化
公开(公告)号：US20100161131A1
公开(公告)日：2010-06-24
申请号：US12610872
申请日：2009-11-02
申请人： Ambarish Goswami , Seung-kook Yun , Kangkang Yin , Yoshiaki Sakagami
发明人： Ambarish Goswami , Seung-kook Yun , Kangkang Yin , Yoshiaki Sakagami
IPC分类号： G06F19/00 , G06F17/11
CPC分类号： B62D57/032
摘要： A system and method is disclosed for controlling a robot that is falling down from an upright posture. Inertia shaping is performed on the robot to avoid an object during the fall. A desired overall toppling angular velocity of the robot is determined. The direction of this velocity is based on the direction from the center of pressure of the robot to the object. A desired composite rigid body inertia of the robot is determined based on the desired overall toppling angular velocity. A desired joint velocity of the robot is determined based on the desired composite rigid body inertia. The desired joint velocity is also determined based on a composite rigid body inertia Jacobian of the robot. An actuator at a joint of the robot is then controlled to implement the desired joint velocity.
摘要翻译：公开了一种用于控制从直立姿势落下的机器人的系统和方法。在机器人上进行惯性整形，以避免坠落期间的物体。确定机器人的期望的整体倾倒角速度。该速度的方向基于从机器人的压力中心到物体的方向。基于期望的整体倾倒角速度来确定机器人的期望的复合刚体惯性。基于期望的复合刚体惯性来确定机器人的期望接合速度。所需的接合速度也是基于机器人的复合刚体惯性雅可比确定的。然后控制机器人的接头处的致动器以实现所需的接合速度。

3. 发明授权

US08498846B2 Joint-aware manipulation of deformable models 有权
标题翻译：可变形模型的联合感知操作
公开(公告)号：US08498846B2
公开(公告)日：2013-07-30
申请号：US12712790
申请日：2010-02-25
申请人： Weiwei Xu , Kangkang Yin , Baining Guo , Jun Wang , Kun Zhou , Michiel van de Panne
发明人： Weiwei Xu , Kangkang Yin , Baining Guo , Jun Wang , Kun Zhou , Michiel van de Panne
IPC分类号： G06G7/48 , G06F17/10 , G06G7/68 , G06G7/60
CPC分类号： G06F17/5086 , G06F2217/06
摘要： This disclosure describes a joint-aware deformation framework that supports the direct manipulation of an arbitrary mix of rigid and deformable components. The deformation framework may include at least a joint-analysis and a joint-aware deformation enabling a more realistic deformation of a joint-aware model.
摘要翻译：本公开描述了一种联合感知变形框架，其支持直接操纵任意混合的刚性和可变形部件。变形框架可以包括至少联合分析和联合感知变形，从而实现联合感知模型的更现实的变形。

4. 发明申请

US20110208492A1 Joint-Aware Manipulation of Deformable Models 有权
标题翻译：联合感知变形模型的操作
公开(公告)号：US20110208492A1
公开(公告)日：2011-08-25
申请号：US12712790
申请日：2010-02-25
申请人： Weiwei Xu , Kangkang Yin , Baining Guo , Jun Wang , Kun Zhou , Michiel van de Panne
发明人： Weiwei Xu , Kangkang Yin , Baining Guo , Jun Wang , Kun Zhou , Michiel van de Panne
IPC分类号： G06F17/50 , G06F7/60
CPC分类号： G06F17/5086 , G06F2217/06
摘要： This disclosure describes a joint-aware deformation framework that supports the direct manipulation of an arbitrary mix of rigid and deformable components. The deformation framework may include at least a joint-analysis and a joint-aware deformation enabling a more realistic deformation of a joint-aware model.
摘要翻译：本公开描述了一种联合感知变形框架，其支持直接操纵任意混合的刚性和可变形部件。变形框架可以包括至少联合分析和联合感知变形，从而实现联合感知模型的更现实的变形。

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