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1. 发明申请

US20100161126A1 Humanoid Fall Direction Change Among Multiple Objects 有权
标题翻译：人型生物落后方向改变多个对象
公开(公告)号：US20100161126A1
公开(公告)日：2010-06-24
申请号：US12641163
申请日：2009-12-17
申请人： Ambarish Goswami , Umashankar Nagarajan , Yoshiaki Sakagami
发明人： Ambarish Goswami , Umashankar Nagarajan , Yoshiaki Sakagami
IPC分类号： G05B19/04
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 falling down from an upright posture and the robot located near a plurality of surrounding objects. A plurality of predicted fall directions of the robot are determined, where each predicted fall direction is associated with a foot placement strategy, such as taking a step, for avoiding the surrounding objects. The degree to which each predicted fall direction avoids the surrounding objects is determined. A best strategy is selected from the various foot placement strategies based on the degree to which the associated fall direction avoids the surrounding objects. The robot is controlled to implement this best strategy.
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，所述机器人从直立姿势落下并且所述机器人位于多个周围物体附近。确定机器人的多个预测的下降方向，其中每个预测的下降方向与脚部放置策略相关联，例如采取步骤以避免周围物体。确定每个预测的下降方向避免周围物体的程度。根据相关秋季方向避免周围物体的程度，从各种脚部放置策略中选择最佳策略。控制机器人实施这一最佳策略。

2. 发明授权

US08369991B2 Humanoid fall direction change among multiple objects 有权
标题翻译：人型下降方向在多个物体之间变化
公开(公告)号：US08369991B2
公开(公告)日：2013-02-05
申请号：US12641163
申请日：2009-12-17
申请人： Ambarish Goswami , Umashankar Nagarajan , Yoshiaki Sakagami
发明人： Ambarish Goswami , Umashankar Nagarajan , Yoshiaki Sakagami
IPC分类号： G05B19/04 , G05B19/18
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 falling down from an upright posture and the robot located near a plurality of surrounding objects. A plurality of predicted fall directions of the robot are determined, where each predicted fall direction is associated with a foot placement strategy, such as taking a step, for avoiding the surrounding objects. The degree to which each predicted fall direction avoids the surrounding objects is determined. A best strategy is selected from the various foot placement strategies based on the degree to which the associated fall direction avoids the surrounding objects. The robot is controlled to implement this best strategy.
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，所述机器人从直立姿势落下并且所述机器人位于多个周围物体附近。确定机器人的多个预测的下降方向，其中每个预测的下降方向与脚部放置策略相关联，例如采取步骤以避免周围物体。确定每个预测的下降方向避免周围物体的程度。根据相关秋季方向避免周围物体的程度，从各种脚部放置策略中选择最佳策略。控制机器人实施这一最佳策略。

3. 发明授权

US08332068B2 Intelligent stepping for humanoid fall direction change 有权
标题翻译：智能步进为人形方向下降方向改变
公开(公告)号：US08332068B2
公开(公告)日：2012-12-11
申请号：US12610865
申请日：2009-11-02
申请人： Ambarish Goswami , Seung-kook Yun , Yoshiaki Sakagami
发明人： Ambarish Goswami , Seung-kook Yun , Yoshiaki Sakagami
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A system and method is disclosed for controlling a robot having at least two legs that is falling down from an upright posture. An allowable stepping zone where the robot is able to step while falling is determined. The allowable stepping zone may be determined based on leg Jacobians of the robot and maximum joint velocities of the robot. A stepping location within the allowable stepping zone for avoiding an object is determined. The determined stepping location maximizes an avoidance angle comprising an angle formed by the object to be avoided, a center of pressure of the robot upon stepping to the stepping location, and a reference point of the robot upon stepping to the stepping location. The reference point, which may be a capture point of the robot, indicates the direction of fall of the robot. The robot is controlled to take a step toward the stepping location.
摘要翻译：公开了一种用于控制具有从直立姿势落下的至少两条腿的机器人的系统和方法。确定机器人能够在跌落时踏步的允许步进区域。可以根据机器人的腿部Jacobians和机器人的最大联合速度来确定允许的步进区域。确定允许的步进区域内用于避免物体的步进位置。所确定的步进位置最大化包括由待避免的物体形成的角度，步进到步进位置时机器人的压力中心和步进到步进位置时的机器人的参考点的回避角度。可以是机器人的捕获点的参考点表示机器人的下落方向。控制机器人向步进位置迈出一步。

4. 发明申请

US20100161120A1 Intelligent Stepping For Humanoid Fall Direction Change 有权
标题翻译：智能步进人型落后方向变化
公开(公告)号：US20100161120A1
公开(公告)日：2010-06-24
申请号：US12610865
申请日：2009-11-02
申请人： Ambarish Goswami , Seung-kook Yun , Yoshiaki Sakagami
发明人： Ambarish Goswami , Seung-kook Yun , Yoshiaki Sakagami
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A system and method is disclosed for controlling a robot having at least two legs that is falling down from an upright posture. An allowable stepping zone where the robot is able to step while falling is determined. The allowable stepping zone may be determined based on leg Jacobians of the robot and maximum joint velocities of the robot. A stepping location within the allowable stepping zone for avoiding an object is determined. The determined stepping location maximizes an avoidance angle comprising an angle formed by the object to be avoided, a center of pressure of the robot upon stepping to the stepping location, and a reference point of the robot upon stepping to the stepping location. The reference point, which may be a capture point of the robot, indicates the direction of fall of the robot. The robot is controlled to take a step toward the stepping location.
摘要翻译：公开了一种用于控制具有从直立姿势落下的至少两条腿的机器人的系统和方法。确定机器人能够在跌落时踏步的允许步进区域。可以根据机器人的腿部Jacobians和机器人的最大联合速度来确定允许的步进区域。确定允许的步进区域内用于避免物体的步进位置。所确定的步进位置最大化包括由待避免的物体形成的角度，步进到步进位置时机器人的压力中心和步进到步进位置时的机器人的参考点的回避角度。可以是机器人的捕获点的参考点表示机器人的下落方向。控制机器人向步进位置迈出一步。

5. 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。

6. 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。

7. 发明授权

US07693514B2 Information gathering robot 有权
标题翻译：信息采集机器人
公开(公告)号：US07693514B2
公开(公告)日：2010-04-06
申请号：US10915535
申请日：2004-08-11
申请人： Yoshiaki Sakagami , Yoko Saito , Koji Kawabe , Takamichi Shimada , Nobuo Higaki
发明人： Yoshiaki Sakagami , Yoko Saito , Koji Kawabe , Takamichi Shimada , Nobuo Higaki
IPC分类号： H04Q7/20
CPC分类号： H04W4/02 , G05D1/0246 , G05D1/0274 , G05D2201/0207 , H04L67/12
摘要： In an event site or the like, a visitor may waste time and effort trying to find a spot where an event of interest may be taking place because the visitor is unable to look through the entire site from any particular spot. An information gathering robot roams in such an event site typically along a prescribed route, and notes spots of interest to transmit this information to a data server. The visitor can access the data server to find a spot of interest of his or her choice substantially on a real time basis.
摘要翻译：在事件现场等中，访客可能会浪费时间和精力去尝试寻找可能发生的兴趣事件的地点，因为访问者无法从任何特定的地点查看整个站点。信息收集机器人通常沿着规定的路线在这样的事件站点中漫游，并且记录将该信息发送到数据服务器的感兴趣点。访问者可以访问数据服务器，实质上基于实时地查找他或她选择的兴趣点。

8. 发明授权

US07340100B2 Posture recognition apparatus and autonomous robot 有权
标题翻译：姿势识别装置和自主机器人
公开(公告)号：US07340100B2
公开(公告)日：2008-03-04
申请号：US10635778
申请日：2003-08-07
申请人： Nobuo Higaki , Yoshiaki Sakagami , Naoaki Sumida
发明人： Nobuo Higaki , Yoshiaki Sakagami , Naoaki Sumida
IPC分类号： G06K9/48
CPC分类号： G06F3/017 , G06K9/00335
摘要： A posture recognition apparatus recognizes instructions signified by postures of persons present in the surroundings, from images obtained with an image capture device. The posture recognition apparatus includes an outline extraction device that extracts an outline of a body which is a candidate for a person from the images; a distance calculation device that calculates a distance to the body being the candidate, from distance information of each pixel within the outline in the image; a search device that searches for a candidate for a hand of a person based on the outline and the distance to the body represented by the outline; and a posture determination device that determines an instruction corresponding to the relative position of the candidate for a hand and the outline, and outputs this determination result as a posture determination result.
摘要翻译：姿势识别装置从通过图像拍摄装置获得的图像识别由周围的人存在的姿势所指示的指令。姿势识别装置包括：轮廓提取装置，从图像中提取作为人的候选者的身体的轮廓; 距离计算装置，从图像中的轮廓内的每个像素的距离信息计算到作为候选者的身体的距离; 搜索装置，其基于轮廓和与轮廓所表示的身体的距离来搜索人的手的候选人; 以及姿势确定装置，其确定与手的候选者和轮廓的相对位置相对应的指令，并将该确定结果作为姿势确定结果输出。

9. 发明申请

US20050054332A1 Information gathering robot 有权
标题翻译：信息采集机器人
公开(公告)号：US20050054332A1
公开(公告)日：2005-03-10
申请号：US10915535
申请日：2004-08-11
申请人： Yoshiaki Sakagami , Yoko Saito , Koji Kawabe , Takamichi Shimada , Nobuo Higaki
发明人： Yoshiaki Sakagami , Yoko Saito , Koji Kawabe , Takamichi Shimada , Nobuo Higaki
IPC分类号： G06F19/00 , G05D1/02 , G06F1/00 , H04L29/08 , H04W4/02 , H04Q7/20
CPC分类号： H04W4/02 , G05D1/0246 , G05D1/0274 , G05D2201/0207 , H04L67/12
摘要： In an event site or the like, a visitor may waste time and effort trying to find a spot where an event of interest may be taking place because the visitor is unable to look through the entire site from any particular spot. An information gathering robot roams in such an event site typically along a prescribed route, and notes spots of interest to transmit this information to a data server. The visitor can access the data server to find a spot of interest of his or her choice substantially on a real time basis.
摘要翻译：在事件现场等中，访客可能会浪费时间和精力去尝试寻找可能发生的兴趣事件的地点，因为访问者无法从任何特定的地点查看整个站点。信息收集机器人通常沿着规定的路线在这样的事件站点中漫游，并且记录将该信息发送到数据服务器的感兴趣点。访问者可以访问数据服务器，实质上基于实时地查找他或她选择的兴趣点。

10. 发明申请

US20050041839A1 Picture taking mobile robot 有权
标题翻译：图片拍摄移动机器人
公开(公告)号：US20050041839A1
公开(公告)日：2005-02-24
申请号：US10914338
申请日：2004-08-10
申请人： Youko Saitou , Koji Kawabe , Yoshiaki Sakagami , Tomonobu Gotou , Takamichi Shimada
发明人： Youko Saitou , Koji Kawabe , Yoshiaki Sakagami , Tomonobu Gotou , Takamichi Shimada
IPC分类号： G06F19/00 , G06K9/00 , H04N1/00
CPC分类号： H04N1/00127 , H04N1/00137 , H04N1/00164 , H04N1/00244 , H04N1/00307 , H04N2201/0084
摘要： A mobile robot that is fitted with a camera and can be controlled from a remote terminal such as a mobile phone moves about in an event site to detect and track a moving object such as a visitor and entertainer. Because the camera along with the robot itself can change its position freely autonomously and/or according to a command from the mobile terminal, a desired frame layout can be accomplished by moving the position of the robot. Therefore, the operator is not required to execute a complex image trimming process or other adjustment of the obtained picture image so that a desired picture can be obtained quickly and without any difficulty. If the user is allowed access the managing server, the user can download the desired picture images and have them printed out at will. Also, because the selected picture images can be transmitted to the managing server, the robot is prevented from running out of memory for storing the picture images.
摘要翻译：装有摄像机的移动机器人可以由移动电话等远程终端进行控制，在事件现场进行移动，以检测和跟踪诸如访客和艺人之类的移动物体。因为照相机和机器人本身可以自由地和/或根据来自移动终端的命令改变其位置，所以可以通过移动机器人的位置来实现期望的帧布局。因此，不需要操作者对所获得的图像图像执行复杂的图像修整处理或其他调整，使得可以快速且毫无困难地获得期望的图像。如果用户被允许访问管理服务器，则用户可以下载所需的图片图像并随意打印出来。此外，由于所选择的图像图像可以被发送到管理服务器，所以防止了机器人用尽存储图像图像的存储器。

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