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1. 发明授权

US08924015B2 Whole-body humanoid control from upper-body task specifications 有权
标题翻译：全身类人体控制来自上位任务规范
公开(公告)号：US08924015B2
公开(公告)日：2014-12-30
申请号：US12881129
申请日：2010-09-13
申请人： Ghassan Bin Hammam , David E. Orin , Behzad Dariush
发明人： Ghassan Bin Hammam , David E. Orin , Behzad Dariush
IPC分类号： G05B19/04 , B62D57/032 , G05B19/18
CPC分类号： B62D57/032
摘要： A system, method, and computer program product for generating dynamically feasible whole-body motion of a humanoid robot while realizing specified upper-body task motion are described. A kinematically feasible upper-body motion is generated based on the specified upper-body motion. A series of zero-moment points (ZMP) are computed for the generated motion and used to determine whether such motion is dynamically feasible. If the motion is not dynamically feasible, then the torso acceleration is modified to make the motion dynamically feasible, and otherwise synchronized as needed. A series of modified ZMP is determined based on the modified torso acceleration and used to distribute the resultant net ground reaction force and moment to the two feet.
摘要翻译：描述了一种用于在实现指定的上半身任务运动的同时生成人形机器人的动态可行的全身运动的系统，方法和计算机程序产品。基于指定的上身运动产生运动上可行的上身运动。针对生成的运动计算一系列零点（ZMP），并用于确定这种运动是否是动态可行的。如果运动不是动态可行的，则修改躯干加速度以使运动动态可行，并根据需要进行同步。基于改进的躯干加速度确定一系列改进的ZMP，并将所得到的净地面反作用力和力矩分配给两脚。

2. 发明申请

US20110066283A1 WHOLE-BODY HUMANOID CONTROL FROM UPPER-BODY TASK SPECIFICATIONS 有权
标题翻译：来自上身任务规范的全身人体控制
公开(公告)号：US20110066283A1
公开(公告)日：2011-03-17
申请号：US12881129
申请日：2010-09-13
申请人： Ghassan Bin Hammam , David E. Orin , Behzad Dariush
发明人： Ghassan Bin Hammam , David E. Orin , Behzad Dariush
IPC分类号： B25J9/00
CPC分类号： B62D57/032
摘要： A system, method, and computer program product for generating dynamically feasible whole-body motion of a humanoid robot while realizing specified upper-body task motion are described. A kinematically feasible upper-body motion is generated based on the specified upper-body motion. A series of zero-moment points (ZMP) are computed for the generated motion and used to determine whether such motion is dynamically feasible. If the motion is not dynamically feasible, then the torso acceleration is modified to make the motion dynamically feasible, and otherwise synchronized as needed. A series of modified ZMP is determined based on the modified torso acceleration and used to distribute the resultant net ground reaction force and moment to the two feet.
摘要翻译：描述了一种用于在实现指定的上半身任务运动的同时生成人形机器人的动态可行的全身运动的系统，方法和计算机程序产品。基于指定的上身运动产生运动上可行的上身运动。针对生成的运动计算一系列零点（ZMP），并用于确定这种运动是否是动态可行的。如果运动不是动态可行的，则修改躯干加速度以使运动动态可行，并根据需要进行同步。基于改进的躯干加速度确定一系列改进的ZMP，并将所得到的净地面反作用力和力矩分配给两脚。

3. 发明授权

US08924021B2 Control of robots from human motion descriptors 有权
标题翻译：人体运动描述符控制机器人
公开(公告)号：US08924021B2
公开(公告)日：2014-12-30
申请号：US11734758
申请日：2007-04-12
申请人： Behzad Dariush , Bing Jian
发明人： Behzad Dariush , Bing Jian
IPC分类号： B25J13/08 , B25J9/22 , G06N3/00 , G05B15/00 , G06F19/00
CPC分类号： G06N3/008 , G05B2219/40391 , G05B2219/40495 , Y10S901/03 , Y10S901/46
摘要： A control system and method generate torque comments for motion of a target system in response to observations of a source system. Constraints and balance control may be provided for more accurate representation of the motion as replicated by the target system.
摘要翻译：控制系统和方法响应于源系统的观测而产生针对目标系统的运动的扭矩注释。可以提供约束和平衡控制以用于由目标系统复制的运动的更准确的表示。

4. 发明申请

US20140244105A1 REAL TIME RISK ASSESSMENT FOR ADVANCED DRIVER ASSIST SYSTEM 有权
标题翻译：高级驾驶员辅助系统的实时风险评估
公开(公告)号：US20140244105A1
公开(公告)日：2014-08-28
申请号：US13775515
申请日：2013-02-25
申请人： Behzad Dariush , David A. Thompson
发明人： Behzad Dariush , David A. Thompson
IPC分类号： G06F17/00
CPC分类号： B60W40/04 , B60W30/0956 , B60W50/0098 , B60W2050/0075 , B60W2550/10 , B60W2550/12 , G01S13/931
摘要： A driver assistance system is described that takes as input a number of different types of vehicle environment inputs to provide driver assistance to a driver. To provide the assistance, the driver assistance system synthesizes the inputs. For objects in the vehicle environment detected in the inputs, object risk values are determined by applying a set of rules to the objects. The object risk values are aggregated by quadrant to generate a set of quadrant risk values. A driver assistance system of the vehicle is controlled based on the quadrant risks.
摘要翻译：描述了驾驶员辅助系统，其以输入许多不同类型的车辆环境输入作为输入，以向司机提供驾驶员辅助。为了提供帮助，驾驶员辅助系统综合了输入。对于在输入中检测到的车辆环境中的对象，通过对对象应用一组规则来确定对象风险值。对象风险值由象限汇总以产生一组象限风险值。基于象限风险控制车辆驾驶员辅助系统。

5. 发明授权

US08170287B2 Real-time self collision and obstacle avoidance 有权
标题翻译：实时自身碰撞和避障
公开(公告)号：US08170287B2
公开(公告)日：2012-05-01
申请号：US12257664
申请日：2008-10-24
申请人： Behzad Dariush , Youding Zhu , Kikuo Fujimura
发明人： Behzad Dariush , Youding Zhu , Kikuo Fujimura
IPC分类号： G06K9/00
CPC分类号： G11C11/5621 , G11C16/349
摘要： A system, method, and computer program product for avoiding collision of a body segment with unconnected structures in an articulated system are described. A virtual surface is constructed surrounding an actual surface of the body segment. Distances between the body segment and unconnected structures are monitored. Responding to an unconnected structure penetrating the virtual surface, a redirected joint motion that prevents the unconnected structure from penetrating deeper into the virtual surface is determined. The body segment is redirected based on the redirected joint motion to avoid colliding with the unconnected structure.
摘要翻译：描述了一种系统，方法和计算机程序产品，用于避免关节系统中的主体段与未连接结构的碰撞。围绕身体部分的实际表面构造虚拟表面。监测身体段与未连接结构之间的距离。响应穿透虚拟表面的未连接的结构，确定防止未连接结构深入虚拟表面的重定向关节运动。基于重定向的关节运动，主体部分被重定向，以避免与未连接的结构相冲突。

6. 发明授权

US07469166B2 System and method of predicting novel motion in a serial chain system 有权
标题翻译：串联链系统中新颖运动的预测系统及方法
公开(公告)号：US07469166B2
公开(公告)日：2008-12-23
申请号：US11038691
申请日：2005-01-19
申请人： Behzad Dariush
发明人： Behzad Dariush
IPC分类号： G06F19/00
CPC分类号： A61B5/4528 , A61B5/103 , A61B5/1038 , A61B5/1122 , A61B5/4519 , G06F19/00 , G09B23/30 , G09B23/32
摘要： A method of predicting kinematic data for a segment. The method comprises the steps of determining a modified acceleration using at least original kinematic data, estimating a joint load for a joint of the segment by using at least the modified acceleration, and predicting kinematic data for the segment based on one or more modified parameters. Therefore, various embodiments advantageously allow for prediction of novel motion.
摘要翻译：一种预测段的运动学数据的方法。该方法包括以下步骤：使用至少原始的运动学数据来确定改进的加速度，通过至少使用经修改的加速度来估计节段的关节的联合载荷，以及基于一个或多个修改的参数来预测所述段的运动学数据。因此，各种实施例有利地允许预测新颖的运动。

7. 发明申请

US20070255454A1 Control Of Robots From Human Motion Descriptors 有权
标题翻译：从人体运动描述符控制机器人
公开(公告)号：US20070255454A1
公开(公告)日：2007-11-01
申请号：US11734758
申请日：2007-04-12
申请人： Behzad Dariush
发明人： Behzad Dariush
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05B2219/40391 , G05B2219/40495 , Y10S901/03 , Y10S901/46
摘要： A control system and method generate torque comments for motion of a target system in response to observations of a source system. Constraints and balance control may be provided for more accurate representation of the motion as replicated by the target system.
摘要翻译：控制系统和方法响应于源系统的观测而产生针对目标系统的运动的扭矩注释。可以提供约束和平衡控制以用于由目标系统复制的运动的更准确的表示。

8. 发明授权

US07217247B2 Gravity compensation method in a human assist system and a human assist system with gravity compensation control 有权
标题翻译：人体辅助系统中的重力补偿方法和重力补偿控制的人力辅助系统
公开(公告)号：US07217247B2
公开(公告)日：2007-05-15
申请号：US10655460
申请日：2003-09-05
申请人： Behzad Dariush , Yasushi Ikeuchi , Masakazu Kawai
发明人： Behzad Dariush , Yasushi Ikeuchi , Masakazu Kawai
IPC分类号： A61B5/103 , G06F19/00 , G01L5/00
CPC分类号： A61H1/00 , A61H2001/0211 , A63B21/00181 , B25J9/0006 , B62D57/032
摘要： A method for obtaining an assist torque to be applied to a human joint, in a human assist system for applying an assist torque to the human joint to reduce load of muscles, and the human assist system are provided. The method comprises the step of obtaining a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment. The method further comprises the step of obtaining an assist torque to be applied to the joint to compensate for the moment due to gravity, acting on the joint. The human assist system comprises a motor for delivering an assist torque to a joint and a motor driver for driving control of the motor. The system further comprises a controller for determining a desired value of an assist torque, comprising a processor and a memory. The controller is configured to obtain a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment and then to obtain an assist torque to be delivered to the joint to compensate for the moment due to gravitational acceleration at the joint.The method provides a natural subdivision between the voluntary actuators which are responsible for forward progression of motion and the assist actuators which are responsible for preserving static equilibrium. This subdivision may mitigate the interference between voluntary control and artificial control.
摘要翻译：提供一种用于获得施加于人体关节的辅助扭矩的方法，在用于向人体关节施加辅助扭矩以减轻肌肉负荷的人辅助系统和人体辅助系统中的方法。该方法包括基于每个段上的力和力矩平衡的方程，由于重力而获得作用在每个人体节段的关节上的力矩的步骤。该方法还包括以下步骤：获得施加到接头上的辅助扭矩以补偿作用在接头上的重力作用的力矩。人体辅助系统包括用于向关节传递辅助扭矩的马达和用于驱动马达的控制的马达驱动器。该系统还包括用于确定辅助扭矩的期望值的控制器，包括处理器和存储器。控制器被配置为基于重力作用于每个人节的关节上的力矩，基于每个段上的力和力矩平衡方程，然后获得要传递到关节的辅助扭矩以补偿力矩由于接头处的重力加速度。该方法提供自主执行器之间的自然细分，负责运动的正向运动和负责保持静态平衡的辅助致动器。这种细分可以减轻自愿控制和人工控制之间的干扰。

9. 发明申请

US20070070738A1 Motor and controller inversion: commanding torque to position-controlled robot 有权
标题翻译：电机和控制器反转：指向定位控制机器人的扭矩
公开(公告)号：US20070070738A1
公开(公告)日：2007-03-29
申请号：US11541001
申请日：2006-09-29
申请人： Hector Gonzalez-Banos , Behzad Dariush
发明人： Hector Gonzalez-Banos , Behzad Dariush
IPC分类号： G11C29/00
CPC分类号： B25J9/1628 , B25J9/1633 , G05B2219/42042
摘要： Systems and methods are presented that cancel the dynamics of a motor and a joint controller in the presence of communication time delays, measurement noise, and controller parameter uncertainties inherent in a robot system. A cancellation system includes feedback of the measured output Ê of a controller block C. A first summing node (Σ1) subtracts Ê from the desired voltage Ed to determine a voltage error, which is fed into a G(s) block. A second summing node (Σ2) adds the output of the G(s) block to the desired voltage Ed to generate the signal E, which is fed into a non-robust controller inversion block C−1. The block C−1 outputs a value μ, which is fed into the block C. The block C outputs the actual voltage E, which is input into a motor block M. Under perfect conditions, the voltage error is zero, in which case the input to block G(s) is zero.
摘要翻译：提出了系统和方法，其在存在通信时间延迟，测量噪声和机器人系统固有的控制器参数不确定性的情况下抵消电动机和联合控制器的动力学。取消系统包括控制器块C的测量输出的反馈。第一求和节点（Sigma＆lt; 1＆gt; 1＆gt;）从期望的电压E 中减去E以确定电压错误，它被馈送到G（s）块。第二求和节点（Sigma＆gt; 2＆gt;）将G（s）块的输出相加到期望的电压E 以产生信号{过滤（E，被馈送）进入非鲁棒控制器反转块C 0〜1，块C 1〜0输出输入到块C的值mu，块C输出实际电压E被输入到电动机块M.在完美的条件下，电压误差为零，在这种情况下，块G（s）的输入为零。

10. 发明申请

US20060293791A1 Regenerative actuation in motion control 有权
标题翻译：运动控制中的再生致动
公开(公告)号：US20060293791A1
公开(公告)日：2006-12-28
申请号：US11450248
申请日：2006-06-08
申请人： Behzad Dariush
发明人： Behzad Dariush
IPC分类号： G06F19/00
CPC分类号： B25J9/0006
摘要： A motion controlled system for a robotic system stores energy when the robotic system uses negative power and releases the stored energy when the robotic system uses positive power. The motion controlled system calculates the power for causing the robotic system to follow a prescribed motion and applies the appropriate control signals to the robotic system in response to detected parameters of the robotic system.
摘要翻译：当机器人系统使用负功率时，机器人系统的运动控制系统存储能量，并且当机器人系统使用正功率时释放存储的能量。运动控制系统计算使机器人系统遵循规定运动的功率，并根据检测到的机器人系统的参数将适当的控制信号施加到机器人系统。

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