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1. 发明授权

US09156159B2 Robot cyclic locomotion using a dynamic object 有权
标题翻译：机器人循环运动使用动态对象
公开(公告)号：US09156159B2
公开(公告)日：2015-10-13
申请号：US13415605
申请日：2012-03-08
申请人： Jessica Hodgins , Katsu Yamane , Yu Zheng
发明人： Jessica Hodgins , Katsu Yamane , Yu Zheng
IPC分类号： G06F19/00 , B25J9/00 , B62D57/032 , B62D57/02 , G05B15/00 , B25J13/08
CPC分类号： B25J9/00 , B25J13/085 , B25J13/088 , B62D57/02 , B62D57/032 , G05B15/00
摘要： Techniques are disclosed for optimizing and maintaining cyclic biped locomotion of a robot on an object. The approach includes simulating trajectories of the robot in contact with the object. During each trajectory, the robot maintains balance on the object, while using the object for locomotion. The approach further includes determining, based on the simulated trajectories, an initial state of a cyclic gait of the robot such that the simulated trajectory of the robot starting from the initial state substantially returns to the initial state at an end of one cycle of the cyclic gait. In addition, the approach includes sending joint angles and joint velocities of the initial state to a set of joint controllers of the robot to cause a leg of the robot to achieve the initial state so the robot moves through one or more cycles of the cyclic gait.
摘要翻译：公开了用于优化和维持机器人在物体上的循环双足运动的技术。该方法包括模拟与物体接触的机器人的轨迹。在每个轨迹期间，机器人在使用对象进行移动时，保持物体上的平衡。该方法还包括基于模拟轨迹确定机器人的循环步态的初始状态，使得从初始状态开始的机器人的模拟轨迹在循环的一个循环的结尾基本上返回到初始状态步态。此外，该方法包括将初始状态的关节角度和关节速度发送到机器人的一组联合控制器，以使机器人的腿部达到初始状态，使得机器人通过循环步态的一个或多个循环。

2. 发明申请

US20130131865A1 Kinematic and Dynamic Calibration Methods for Legged Robots with Force-Controlled Joints 有权
标题翻译：具有力控关节的腿式机器人的运动和动态校准方法
公开(公告)号：US20130131865A1
公开(公告)日：2013-05-23
申请号：US13302728
申请日：2011-11-22
申请人： Katsu Yamane
发明人： Katsu Yamane
IPC分类号： G05B19/04
CPC分类号： B25J9/1692 , B62D57/032
摘要： A method for calibrating a force-controlled, biped humanoid robot. The method includes selecting a kinematic constraint for the humanoid robot such as maintain the two feet in flat contact with the floor. The method includes moving the humanoid robot into a plurality of poses while enforcing the kinematic constraint. The method includes, during the moving or posing step, collecting angle measurements for a set of joints of the humanoid robot and then, with a processor, running a kinematic calibration module to determine angular offsets for the robot joints to allow determination of joint torques by a robot controller with truer angular orientations. The method includes, during the moving step, collecting relative orientation data from an inertial movement unit (IMU) mounted on the pelvis link, and the angular offsets are determined using relative orientation data. All data is collected from devices on the robot, and no external data collection is required.
摘要翻译：一种用于校准力控制的两足动物人形机器人的方法。该方法包括选择人形机器人的运动约束，例如保持两脚与地面平坦接触。该方法包括在执行运动约束的同时将人形机器人移动到多个姿势中。该方法包括：在移动或摆动步骤期间，收集角形测量用于人形机器人的一组关节，然后利用处理器运行运动学校准模块，以确定机器人关节的角度偏移，以允许通过以下方式确定关节扭矩一个具有更好角度定向的机器人控制器。该方法包括：在移动步骤期间，收集来自安装在骨盆连杆上的惯性运动单元（IMU）的相对取向数据，并且使用相对取向数据确定角度偏移。所有数据都是从机器人上的设备收集的，不需要外部数据收集。

3. 发明授权

US08805584B2 Kinematic and dynamic calibration methods for legged robots with force-controlled joints 有权
标题翻译：具有力控关节的腿式机器人的运动和动态校准方法
公开(公告)号：US08805584B2
公开(公告)日：2014-08-12
申请号：US13302728
申请日：2011-11-22
申请人： Katsu Yamane
发明人： Katsu Yamane
IPC分类号： G05B19/04 , B25J9/16
CPC分类号： B25J9/1692 , B62D57/032
摘要： A method for calibrating a force-controlled, biped humanoid robot. The method includes selecting a kinematic constraint for the humanoid robot such as maintain the two feet in flat contact with the floor. The method includes moving the humanoid robot into a plurality of poses while enforcing the kinematic constraint. The method includes, during the moving or posing step, collecting angle measurements for a set of joints of the humanoid robot and then, with a processor, running a kinematic calibration module to determine angular offsets for the robot joints to allow determination of joint torques by a robot controller with truer angular orientations. The method includes, during the moving step, collecting relative orientation data from an inertial movement unit (IMU) mounted on the pelvis link, and the angular offsets are determined using relative orientation data. All data is collected from devices on the robot, and no external data collection is required.
摘要翻译：一种用于校准力控制的两足动物人形机器人的方法。该方法包括选择人形机器人的运动约束，例如保持两脚与地面平坦接触。该方法包括在执行运动约束的同时将人形机器人移动到多个姿势中。该方法包括：在移动或摆动步骤期间，收集角形测量用于人形机器人的一组关节，然后利用处理器运行运动学校准模块，以确定机器人关节的角度偏移，以允许通过以下方式确定关节扭矩一个具有更好角度定向的机器人控制器。该方法包括：在移动步骤期间，收集来自安装在骨盆连杆上的惯性运动单元（IMU）的相对取向数据，并且使用相对取向数据确定角度偏移。所有数据都是从机器人上的设备收集的，不需要外部数据收集。

4. 发明授权

US08698899B2 Motion capture system and method for three-dimensional reconfiguring of characteristic point in motion capture system 有权
标题翻译：运动捕捉系统和运动捕捉系统特征点三维重构方法
公开(公告)号：US08698899B2
公开(公告)日：2014-04-15
申请号：US11911512
申请日：2006-04-11
申请人： Yoshihiko Nakamura , Katsu Yamane , Hiroaki Tanie
发明人： Yoshihiko Nakamura , Katsu Yamane , Hiroaki Tanie
IPC分类号： H04N5/225
CPC分类号： G06T7/596 , G06T7/55 , G06T2207/10021 , G06T2207/30208
摘要： In an optical motion capture system, it is possible to measure spatially high-dense data by increasing the number of measuring points. In the motion capture system using a mesh marker, intersections of lines for the mesh marker are called nodes and the lines connecting the nodes are called edges. The system includes a plurality of cameras for capturing a two-dimensional image of the mesh marker by imaging a subject having the mesh marker, a node/edge detecting section for detecting node/edge information on the mesh marker from the two-dimensional image captured by the respective cameras, and a three-dimensional reconstructing section for acquiring three-dimensional position information of the nodes by using the node/edge information detected from the plurality of two-dimensional images captured by different cameras.
摘要翻译：在光学运动捕捉系统中，可以通过增加测量点的数量来测量空间高密度数据。在使用网格标记的运动捕捉系统中，网格标记的线的交点称为节点，连接节点的线称为边。该系统包括多个相机，用于通过对具有网格标记的对象进行成像来捕获网格标记的二维图像，用于从所捕获的二维图像中检测网格标记上的节点/边缘信息的节点/边缘检测部分以及三维重建部分，用于通过使用从由不同摄像机捕获的多个二维图像中检测到的节点/边缘信息来获取节点的三维位置信息。

5. 发明授权

US07136722B2 Method for generating a motion of a human type link system 失效
标题翻译：用于产生人类链接系统的运动的方法
公开(公告)号：US07136722B2
公开(公告)日：2006-11-14
申请号：US10360873
申请日：2003-02-10
申请人： Yoshihiko Nakamura , Katsu Yamane , Manabu Tange
发明人： Yoshihiko Nakamura , Katsu Yamane , Manabu Tange
IPC分类号： G06F19/00
CPC分类号： B25J9/1633 , G05B2219/39323 , G05B2219/40316 , G05B2219/40517 , G06T13/40
摘要： A human-type link system, such as a humanoid robot having a dynamically feasible motion of the link system that is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by calculating from a dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acting on the link system and the acceleration of the link system caused by the force.
摘要翻译：通过基于计算的外力的评估来确定当仅从运动学约束条件计算出的基准关节加速度时产生的链接系统的动态可行运动的人型联动系统，或者通过从动态约束条件和运动约束条件同时计算而产生动态约束条件，通过使用表示作用在链路系统上的力的关系的致动空间反向惯性矩阵来形成动态约束条件，由力引起的连杆系统的加速。

6. 发明申请

US20130054021A1 ROBOTIC CONTROLLER THAT REALIZES HUMAN-LIKE RESPONSES TO UNEXPECTED DISTURBANCES 审中-公开
标题翻译：机器人控制器实现了人为反应的意外障碍
公开(公告)号：US20130054021A1
公开(公告)日：2013-02-28
申请号：US13219047
申请日：2011-08-26
申请人： AKIHIKO MURAI , Katsu Yamane
发明人： AKIHIKO MURAI , Katsu Yamane
IPC分类号： B25J9/00 , G06N3/02
CPC分类号： G06N3/008 , B25J9/161 , B62D57/032 , G05B2219/40264 , G05B2219/40305
摘要： A robotic structure includes a component that moves from a first position to a second position. Further, the robotic apparatus includes a robotic controller that (i) receives an input quantity and an output quantity that are computed from human motion data based on a human musculoskeletal model, (ii) computes at least one parameter based on the input quantity and the output quantity, and (iii) outputs the output quantity to the component upon an input of robotic motion data from the component.
摘要翻译：机器人结构包括从第一位置移动到第二位置的部件。此外，机器人装置包括：机器人控制器，其（i）基于人类肌肉骨骼模型接收从人体运动数据计算出的输入量和输出量，（ii）基于输入量来计算至少一个参数，输出量，以及（iii）从组件输入机器人运动数据时将输出量输出到组件。

7. 发明申请

US20110304633A1 DISPLAY WITH ROBOTIC PIXELS 有权
标题翻译：用机器人像素显示
公开(公告)号：US20110304633A1
公开(公告)日：2011-12-15
申请号：US13156212
申请日：2011-06-08
申请人： Paul Beardsley , Javier Alonso Mora , Andreas Breitenmoser , Martin Rufli , Roland Siegwart , Iain Matthews , Katsu Yamane
发明人： Paul Beardsley , Javier Alonso Mora , Andreas Breitenmoser , Martin Rufli , Roland Siegwart , Iain Matthews , Katsu Yamane
IPC分类号： G06T13/00 , G06F19/00
CPC分类号： G06T13/80 , B25J9/1666 , Y10S901/01 , Y10S901/46
摘要： Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.
摘要翻译：公开了用于控制机器人像素以显示输入的视觉表示的技术。系统的输入可以是面部的图像，并且机器人像素以物理布置来部署以显示面部的视觉表示，并且将随时间改变其物理布置以表示改变的面部表情。机器人像素用作用于机器人像素的给定分配的显示装置。还公开了用于多个非完整机器人中的分布式冲突避免的技术，以保证平稳和无碰撞的运动。碰撞避免技术通过解耦路径规划和协调为多机器人工作。

8. 发明申请

US20090132217A1 BODY DYNAMICS CALCULATION METHOD, BODY DYNAMICS MODEL AND MODEL DATA THEREOF, AND BODY-MODEL GENERATION METHOD 有权
标题翻译：身体动力学计算方法，身体动力学模型及其模型数据，以及身体模型生成方法
公开(公告)号：US20090132217A1
公开(公告)日：2009-05-21
申请号：US12348461
申请日：2009-01-05
申请人： Yoshihiko NAKAMURA , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
发明人： Yoshihiko NAKAMURA , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
IPC分类号： G06G7/60 , G06F17/10
CPC分类号： G09B23/32 , A61B5/1107 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61B5/4533 , G06F19/00
摘要： A forward/reverse mechanics calculation of an accurate model of a human body having bone geometrical data and muscle/cord/band data is carried out at high speed. When a new skeleton geometrical model is given, a mapping between the new skeleton geometrical model and a pre-defined normal body model representing a normal body is defined to automatically produce a new body model. A processing unit reads model data to be subjected to mechanics calculation, reads a produced force f of a wire/virtual link exerted on the body model, reads the angle, position and velocity of the current rigid body link, calculates the Jacobian JL of the length of each wire concerning the joint angle, converts the read produced force f of the muscle/cord/band into a generalized force τG according to the defined Jacobian JL, stores the generalized force, determines the acceleration of the whole body of a motion produced when the generalized force τG is exerted on the body and calculates the velocity and position of each rigid body link, and stores them.
摘要翻译：具有骨骼几何数据和肌肉/绳索/带数据的人体的精确模型的正向/反向力学计算以高速进行。当给出新的骨架几何模型时，新骨架几何模型和表示正常身体的预定义正常体模型之间的映射被定义为自动产生新的身体模型。处理单元读取要进行力学计算的模型数据，读取施加在身体模型上的线/虚连接的产生力f，读取当前刚体连杆的角度，位置和速度，计算出当前刚体连杆的雅可比JL 每个电线的关节角度的长度将肌肉/绳索/带的读取产生的力f转换成根据定义的雅可比JL的广义力tauG，存储广义力，确定产生的运动的全身的加速度当广义力tauG施加在身体上并计算每个刚体连杆的速度和位置，并存储它们。

9. 发明授权

US07490012B2 Body dynamics calculation method, body dynamics model and model data thereof, and body-model generation method 有权
标题翻译：身体动力学计算方法，身体动力学模型及其模型数据，以及身体模型生成方法
公开(公告)号：US07490012B2
公开(公告)日：2009-02-10
申请号：US10515019
申请日：2003-05-21
申请人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
发明人： Yoshihiko Nakamura , Katsu Yamane , Ichiro Suzuki , Kazutaka Kurihara , Koji Tatani
IPC分类号： G01L1/00
CPC分类号： G09B23/32 , A61B5/1107 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61B5/4533 , G06F19/00
摘要： A forward/reverse mechanics calculation of an accurate model of a human body having bone geometrical data and muscle/cord/band data is carried out at high speed. When a new skeleton geometrical model is given, a mapping between the new skeleton geometrical model and a pre-defined normal body model representing a normal body is defined to automatically produce a new body model. A processing unit reads model data to be subjected to mechanics calculation, reads a produced force f of a wire/virtual link exerted on the body model, reads the angle, position and velocity of the current rigid body link, calculates the Jacobian JL of the length of each wire concerning the joint angle, converts the read produced force f of the muscle/cord/band into a generalized force τG according to the defined Jacobian JL, stores the generalized force, determines the acceleration of the whole body of a motion produced when the generalized force τG is exerted on the body and calculates the velocity and position of each rigid body link, and stores them.
摘要翻译：具有骨骼几何数据和肌肉/绳索/带数据的人体的精确模型的正向/反向力学计算以高速进行。当给出新的骨架几何模型时，新骨架几何模型和表示正常身体的预定义正常体模型之间的映射被定义为自动产生新的身体模型。处理单元读取要进行力学计算的模型数据，读取施加在身体模型上的线/虚连接的产生力f，读取当前刚体连杆的角度，位置和速度，计算出当前刚体连杆的雅可比JL 每个电线的关节角度的长度将肌肉/绳索/带的读取产生的力f转换成根据定义的雅可比JL的广义力tauG，存储广义力，确定产生的运动的全身的加速度当广义力tauG施加在身体上并计算每个刚体连杆的速度和位置，并存储它们。

10. 发明授权

US07058551B2 High-speed dynamics computation for link system 失效
公开(公告)号：US07058551B2
公开(公告)日：2006-06-06
申请号：US10161609
申请日：2002-06-05
申请人： Yoshihiko Nakamura , Katsu Yamane
发明人： Yoshihiko Nakamura , Katsu Yamane
IPC分类号： G06F17/50
CPC分类号： G06F17/5086 , B25J9/1633 , G05B2219/39184
摘要： A high-speed forward dynamics computation for a link system wherein links are connected via joints, has: (1) first step for adding a joint one by one in series between the links to an initial link condition wherein all of the respective links are not connected via the joints so as to obtain a force of constraint acting at the joint between the links at that time; (2) second step for removing the joint in a reverse order as that of the first step so as to compute a final force of constraint at respective joints; (3) third step for computing an acceleration of respective links by utilizing applied forces obtained in the first step and the second step; and (4) fourth step for computing a joint acceleration by utilizing the accelerations of the links positioned at both ends of respective joints obtained at the third step.

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