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1. 发明授权

US08150550B2 Legged robot 有权
标题翻译：有腿的机器人
公开(公告)号：US08150550B2
公开(公告)日：2012-04-03
申请号：US12439195
申请日：2007-09-06
申请人： Keisuke Suga , Daisaku Honda , Toru Miyagawa , Ryosuke Tajima
发明人： Keisuke Suga , Daisaku Honda , Toru Miyagawa , Ryosuke Tajima
IPC分类号： G05B19/18 , G05B15/00 , G05B19/00 , G06F19/00
CPC分类号： B62D57/032
摘要： A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff and an aerial phase from a takeoff to a landing is provided. The legged robot adjusts the landing timing after a jump in accordance with a planned timing, thereby attaining a smooth landing. A measuring unit of the legged robot measures an actual aerial phase period in a k-th jump cycle. A subtractor calculates a time difference between a target aerial phase period and the actual aerial phase period in the k-th jump cycle. A target velocity determining unit calculates a target vertical velocity of a center of gravity on a takeoff timing in a (k+1)-th jump cycle so as to eliminate the time difference. Motors in respective joints are controlled so as to realize the calculated target vertical velocity in the (k+1)-th jump cycle. As a result, the time difference generated in the k-th jump cycle in the (k+1)-th jump cycle can be compensated, thereby adjusting the landing timing with the planned landing timing, resulting in the jump motion with smooth landing.
摘要翻译：提供了一种腿式机器人，其重复跳跃循环，包括从起落架到起飞的地面接触阶段，以及从起飞到着陆的空中阶段。腿式机器人根据计划的时间调整跳跃之后的着陆时间，从而实现平稳的着陆。腿式机器人的测量单元在第k个跳跃循环中测量实际的空中相位周期。减法器计算第k个跳跃周期中的目标空中相位周期和实际空中相位周期之间的时间差。目标速度确定单元计算第（k + 1）个跳跃周期中的起飞时刻的重心的目标垂直速度，以消除时差。控制各个关节中的电动机，以便在第（k + 1）个跳跃循环中实现所计算的目标垂直速度。结果，可以补偿在第（k + 1）个跳跃周期中的第k个跳跃周期中产生的时间差，从而利用计划的着陆定时调整着陆时间，导致具有平滑着陆的跳跃运动。

2. 发明申请

US20100017028A1 LEGGED ROBOT 有权
标题翻译： LEGGED机器人
公开(公告)号：US20100017028A1
公开(公告)日：2010-01-21
申请号：US12439195
申请日：2007-09-06
申请人： Keisuke Suga , Daisaku Honda , Toru Miyagawa , Ryosuke Tajima
发明人： Keisuke Suga , Daisaku Honda , Toru Miyagawa , Ryosuke Tajima
IPC分类号： B25J5/00 , B25J13/00
CPC分类号： B62D57/032
摘要： A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff and an aerial phase from a takeoff to a landing is provided. The legged robot adjusts the landing timing after a jump in accordance with a planned timing, thereby attaining a smooth landing. A measuring unit of the legged robot measures an actual aerial phase period in a k-th jump cycle. A subtractor calculates a time difference between a target aerial phase period and the actual aerial phase period in the k-th jump cycle. A target velocity determining unit calculates a target vertical velocity of a center of gravity on a takeoff timing in a (k+1)-th jump cycle so as to eliminate the time difference. Motors in respective joints are controlled so as to realize the calculated target vertical velocity in the (k+1)-th jump cycle. As a result, the time difference generated in the k-th jump cycle in the (k+1)-th jump cycle can be compensated, thereby adjusting the landing timing with the planned landing timing, resulting in the jump motion with smooth landing.
摘要翻译：提供了一种腿式机器人，其重复跳跃循环，包括从起落架到起飞的地面接触阶段，以及从起飞到着陆的空中阶段。腿式机器人根据计划的时间调整跳跃之后的着陆时间，从而实现平稳的着陆。腿式机器人的测量单元在第k个跳跃循环中测量实际的空中相位周期。减法器计算第k个跳跃周期中的目标空中相位周期和实际空中相位周期之间的时间差。目标速度确定单元计算第（k + 1）个跳跃周期中的起飞时刻的重心的目标垂直速度，以消除时差。控制各个关节中的电动机，以便在第（k + 1）个跳跃循环中实现所计算的目标垂直速度。结果，可以补偿在第（k + 1）个跳跃周期中的第k个跳跃周期中产生的时间差，由此通过计划的着陆定时调整着陆时间，导致具有平滑着陆的跳跃运动。

3. 发明申请

US20090069941A1 LEGGED ROBOT AND ITS CONTROL METHOD 失效
标题翻译： LEGGED机器人及其控制方法
公开(公告)号：US20090069941A1
公开(公告)日：2009-03-12
申请号：US12209444
申请日：2008-09-12
申请人： Daisaku Honda , Keisuke Suga , Ryosuke Tajima
发明人： Daisaku Honda , Keisuke Suga , Ryosuke Tajima
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： There is provided a legged robot that performs motion by changing a joint angle, which includes a trajectory generating section to calculate a center-of-gravity trajectory in designated stepping motion from the stepping motion including at least one of walking motion, running motion and stopping motion, and generate a center-of-gravity trajectory by superimposing a designated travel velocity onto a travel velocity of a center of gravity in the calculated center-of-gravity trajectory in stepping motion, and a trajectory updating section to store the generated center-of-gravity trajectory and update all the stored center-of-gravity trajectories so as to be continuous, and a trajectory reproducing section to calculate time-varying data of a target value of the joint angle based on the updated center-of-gravity trajectory, and a joint driving section to rotate a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle.
摘要翻译：提供了一种通过改变关节角度来执行运动的腿式机器人，其包括轨迹生成部分，用于根据包括步行运动，跑步运动和停止中的至少一个的步进运动来计算指定的步进运动中的重心轨迹并且通过在指定的行进速度中叠加指定的行进速度到步进运动中所计算的重心轨迹中的重心的行进速度而产生重心轨迹;以及轨迹更新部，并且更新所有存储的重心轨迹以便连续;以及轨迹再现部分，用于基于更新的重心轨迹计算关节角度的目标值的时变数据以及联接驱动部，其基于所计算的关节角度的目标值的时变数据来旋转所述腿式机器人的接合部。

4. 发明授权

US08340817B2 Legged robot and its control method 失效
标题翻译：有腿机器人及其控制方法
公开(公告)号：US08340817B2
公开(公告)日：2012-12-25
申请号：US12209422
申请日：2008-09-12
申请人： Daisaku Honda , Keisuke Suga , Ryosuke Tajima
发明人： Daisaku Honda , Keisuke Suga , Ryosuke Tajima
IPC分类号： G06F19/00
CPC分类号： B25J5/00
摘要： There is provided a legged robot that performs motion by changing a joint angle, which includes a section of generating a center-of-gravity trajectory of the legged robot based on a trinomial equation obtained by discretizing a ZMP equation and a target ZMP, a section of calculating time-varying data of a target value of the joint angle based on the generated center-of-gravity trajectory, and a section of rotating a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle, wherein the ZMP equation involves an angular momentum according to a center-of-gravity velocity.
摘要翻译：提供了一种腿式机器人，其通过改变关节角度来执行运动，该关节角度包括基于通过离散ZMP方程和目标ZMP获得的三项式方程式来生成有腿式机器人的重心轨迹的部分，基于所生成的重心轨迹来计算关节角度的目标值的时变数据，以及基于所计算的所述腿部机器人的目标值的时间变化数据来旋转所述腿式机器人的关节的部分关节角度，其中ZMP方程涉及根据重心速度的角动量。

5. 发明申请

US20090069940A1 LEGGED ROBOT AND ITS CONTROL METHOD 失效
标题翻译： LEGGED机器人及其控制方法
公开(公告)号：US20090069940A1
公开(公告)日：2009-03-12
申请号：US12209422
申请日：2008-09-12
申请人： Daisaku Honda , Keisuke Suga , Ryosuke Tajima
发明人： Daisaku Honda , Keisuke Suga , Ryosuke Tajima
IPC分类号： G06F19/00
CPC分类号： B25J5/00
摘要： There is provided a legged robot that performs motion by changing a joint angle, which includes a section of generating a center-of-gravity trajectory of the legged robot based on a trinomial equation obtained by discretizing a ZMP equation and a target ZMP, a section of calculating time-varying data of a target value of the joint angle based on the generated center-of-gravity trajectory, and a section of rotating a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle, wherein the ZMP equation involves an angular momentum according to a center-of-gravity velocity.
摘要翻译：提供了一种腿式机器人，其通过改变关节角度来执行运动，该关节角度包括基于通过离散ZMP方程和目标ZMP获得的三项式方程式来生成有腿式机器人的重心轨迹的部分，基于所生成的重心轨迹来计算关节角度的目标值的时变数据，以及基于所计算的所述腿部机器人的目标值的时间变化数据来旋转所述腿式机器人的关节的部分关节角度，其中ZMP方程涉及根据重心速度的角动量。

6. 发明授权

US08386076B2 Legged robot and its control method 失效
标题翻译：有腿机器人及其控制方法
公开(公告)号：US08386076B2
公开(公告)日：2013-02-26
申请号：US12209444
申请日：2008-09-12
申请人： Daisaku Honda , Keisuke Suga , Ryosuke Tajima
发明人： Daisaku Honda , Keisuke Suga , Ryosuke Tajima
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： There is provided a legged robot that performs motion by changing a joint angle, which includes a trajectory generating section to calculate a center-of-gravity trajectory in designated stepping motion from the stepping motion including at least one of walking motion, running motion and stopping motion, and generate a center-of-gravity trajectory by superimposing a designated travel velocity onto a travel velocity of a center of gravity in the calculated center-of-gravity trajectory in stepping motion, and a trajectory updating section to store the generated center-of-gravity trajectory and update all the stored center-of-gravity trajectories so as to be continuous, and a trajectory reproducing section to calculate time-varying data of a target value of the joint angle based on the updated center-of-gravity trajectory, and a joint driving section to rotate a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle.
摘要翻译：提供了一种通过改变关节角度来执行运动的腿式机器人，其包括轨迹生成部分，用于根据包括步行运动，跑步运动和停止中的至少一个的步进运动来计算指定的步进运动中的重心轨迹并且通过在指定的行进速度中叠加指定的行进速度到步进运动中所计算的重心轨迹中的重心的行进速度而产生重心轨迹;以及轨迹更新部，并且更新所有存储的重心轨迹以便连续;以及轨迹再现部分，用于基于更新的重心轨迹计算关节角度的目标值的时变数据以及联接驱动部，其基于所计算的关节角度的目标值的时变数据来旋转所述腿式机器人的接合部。

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