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1. 发明授权

US07991508B2 Gait generating system and control device of legged mobile robot 有权
标题翻译：腿式移动机器人的步态发生系统和控制装置
公开(公告)号：US07991508B2
公开(公告)日：2011-08-02
申请号：US11572677
申请日：2005-07-28
申请人： Tadaaki Hasegawa , Naohide Ogawa
发明人： Tadaaki Hasegawa , Naohide Ogawa
IPC分类号： B25J13/00 , G05B15/00
CPC分类号： B62D57/032
摘要： A gait generating system of a legged mobile robot is provided with a device for determining a desired trajectory of an external force to be applied to a robot 1, a device for determining a parameter of a desired gait (current time gait) for a predetermined period on the basis of a desired trajectory of an external force or the like, a device for determining a parameter of a virtual cyclic gait that follows the current time gait on the basis of the desired trajectory of the external force or the like, a device for correcting the current time gait parameter such that a body motion trajectory of the robot 1 of the current time gait converges to a body motion trajectory of the cyclic gait, and a device for sequentially determining an instantaneous value of the current time gait on the basis of the corrected current time gait parameter. With this arrangement, in an environment wherein an external force acts on a robot as necessary, a desired gait that allows continual stability of the robot to be secured can be generated even if the external force suddenly changes.
摘要翻译：腿式移动机器人的步态生成系统设置有用于确定要施加到机器人1的外力的期望轨迹的装置，用于在预定时段内确定期望步态（当前时间步态）的参数的装置基于期望的外力等的轨迹等的装置，用于基于外力等的期望轨迹确定跟随当前时间步态的虚拟循环步态的参数的装置，用于校正当前时间步态参数，使得当前时间步态的机器人1的身体运动轨迹收敛到循环步态的身体运动轨迹，以及用于依次确定当前时间步态的瞬时值的装置校正的当前时间步态参数。利用这种布置，在外力根据需要作用于机器人的环境中，即使外力突然变化，也可以产生允许保持机器人持续稳定的期望的步态。

2. 发明授权

US08793015B2 Control method for legged mobile robot 有权
标题翻译：腿式移动机器人的控制方法
公开(公告)号：US08793015B2
公开(公告)日：2014-07-29
申请号：US11572541
申请日：2005-07-28
申请人： Tadaaki Hasegawa , Naohide Ogawa
发明人： Tadaaki Hasegawa , Naohide Ogawa
IPC分类号： B25J13/00 , B25J5/00 , B25J13/08 , G06F19/00
CPC分类号： B62D57/032
摘要： A control method for a legged mobile robot includes exercising a body of a robot such that a center of gravity of the robot obtains a momentum or the body obtains an angular momentum in a direction in which an object is to be moved while restraining a force from being applied to the object from the robot in a state wherein the robot opposes the object, and applying a force to the object from a hand of an arm body provided in the body of the robot so as to start moving the object in a state wherein the center of gravity has obtained the momentum or the body has an angular momentum. With this arrangement, when moving an object by a robot, a motion of the robot can be smoothly changed while preventing a significant change in ZMP before and after starting to move the object.
摘要翻译：一种腿式移动机器人的控制方法，包括：运动机器人的主体，使得机器人的重心获得动量，或者主体在阻止物体的移动方向上获得角动量，在机器人与物体相对的状态下从机器人施加到物体上，并且从设置在机器人主体中的臂体的手向物体施加力，以便在其中开始移动物体重心已经获得了动量或身体有一个角动量。通过这种布置，当通过机器人移动物体时，可以平滑地改变机器人的运动，同时防止在开始移动物体之前和之后ZMP的显着变化。

3. 发明申请

US20080208391A1 Gait Pattern Generating Device and Controller of Legged Mobile Robot 有权
标题翻译：步态模式生成装置和有腿移动机器人的控制器
公开(公告)号：US20080208391A1
公开(公告)日：2008-08-28
申请号：US11572677
申请日：2005-07-28
申请人： Tadaaki Hasegawa , Naohide Ogawa
发明人： Tadaaki Hasegawa , Naohide Ogawa
IPC分类号： B25J13/00 , B25J5/00
CPC分类号： B62D57/032
摘要： A gait generating system of a legged mobile robot is provided with a device for determining a desired trajectory of an external force to be applied to a robot 1, a device for determining a parameter of a desired gait (current time gait) for a predetermined period on the basis of a desired trajectory of an external force or the like, a device for determining a parameter of a virtual cyclic gait that follows the current time gait on the basis of the desired trajectory of the external force or the like, a device for correcting the current time gait parameter such that a body motion trajectory of the robot 1 of the current time gait converges to a body motion trajectory of the cyclic gait, and a device for sequentially determining an instantaneous value of the current time gait on the basis of the corrected current time gait parameter. With this arrangement, in an environment wherein an external force acts on a robot as necessary, a desired gait that allows continual stability of the robot to be secured can be generated even if the external force suddenly changes.
摘要翻译：腿式移动机器人的步态生成系统设置有用于确定要施加到机器人1的外力的期望轨迹的装置，用于在预定时段内确定期望步态（当前时间步态）的参数的装置基于期望的外力等的轨迹等的装置，用于基于外力等的期望轨迹确定跟随当前时间步态的虚拟循环步态的参数的装置，用于校正当前时间步态参数，使得当前时间步态的机器人1的身体运动轨迹收敛到循环步态的身体运动轨迹，以及用于依次确定当前时间步态的瞬时值的装置校正的当前时间步态参数。利用这种布置，在外力根据需要作用于机器人的环境中，即使外力突然变化，也可以产生允许保持机器人持续稳定的期望的步态。

4. 发明申请

US20070260354A1 Control Method of Leg Type Moving Robot 有权
标题翻译：腿型移动机器人的控制方法
公开(公告)号：US20070260354A1
公开(公告)日：2007-11-08
申请号：US11572541
申请日：2005-07-28
申请人： Tadaaki Hasegawa , Naohide Ogawa
发明人： Tadaaki Hasegawa , Naohide Ogawa
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A control method for a legged mobile robot includes exercising a body of a robot such that a center of gravity of the robot obtains a momentum or the body obtains an angular momentum in a direction in which an object is to be moved while restraining a force from being applied to the object from the robot in a state wherein the robot opposes the object, and applying a force to the object from a hand of an arm body provided in the body of the robot so as to start moving the object in a state wherein the center of gravity has obtained the momentum or the body has an angular momentum. With this arrangement, when moving an object by a robot, a motion of the robot can be smoothly changed while preventing a significant change in ZMP before and after starting to move the object.
摘要翻译：一种腿式移动机器人的控制方法，包括：运动机器人的主体，使得机器人的重心获得动量，或者主体在阻止物体的移动方向上获得角动量，在机器人与物体相对的状态下从机器人施加到物体上，并且从设置在机器人主体中的臂体的手向物体施加力，以便在其中开始移动物体重心已经获得了动量或身体有一个角动量。通过这种布置，当通过机器人移动物体时，可以平滑地改变机器人的运动，同时防止在开始移动物体之前和之后ZMP的显着变化。

5. 发明授权

US07877165B2 Handshake legged mobile robot control system 有权
标题翻译：握握腿式移动机器人控制系统
公开(公告)号：US07877165B2
公开(公告)日：2011-01-25
申请号：US11297363
申请日：2005-12-09
申请人： Kenichiro Sugiyama , Taro Yokoyama , Koji Maki , Naohide Ogawa
发明人： Kenichiro Sugiyama , Taro Yokoyama , Koji Maki , Naohide Ogawa
IPC分类号： G05B19/00
CPC分类号： B62D57/032 , B25J13/085
摘要： In a legged mobile robot control system having leg actuators each driving the individual legs and arm actuators each driving the individual arms, an external force acting on the right arm is detected, operation of the right arm actuators is controlled to produces a handshake posture, and operation of the leg actuators is controlled based on the detected external force acting on the right hand during handshaking, thereby improving communication capability by enabling it to shake hands with humans and to maintain a stable posture during the handshaking.
摘要翻译：在具有腿部致动器的腿式移动机器人控制系统中，每个驱动单独的腿和臂致动器驱动各个臂，检测作用在右臂上的外力，控制右臂致动器的操作以产生握手姿势，并且基于在握手期间作用在右手上的检测到的外力来控制腿致动器的操作，从而通过使其能够与人握手并且在握手期间保持稳定的姿势来改善通信能力。

6. 发明授权

US07778731B2 Legged mobile robot control system 有权
标题翻译：有腿的移动机器人控制系统
公开(公告)号：US07778731B2
公开(公告)日：2010-08-17
申请号：US11636999
申请日：2006-12-12
申请人： Naohide Ogawa , Satoshi Shigemi
发明人： Naohide Ogawa , Satoshi Shigemi
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B25J9/1641 , B25J13/085
摘要： In a control system of a legged mobile robot having a body and legs connected to the body and driven by a leg actuator, there is provided an operation controller which generates gaits based on an external force, more specifically gaits for walking by taking a hand of a human being or with the hand being taken by the hand of the human being and controls operation of at least the leg actuator based on the generated gaits. With this, it becomes possible to control the robot to come contact with a human being to establish communication therewith, while enabling to keep a stable posture during the contact.
摘要翻译：在具有连接到身体并由腿部致动器驱动的身体和腿部的有腿移动机器人的控制系统中，提供了一种操作控制器，其基于外力产生步态，更具体地，通过拍摄手的步行人的手或用手的手被人的手拿走，并且基于所产生的步态来控制至少腿部致动器的操作。由此，能够控制机器人与人接触以与其建立通信，同时能够在接触期间保持稳定的姿势。

7. 发明授权

US07894941B2 Sound detection and associated indicators for an autonomous moving robot 有权
标题翻译：自动移动机器人的声音检测和相关指示器
公开(公告)号：US07894941B2
公开(公告)日：2011-02-22
申请号：US11294366
申请日：2005-12-06
申请人： Naohide Ogawa , Takuro Koyanagi , Asuka Shinna , Sachie Hashimoto , Yukiko Ehara
发明人： Naohide Ogawa , Takuro Koyanagi , Asuka Shinna , Sachie Hashimoto , Yukiko Ehara
IPC分类号： G08B5/36
CPC分类号： B25J13/003
摘要： The present invention aims to provide an autonomous moving robot capable of visibly showing the human an initial check result for a sound input means in the initial stage after the robot device is turned on and activated, and whether or not the input sound was normally recognized. The robot has ears 9a, 9b respectively comprising microphones 10a, 10b for external sound input, and LED displays 11a, 11b with a plurality of luminescent portions around the respective microphones. The luminescent portions of the LED displays 11a, 11b indicate the judgment of the initial check on whether or not the ears 9a, 9b (the microphones 10a, 10b and the LED displays 11a, 11b) are normally functioning when the robot is turned on and activated, by means of the lighting states of the displays.
摘要翻译：本发明的目的是提供一种自动移动机器人，其能够在机器人装置被接通和激活之后的初始阶段中可视地向人类显示声音输入装置的初始检查结果，以及是否正常识别输入声音。机器人具有分别包括用于外部声音输入的麦克风10a，10b的耳朵9a，9b，以及围绕各个麦克风的多个发光部分的LED显示器11a，11b。 LED显示器11a，11b的发光部分表示当机器人打开时耳朵9a，9b（麦克风10a，10b和LED显示器11a，11b）是否正常工作的初步检查的判断，以及通过显示器的照明状态激活。

8. 发明申请

US20090146795A1 Target object detection server 有权
标题翻译：目标对象检测服务器
公开(公告)号：US20090146795A1
公开(公告)日：2009-06-11
申请号：US12315736
申请日：2008-12-05
申请人： Satoki Matsumoto , Yoko Saito , Naohide Ogawa
发明人： Satoki Matsumoto , Yoko Saito , Naohide Ogawa
IPC分类号： H04Q5/22
CPC分类号： G06Q10/087 , G06Q10/06
摘要： A target object detection server is a detection server which communicates by wireless to a detector which detects whether or not a target object exists within a surrounding area of the detector by means of a detection tag mounted on the target object. Furthermore, the target object detection server connects through a network with one or more receivers which are arranged in a surrounding area of the target object, and receives a radio wave transmitted from the detection tag. According to the target object detection server mentioned above, it is possible to increase reliability for detecting the target object more accurately.
摘要翻译：目标对象检测服务器是通过无线方式通过安装在目标对象上的检测标签来检测目标对象是否存在于检测器的周边区域内的检测器的检测服务器。此外，目标对象检测服务器通过网络与布置在目标对象的周围区域中的一个或多个接收器连接，并且接收从检测标签发送的无线电波。根据上述目标对象检测服务器，能够更加准确地提高检测对象物体的可靠性。

9. 发明申请

US20070150107A1 Legged mobile robot control system 有权
标题翻译：有腿的移动机器人控制系统
公开(公告)号：US20070150107A1
公开(公告)日：2007-06-28
申请号：US11636999
申请日：2006-12-12
申请人： Naohide Ogawa , Satoshi Shigemi
发明人： Naohide Ogawa , Satoshi Shigemi
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B25J9/1641 , B25J13/085
摘要： In a control system of a legged mobile robot having a body and legs connected to the body and driven by a leg actuator, there is provided an operation controller which generates gaits based on an external force, more specifically gaits for walking by taking a hand of a human being or with the hand being taken by the hand of the human being and controls operation of at least the leg actuator based on the generated gaits. With this, it becomes possible to control the robot to come contact with a human being to establish communication therewith, while enabling to keep a stable posture during the contact.
摘要翻译：在具有连接到身体并由腿部致动器驱动的身体和腿部的有腿移动机器人的控制系统中，提供了一种操作控制器，其基于外力产生步态，更具体地，通过拍摄手的步行人的手或用手的手被人的手拿走，并且基于所产生的步态来控制至少腿部致动器的操作。由此，能够控制机器人与人接触以与其建立通信，同时能够在接触期间保持稳定的姿势。

10. 发明授权

US07348746B2 Abnormality detection system of mobile robot 有权
标题翻译：移动机器人异常检测系统
公开(公告)号：US07348746B2
公开(公告)日：2008-03-25
申请号：US10540470
申请日：2003-02-14
申请人： Naohide Ogawa , Yuichiro Kawaguchi , Masaki Aihara , Takashi Matsumoto
发明人： Naohide Ogawa , Yuichiro Kawaguchi , Masaki Aihara , Takashi Matsumoto
IPC分类号： B25J5/00
CPC分类号： B25J9/1674 , G05B2219/34454 , G05B2219/34455 , G05B2219/42268
摘要： In an abnormality detection system of a mobile robot, it is configured such that it is self-diagnosed whether the quantity of state is an abnormal value, or whether at least one of the internal sensor, etc., is abnormal and when an abnormality is self-diagnosed, abnormality information affixed with a time on which the abnormality occurred is outputted to be stored in an internal memory and in an external memory. With this, it becomes possible to improve the reliability of abnormality detection of the mobile robot and by storing the information affixed with a time on which the abnormality occurred, it becomes possible to ascertain accurately the course of events leading up to the abnormality. It is further configured such that in addition to a time on which the abnormality occurred, the information is stored in an external memory together with a parameter indicative of the quantity of state.
摘要翻译：在移动机器人的异常检测系统中，被配置成能够自我诊断状态量是异常值还是内部传感器等中的至少一个异常，异常情况输出自身诊断的，发生了异常的时间的异常信息被存储在内部存储器和外部存储器中。由此，能够提高移动机器人的异常检测的可靠性，通过存储发生异常的时间附加的信息，能够准确地确定导致异常的事件的过程。进一步配置为，除了发生异常的时间之外，还将该信息与指示状态量的参数一起存储在外部存储器中。

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