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1. 发明申请

US20080210477A1 Leg Joint Assist Device of Legged Mobile Robot 失效
标题翻译：腿式移动机器人的腿部关节辅助装置
公开(公告)号：US20080210477A1
公开(公告)日：2008-09-04
申请号：US11575545
申请日：2005-08-17
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Shinya Shirokura , Minami Asatani , Katsushi Tanaka
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Shinya Shirokura , Minami Asatani , Katsushi Tanaka
IPC分类号： B62D51/04 , F16C11/00
CPC分类号： B62D57/032 , B25J19/0012 , Y10T403/32606
摘要： An assist device 11 is equipped with a spring means 21 (gas spring), and a piston 24 in a cylinder 23 moves upward or downward according to a relative displacement motion (flexing or stretching motion) of a thigh 4 and a crus 5 at a knee joint 8 of a leg 3 of a robot. Air chambers 25 and 26 above and below the piston 24 are filled with gases. If a flexing degree at the knee joint 8 is a predetermined value or less, then the air chambers 25 and 26 are brought into communication through a groove 28 in the cylinder 23, and the spring means 21 does not generate an elastic force, but if the flexing degree exceeds the predetermined value, then the air chambers 25 and 26 are hermetically sealed from each other and the spring means 21 produces an elastic force, the elastic force acting on the knee joint 8 as assisting driving force. A burden on a joint actuator of a leg can be reduced, while reducing energy consumption of the robot by using a small and simple construction. Moreover, a change in the characteristics of an assisting driving force of the spring means 21 in response to a flexing degree of the knee joint 8 can be restrained.
摘要翻译：辅助装置11配备有弹簧装置21（气弹簧），并且气缸23中的活塞24根据大腿4和小腿5的相对位移运动（弯曲或拉伸运动）向上或向下移动机器人腿3的膝关节8。在活塞24上方和下方的气室25和26充满气体。如果膝关节8的弯曲度为规定值以下，则气室25,26通过气缸23内的槽28连通，弹簧装置21不产生弹性力，但如果挠曲度超过预定值，则空气室25和26彼此气密地密封，并且弹簧装置21产生作为辅助驱动力的作用在膝关节8上的弹力。通过使用小而简单的结构，能够减轻腿的联合执行器的负担，同时减少机器人的能量消耗。此外，可以抑制响应于膝关节8的弯曲程度的弹簧装置21的辅助驱动力的特性的变化。

2. 发明授权

US07658246B2 Leg joint assist device of legged mobile robot 失效
标题翻译：腿式移动机器人的腿关节辅助装置
公开(公告)号：US07658246B2
公开(公告)日：2010-02-09
申请号：US11575545
申请日：2005-08-17
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Shinya Shirokura , Minami Asatani , Katsushi Tanaka
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Shinya Shirokura , Minami Asatani , Katsushi Tanaka
IPC分类号： B25J19/00
CPC分类号： B62D57/032 , B25J19/0012 , Y10T403/32606
摘要： An assist device 11 is equipped with a spring means 21 (gas spring), and a piston 24 in a cylinder 23 moves upward or downward according to a relative displacement motion (flexing or stretching motion) of a thigh 4 and a crus 5 at a knee joint 8 of a leg 3 of a robot. Air chambers 25 and 26 above and below the piston 24 are filled with gases. If a flexing degree at the knee joint 8 is a predetermined value or less, then the air chambers 25 and 26 are brought into communication through a groove 28 in the cylinder 23, and the spring means 21 does not generate an elastic force, but if the flexing degree exceeds the predetermined value, then the air chambers 25 and 26 are hermetically sealed from each other and the spring means 21 produces an elastic force, the elastic force acting on the knee joint 8 as assisting driving force. A burden on a joint actuator of a leg can be reduced, while reducing energy consumption of the robot by using a small and simple construction. Moreover, a change in the characteristics of an assisting driving force of the spring means 21 in response to a flexing degree of the knee joint 8 can be restrained.
摘要翻译：辅助装置11配备有弹簧装置21（气弹簧），并且气缸23中的活塞24根据大腿4和小腿5的相对位移运动（弯曲或拉伸运动）向上或向下移动机器人腿3的膝关节8。在活塞24上方和下方的气室25和26充满气体。如果膝关节8的弯曲度为规定值以下，则气室25,26通过气缸23内的槽28连通，弹簧装置21不产生弹性力，但如果挠曲度超过预定值，则空气室25和26彼此气密地密封，并且弹簧装置21产生作为辅助驱动力的作用在膝关节8上的弹力。通过使用小而简单的结构，能够减轻腿的联合执行器的负担，同时减少机器人的能量消耗。此外，可以抑制响应于膝关节8的弯曲程度的弹簧装置21的辅助驱动力的特性的变化。

3. 发明申请

US20070210739A1 LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT 审中-公开
标题翻译： LEG联合协助手机移动机器人
公开(公告)号：US20070210739A1
公开(公告)日：2007-09-13
申请号：US11573922
申请日：2005-08-05
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Katsushi Tanaka
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Kazushi Akimoto , Katsushi Tanaka
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J19/0091
摘要： In a state wherein a solenoid switching valve in a gas passage in communication with air chambers is closed, an assist device produces an assisting driving force by compression or expansion of a gas as a knee joint (specific joint) of a leg bends or stretches, and applies the produced assisting driving force to the knee joint. In a valve-open state of the solenoid switching valve, no assisting driving force is produced. The solenoid switching valve is constructed of a solenoid switching valve having a self-holding feature, and installed in the gas passage such that a pressure difference between air chambers acts in a valve closing direction of a valve element in a predetermined period during which the solenoid switching valve is closed. This arrangement effectively reduces the power consumption of the solenoid switching valve by a simple construction.
摘要翻译：在与气室连通的气体通道中的电磁切换阀关闭的状态下，辅助装置通过作为腿部弯曲或拉伸的膝关节（特定接头）的气体的压缩或膨胀产生辅助驱动力，并将产生的辅助驱动力施加到膝关节。在电磁换向阀的阀打开状态下，不产生辅助驱动力。电磁切换阀由具有自保持特征的电磁切换阀构成，并且安装在气体通道中，使得空气室之间的压力差在阀元件的阀闭合方向作用在预定时间段内，在螺线管切换阀关闭。这种布置通过简单的结构有效地降低了电磁开关阀的功耗。

4. 发明申请

US20080300721A1 Legged Mobile Robot and Control Program for the Robot 有权
标题翻译：机器人的移动机器人和控制程序
公开(公告)号：US20080300721A1
公开(公告)日：2008-12-04
申请号：US11718054
申请日：2005-09-14
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
IPC分类号： B25J5/00 , B25J13/00
CPC分类号： B62D57/032
摘要： A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided.According to a robot 1 in accordance with the present invention, a deformation amount (mechanism deformation amount) of a compliance mechanism 42 that occurs due to a desired floor reaction force of a foot (ground contacting portion) 22 is determined, and the operation of a leg 2 is controlled such that the foot 22 lands onto a floor at a predetermined velocity in a vertical direction or in a direction perpendicular to the floor surface on the basis of a component of the mechanism deformation amount in the vertical direction or a component thereof in the direction perpendicular to the floor surface.
摘要翻译：提供了一种腿式移动机器人，其允许将实际地板反作用力改进到期望的地板反作用力并且可以被稳定地控制。根据本发明的机器人1，确定由于脚（地面接触部）22的期望的地面反作用力而发生的顺应机构42的变形量（机械变形量），并且操作控制腿部2，使得脚部22基于垂直方向上的机构变形量的分量或其部分，以垂直方向或垂直于地板表面的方向以预定速度落在地板上在垂直于地板表面的方向上。

5. 发明授权

US08014896B2 Legged mobile robot and control program 有权
标题翻译：有腿的移动机器人和控制程序
公开(公告)号：US08014896B2
公开(公告)日：2011-09-06
申请号：US11577404
申请日：2005-09-14
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
IPC分类号： G06F19/00 , B25J5/00
CPC分类号： B62D57/032
摘要： In a legged mobile robot, a pivoting motion of a foot (22) relative to a leg is controlled such that, from an intermediate time point in a period of departure of a leg from a floor to a starting time point of a period of landing of the leg on the floor, an angle (θ) of inclination of the foot (22) of the leg relative to the floor surface gradually approaches zero. This eases impact to the foot of the leg at the time of landing on the floor and prevents a slip or spin of the sole, thereby enabling stable walking or running.
摘要翻译：在有腿的移动机器人中，脚部（22）相对于腿部的枢转运动被控制，使得从腿部离开地板的时间段到落地时间段的起始时间点的中间时间点腿部在地板上的脚部（22）相对于地板表面的倾斜角度（θ）渐渐接近零。这样在脚底落地时可以减轻腿脚的冲击，防止鞋底的滑动或旋转，从而稳定地行走或跑步。

6. 发明授权

US07860613B2 Legged mobile robot and control program for the robot 有权
标题翻译：用于机器人的腿式移动机器人和控制程序
公开(公告)号：US07860613B2
公开(公告)日：2010-12-28
申请号：US11718054
申请日：2005-09-14
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
IPC分类号： B25J5/00
CPC分类号： B62D57/032
摘要： A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided.According to a robot 1 in accordance with the present invention, a deformation amount (mechanism deformation amount) of a compliance mechanism 42 that occurs due to a desired floor reaction force of a foot (ground contacting portion) 22 is determined, and the operation of a leg 2 is controlled such that the foot 22 lands onto a floor at a predetermined velocity in a vertical direction or in a direction perpendicular to the floor surface on the basis of a component of the mechanism deformation amount in the vertical direction or a component thereof in the direction perpendicular to the floor surface.
摘要翻译：提供了一种腿式移动机器人，其允许将实际地板反作用力改进到期望的地板反作用力并且可以被稳定地控制。根据本发明的机器人1，确定由于脚（地面接触部）22的期望的地面反作用力而发生的顺应机构42的变形量（机械变形量），并且操作控制腿部2，使得脚部22基于垂直方向上的机构变形量的分量或其部分，以垂直方向或垂直于地板表面的方向以预定速度落在地板上在垂直于地板表面的方向上。

7. 发明申请

US20080046123A1 Legged Mobile Robot and Control Program 有权
标题翻译：有腿的移动机器人和控制程序
公开(公告)号：US20080046123A1
公开(公告)日：2008-02-21
申请号：US11577404
申请日：2005-09-14
申请人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
发明人： Toru Takenaka , Takashi Matsumoto , Takahide Yoshiike , Kazushi Akimoto , Shinya Shirokura , Minami Asatani
IPC分类号： B62D57/032 , G06N3/00
CPC分类号： B62D57/032
摘要： In a legged mobile robot, a pivoting motion of a foot (22) relative to a leg is controlled such that, from an intermediate time point in a period of departure of a leg from a floor to a starting time point of a period of landing of the leg on the floor, an angle (θ) of inclination of the foot (22) of the leg relative to the floor surface gradually approaches zero. This eases impact to the foot of the leg at the time of landing on the floor and prevents a slip or spin of the sole, thereby enabling stable walking or running.
摘要翻译：在有腿的移动机器人中，脚部（22）相对于腿部的枢转运动被控制，使得从腿部离开地板的时间段到落地时间段的起始时间点的中间时间点腿部在地板上的脚部（22）相对于地板表面的倾斜角（θ）逐渐接近零。这样在脚底落地时可以减轻腿脚的冲击，防止鞋底的滑动或旋转，从而稳定地行走或跑步。

8. 发明申请

US20050077856A1 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US20050077856A1
公开(公告)日：2005-04-14
申请号：US10499117
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032 , F16F9/04
CPC分类号： F16F9/0481 , B25J19/0091 , B62D57/032
摘要： A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow/outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state. Furthermore, during the bag-like member 19 in the inflating state during the lifting state of the foot mechanism 6, by controlling timing when the solenoid valve 27 is switched from a valve opening state to a valve closing state, a height of the bag-like member 19 in a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.
摘要翻译：设置在机器人腿部的脚部机构6中的着陆减震装置18包括在脚部机构6的底面侧上的可膨胀且可压缩的袋状构件19（可变容量元件）。袋状构件 19由橡胶等弹性材料构成。大气中的空气可以通过设置有电磁阀27等的流入/流出装置20流入和流出袋状构件19。在脚部机构6的着陆状态下，并且在脚部机构从着陆状态转移到提升状态之后的状态下，电磁阀27关闭，以将袋状部件19维持在压缩状态。此外，在脚部机构6的提升状态期间处于充气状态的袋状部件19中，通过控制电磁阀27从开阀状态切换到关闭状态的定时，压缩方向的板状构件19被控制为适合于步态机器人的高度。因此，能够容易地确保机器人的姿势稳定性，同时减少有腿可动机器人的腿部的着陆运动中的冲击负荷，并且还可以实现轻量化的构造。

9. 发明授权

US08353378B2 Frictional drive device and inverted pendulum type vehicle using the same 有权
标题翻译：摩擦驱动装置和倒立摆式车辆使用它
公开(公告)号：US08353378B2
公开(公告)日：2013-01-15
申请号：US12884738
申请日：2010-09-17
申请人： Hiroshi Gomi , Shinichiro Kobashi , Toru Takenaka , Kazushi Hamaya , Wataru Yada , Kazushi Akimoto , Yuichi Uebayashi , Hironori Waita
发明人： Hiroshi Gomi , Shinichiro Kobashi , Toru Takenaka , Kazushi Hamaya , Wataru Yada , Kazushi Akimoto , Yuichi Uebayashi , Hironori Waita
IPC分类号： B62K1/00
CPC分类号： B62K1/00 , B60B19/003 , B60B19/125 , B60B2200/47 , B60B2310/204 , B60B2310/228 , B60B2310/232 , B60B2310/305 , B60B2360/10 , B60B2360/147 , B60B2360/32 , B60B2360/348 , B60B2360/50 , B60B2380/12 , B60B2380/14 , B60L1/003 , B60L3/0061 , B60L11/1803 , B60L11/1861 , B60L11/1877 , B60L2200/14 , B60L2220/42 , B60L2240/425 , B60L2240/461 , B60L2260/34 , B62K11/007 , Y02T10/646 , Y02T10/7005 , Y02T10/7044 , Y02T10/705 , Y10T74/19
摘要： A frictional drive device comprises a pair of drive disks (48) each rotatably supported by a frame (2, 42) around a central axial line (A) in a mutually opposing relationship, and a pair of actuators (64) supported by the frame for individually rotatively actuating the drive disks and coaxially disposed with respect to the corresponding drive disks, a plurality of drive rollers (56) arranged along an outer periphery of each drive disk and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel (85) disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member (86) and a plurality of driven rollers (92) supported along the annular member so as to be rotatable around a tangential line of the annular member. A speed reduction unit (72, 100) may be interposed between each actuator and the corresponding drive disk all in a coaxial relationship.
摘要翻译：一种摩擦驱动装置，包括一对驱动盘（48），所述驱动盘（48）以相互相对的关系围绕中心轴线（A）由框架（2,22）可旋转地支撑;以及一对致动器（64），由所述框架用于单独地旋转地驱动驱动盘并且相对于相应的驱动盘同轴地布置;多个驱动辊（56），沿着每个驱动盘的外周布置，并且每个具有旋转中心线以沿着平面旋转其不与中心轴线平行或垂直;以及环形主轮（85），其相对于所述中心轴线大致同轴地设置并与所述驱动盘的驱动辊接合，所述主轮包括环形构件（86））和沿着所述环形构件支撑以便能够围绕所述环形构件的切线旋转的多个从动辊（92）。减速单元（72,100）可以以同轴的关系插入在每个致动器和对应的驱动盘之间。

10. 发明授权

US07228923B2 Device for absorbing floor-landing shock for legged mobile robot 失效
标题翻译：用于吸收腿式移动机器人地板撞击的装置
公开(公告)号：US07228923B2
公开(公告)日：2007-06-12
申请号：US10499056
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B62D57/032
CPC分类号： B62D57/032 , B25J19/0091 , F16F9/0481
摘要： A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (a variable capacity element) is provided at a ground-contacting face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber and has a restoring force. An interior portion of the bag-like member 19 is communicated with the atmosphere side through a flow passage 20. During a landing motion of the leg, the bag-like member 19 makes contact with the ground to be compressed, and the air in the interior portion thereof flows out into the atmosphere through the flow passage 20, so that its outflow resistance is generated. Accordingly, a landing shock is reduced. In a lifting state of the leg, the restoring force of the bag-like member 19 allows the bag-like member 19 to be inflated while the air flows into the interior portion thereof. An impact load during the landing of the leg of the legged mobile robot may smoothly be reduced in a light-weight configuration.
摘要翻译：设置在机器人腿部的脚部机构6中的着陆减震装置18，其中在脚部机构6的接地面侧设置有可膨胀的袋状构件19（可变容量元件）。袋类构件19由橡胶等弹性材料构成，具有回复力。袋状构件19的内部通过流路20与大气侧连通。在腿的着陆运动期间，袋状构件19与地面接触以被压缩，并且空气在其内部部分通过流路20流入大气，从而产生其流出阻力。因此，降低着陆冲击。在腿的提升状态下，袋状构件19的恢复力允许袋状构件19在空气流入其内部部分时膨胀。腿型移动式机器人腿部着陆时的冲击载荷可以在轻型构型中平滑地减少。

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