公开(公告)号：EP2253433A1

公开(公告)日：2010-11-24

申请号：EP10008081.1

申请日：2002-04-25

申请人： Honda Giken Kogyo Kabushiki Kaisha

发明人： Takenaka, Toru ,  Matsumoto, Takashi ,  Hasegawa, Tadaaki

IPC分类号： B25J5/00 ,  B25J13/00

CPC分类号： B62D57/032

摘要： A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model) 100c2 that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is calculated or determined based on a difference (full-model ZMP's error) between the calculated model's ZMP and the desired ZMP, whilst a corrected desired body position is calculated or determined. Since the robot posture is corrected by the calculated ZMP-converted value and the corrected desired body position, the corrected gait can satisfy the dynamic equilibrium condition accurately.

摘要翻译： 模型的ZMP（全模型ZMP）是使用表示机器人运动和地板反应之间的关系的动态模型（反向全模型）100c2计算的，计算出关于所需ZMP的全模型校正力矩的ZMP转换值 或者基于计算的模型的ZMP和期望的ZMP之间的差（全模型ZMP的误差）确定，同时计算或确定校正的所需身体位置。 由于通过计算的ZMP转换值和校正的所需身体位置校正机器人姿势，所以校正的步态可以精确地满足动态平衡条件。

公开(公告)号：EP2085193A3

公开(公告)日：2009-11-04

申请号：EP08015944.5

申请日：2002-12-19

申请人： Honda Giken Kogyo Kabushiki Kaisha

发明人： Takenaka, Toru ,  Gomi, Hiroshi ,  Shigemi, Satoshi ,  Matsumoto, Takashi

IPC分类号： B25J5/00

CPC分类号： B62D57/02 ,  B25J13/081 ,  B25J13/085 ,  B25J13/088 ,  B62D57/032

摘要： In a legged mobile robot (1), a plurality of displacement sensors (70) is installed in a space between a second joint (18,20) connecting a distal end of a leg (2) and a foot (22) and a floor contact end of the foot. A discriminator (26,S12) is provided for discriminating whether the output of the displacement sensors (70) satisfy a predetermined relationship, and a self-diagnoser (26,S14) is provided for self-diagnosing whether at least one of the displacement sensors (70) is abnormal based on a discrimination result of the discriminator (26,S12).

公开(公告)号：EP2106886A1

公开(公告)日：2009-10-07

申请号：EP09009476.4

申请日：2003-04-28

申请人： Honda Giken Kogyo Kabushiki Kaisha

发明人： Takenaka, Toru ,  Matsumoto, Takashi

IPC分类号： B25J5/00 ,  B25J13/00

CPC分类号： B62D57/032 ,  B25J13/088 ,  B62D57/02 ,  G01C21/16

摘要： A self-position estimating device for a leg type movable robot (1) includes an accelerometer for detecting a translational acceleration and an annular velocity sensor. A value of the vertical position of a predetermined part (3) of the robot (1) or the centre of gravity of the robot (1) is estimated generally as a first estimated position, based on a desired movement, a desired displacement of a joint (10,12,14,16,18,20) or a detected displacement of the joint. An inertial navigation method is used to determine a second estimated value of the vertical position of the predetermined part (3) or the total centre of gravity of the robot (1) based on detection values of the accelerometer and the angular velocity sensor. The second estimated position is corrected based on the difference between the first estimated position and the second estimated position.

摘要翻译： 腿式可动机器人（1）的自身位置估计装置包括用于检测平移加速度的加速度计和环形速度传感器。 机器人（1）的预定部分（3）或机器人（1）的重心的垂直位置的值通常作为第一估计位置被估计为基于期望的移动，期望的位移 关节（10,12,14,16,18,20）或关节的检测位移。 使用惯性导航方法，基于加速度计和角速度传感器的检测值来确定机器人（1）的预定部分（3）的垂直位置的第二估计值或总重心。 基于第一估计位置和第二估计位置之间的差来校正第二估计位置。

公开(公告)号：EP2077178A1

公开(公告)日：2009-07-08

申请号：EP09004547.7

申请日：2002-04-25

申请人： Honda Giken Kogyo Kabushiki Kaisha

发明人： Takenaka, Toru ,  Matsumoto, Takashi ,  Hasegawa, Tadaaki

IPC分类号： B25J5/00 ,  B25J13/00

CPC分类号： B62D57/032

摘要： A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model) 100c2 that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is calculated or determined based on a difference (full-model ZMP's error) between the calculated model's ZMP and the desired ZMP, whilst a corrected desired body position is calculated or determined. Since the robot posture is corrected by the calculated ZMP-converted value and the corrected desired body position, the corrected gait can satisfy the dynamic equilibrium condition accurately.

摘要翻译： 模型的ZMP（全模型ZMP）是使用表示机器人运动和地板反应之间的关系的动态模型（反向全模型）100c2计算的，计算出关于所需ZMP的全模型校正力矩的ZMP转换值 或者基于计算的模型的ZMP和期望的ZMP之间的差（全模型ZMP的误差）确定，同时计算或确定校正的所需身体位置。 由于通过计算的ZMP转换值和校正的所需身体位置校正机器人姿势，所以校正的步态可以精确地满足动态平衡条件。

公开(公告)号：EP1671754A3

公开(公告)日：2007-07-11

申请号：EP06006484.7

申请日：2001-11-16

申请人： Honda Giken Kogyo Kabushiki Kaisha

发明人： Takenaka, Toru

IPC分类号： B25J5/00 ,  B62D57/032

CPC分类号： B62D57/032

摘要： A gait generation system (gait generator 100) for generating a gait of a legged mobile robot 1 having at least a body 24 and a plurality of, more precisely, two legs (leg links) 2 each connected to the body, comprising: leg reaction force calculating means (leg ZMP calculator 200, S20, S306) for calculating a leg reaction force, more specifically, a leg ZMP (ZMPfeet) that is a resultant force (total inertial force) of inertial force and gravity induced by a desired motion of the leg, based on a desired motion of the leg; inverted pendulum model supporting point position calculating means (S20, S308) for calculating a position of a supporting point of an inverted pendulum (ZMPpend) that describes dynamic behavior of the body, from at least the calculated leg reaction force and a desired floor reaction force (more specifically, a desired ZMP); inverted pendulum displacement calculating means (S20, S310) for calculating displacement of the inverted pendulum, more precisely, the inverted pendulum's material point position (inverted pendulum's horizontal position xb) based on at least the calculated position of the supporting point of the inverted pendulum; body position calculating means (body position determinator 202, S20, S312, S314) for calculating a position of the body, more precisely, a body's horizontal position based on at least the calculated displacement of the inverted pendulum; and gait generating means (S20, S300-S314, gait generator 100) for generating a gait based on at least the calculated position of the body.

公开(公告)号：EP0850729B1

公开(公告)日：2002-04-03

申请号：EP97310611.5

申请日：1997-12-24

申请人： HONDA GIKEN KOGYO KABUSHIKI KAISHA

发明人： Takenaka, Toru

IPC分类号： B25J9/16 ,  B62D57/02 ,  B62D57/032

CPC分类号： B62D57/02 ,  B25J9/1689

公开(公告)号：EP1081026A2

公开(公告)日：2001-03-07

申请号：EP00307458.0

申请日：2000-08-30

申请人： HONDA GIKEN KOGYO KABUSHIKI KAISHA

发明人： Takenaka, Toru ,  Kawai, Takayuki ,  Gomi, Hiroshi ,  Hasegawa, Tadaaki ,  Matsumoto, Takashi

IPC分类号： B62D57/032 ,  B25J19/00

CPC分类号： B62D57/032 ,  B25J19/0091

摘要： In a legged walking robot (1) having a body (3) and two articulated legs (2) each connected to the body through a hip joint (10, 12) and having a knee joint (16) and an ankle joint (18, 20), connected by a shank link (26), a knee pad (90) is mounted on the shank link as a landing/shock absorbing means at a position (Xpad1) adjacent to the knee joint which is brought into contact with the floor when coming into knee-first contact with the floor such that the knee joint is to be positioned at a location forward of the center of gravity (XG1) of the robot in a direction of robot advance, while absorbing impact occurring from the contact with the floor. With this, the robot can be easily stood up from an attitude with its knee joint regions in contact with the floor. Moreover, when coming into knee-first contact with the floor, it can absorb the impact of the contact to protect the knee joint regions and the floor from damage.

摘要翻译： 在具有主体（3）和两个铰接腿（2）的腿式步行机器人（1）中，每个腿部彼此通过髋关节（10,12）连接到身体并具有膝关节（16）和踝关节（18， 20），通过柄连杆（26）连接，膝部垫（90）作为着陆/冲击吸收装置安装在与膝盖接触的位置（Xpad1）处的台架连接处，该位置与地板接触 当与地板进行膝盖 - 第一次接触时，使得膝关节位于机器人的重心方向（XG1）的前方位于机器人前进方向上，同时吸收与 地板。 这样，机器人可以轻松地从与膝盖关节区域接触的地板的姿态站起来。 此外，当与地板进行膝盖首次接触时，它可以吸收接触的冲击，以保护膝关节区域和地板免受损坏。

公开(公告)号：EP0850729A3

公开(公告)日：1999-04-14

申请号：EP97310611.5

申请日：1997-12-24

申请人： HONDA GIKEN KOGYO KABUSHIKI KAISHA

发明人： Takenaka, Toru

IPC分类号： B25J9/16 ,  B62D57/02

CPC分类号： B62D57/02 ,  B25J9/1689

摘要： A remote control system for remotely controlling a legged moving robot has a robot manipulator (S) operable by an operator (OP) seated on a seat assembly (14) thereof for applying an operation command to the legged moving robot, the seat assembly having a seatback (23) or a seat (21) which is tiltable. A robot control unit on the legged moving robot controls the legged moving robot automatically to achieve a target orientation stably depending on the operation command from the robot manipulator. An orientation detector detects an orientation of the legged moving robot, and a tilting mechanism (27) tilts the seatback or the seat depending on a deviation of the orientation of the legged moving robot detected by the orientation detector from tihe target orientation.