-
公开(公告)号：EP1103449A1
公开(公告)日：2001-05-30
申请号：EP00310407.2
申请日：2000-11-23
申请人： Sony Corporation
发明人： Kuroki, Yoshihiro
CPC分类号： B25J13/003 , G05B2219/33327 , G05B2219/35453 , G10L13/00
摘要： A robot failure diagnosing system in which sound input by the user is interpreted/recognized by a command recognizing section in order to notify a request for a diagnosis to a self-diagnosis section. For example, the user can input a command which prompts a self-diagnosis operation in the form of a natural communication, such as by saying, "Perform a self-diagnosis operation," and by asking, "How do you feel, robot?" With respect to this, the robot can indicate the self-diagnosis result in the form of a natural conversation, such as by saying, "I'm not feeling well," "My leg hurts," and "I'm hungry." The robot failure diagnosing system performs a self-diagnosis of a failure or abnormality in a system, and feeds back the diagnosis result to the user.
摘要翻译： 一种机器人故障诊断系统，其中由用户输入的声音由命令识别部分解释/识别，以向自诊断部分通知诊断请求。 例如，用户可以输入以自然通信的形式提示自诊断操作的命令，例如通过说“执行自诊断操作”，并通过询问“你感觉如何，机器人？ “ 关于这一点，机器人可以以自然对话的形式表明自我诊断结果，例如说“我感觉不舒服”，“我的腿疼”，“我饿了”。 机器人故障诊断系统对系统中的故障或异常进行自我诊断，并将诊断结果反馈给用户。
-
公开(公告)号：EP1053835A4
公开(公告)日：2001-03-21
申请号：EP98901067
申请日：1998-01-30
申请人： HONDA MOTOR CO LTD
IPC分类号： B62D57/02 , B62D57/032 , B25J5/00
CPC分类号： B62D57/02 , B62D57/032
摘要： In order to properly control the actual total floor reaction force and each actual foot floor reaction force which are exerted on a leg type mobile robot, especially a two-legged walking robot, and to allow such a robot to walk in a stable posture even on a road surface having not only global but also local slopes and projections, the posture inclination of the robot is detected, the moment of the compensation total floor reaction force around the center of the target total floor reaction force is determined, the moment is distributed to each foot, and the position and posture of the foot are determined so that the robot is turned at a predetermined angle around the center of the target total floor reaction force and around the center of the target foot floor reaction force. Thus, the floor reaction force exerted on the leg type mobile robot can be controlled easily and properly without interference. Even when there is unexpected variation of the floor shape including not only global undulation and inclination but also local recesses and projections and inclination, the floor reaction force working on the leg type mobile robot can be controlled properly without being influenced greatly by such floor shape variation. Posture stabilization controlling of a leg type mobile robot can be realized easily, the landing impact which the leg type mobile robot receives can be reduced. The groundability of the leg type mobile robot can be improved, and the slipping and spinning of the robot while it is walking can be prevented. It is also possible to reduce the load on the actuator of the leg type mobile robot.
-
公开(公告)号：EP0965416A4
公开(公告)日：2001-01-17
申请号：EP97949180
申请日：1997-12-19
申请人： HONDA MOTOR CO LTD
IPC分类号： B62D57/02 , B62D57/032
CPC分类号： B62D57/02
摘要： Even if a legged moving robot, particularly a two-legged walking robot having arms, receives an unexpected reactive force from a working object, the dynamic balance is kept and a stable attitude can be maintained. In accordance with the deviation between the target value and actual value of the reactive force of the object, the deviation (momentum around a whole floor reactive force center point) is distributed among a target upper body position/attitude and a target flat foot position/attitude to correct them and the respective linkage joints are driven and controlled in accordance with the correction.
-
74.发明公开ATTITUDE CONTROLLER OF LEGGED MOVING ROBOT 失效HALTUNGSKONTROLLEUR EINEN SICH AUF BEINEN BEWEGENDEN ROBOTERN
公开(公告)号：EP0965416A1
公开(公告)日：1999-12-22
申请号：EP97949180.0
申请日：1997-12-19
发明人： TAKENAKA, Toru Kabushiki Kaisha Honda , HASEGAWA, Tadaaki Kabushiki Kaisha Honda , MATSUMOTO,Takashi Kabushiki Kaisha Honda
CPC分类号： B62D57/02
摘要： In a legged mobile robot, in particular a biped robot having arms, the control is conducted such that the dynamic balance is preserved so as to keep a stable posture, even when the robot is subject to unexpected reaction force from an object. It is configured such that the difference or error (i.e., moment about the central point of total floor reaction force) between the desired object reaction force and the actual value is determined and is distributed to the desired body position/posture and the desired feet position/posture, and based thereon, robot link joints are controlled to be driven.
摘要翻译： 在有腿的移动机器人中，特别是具有臂的双足机器人，即使当机器人受到来自物体的意想不到的反作用力时，进行控制，使得保持动态平衡以保持稳定的姿势。 它被构造成使得期望的物体反作用力和实际值之间的差异或误差（即，总地板反作用力的中心点的力矩）被确定并且被分配到期望的身体位置/姿势和期望的脚位置 /姿势，并且基于此，机器人连杆关节被控制以被驱动。
-
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
发明人： Takenaka, Toru
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.
-
公开(公告)号：EP0652151B1
公开(公告)日：1998-12-23
申请号：EP94916401.6
申请日：1994-05-27
IPC分类号： B62D57/02 , B62D57/024
CPC分类号： B62D57/00
摘要： A travel device comprising frame means and travelling means mounted on the frame means for travelling on a running surface and comprising a plurality of wheels or a plurality of endless rails each including a plurality of belt wheels wherein the frame means includes a main frame, a pair of swinging frames disposed on the sides of the main frame, and a connecting frame disposed on one end of the main frame, wherein the central portion of the connecting frame is connected to the main frame via a one-shaft swinging coupling means, wherein the ends of the connecting frame are each connected to one end of each of the swinging frames via an all-shaft swinging coupling means and wherein the other end of each of the swinging frames is connected to the sides of the other end of the main frame via a two-shaft swinging coupling means.
-
公开(公告)号：EP0596797B1
公开(公告)日：1996-03-13
申请号：EP93402696.4
申请日：1993-11-03
IPC分类号： B62D57/032 , B62D57/02
CPC分类号： B62D57/032 , B62D57/02
-
公开(公告)号：EP0596797A1
公开(公告)日：1994-05-11
申请号：EP93402696.4
申请日：1993-11-03
IPC分类号： B62D57/032 , B62D57/02
CPC分类号： B62D57/032 , B62D57/02
摘要： Pied de robot marcheur comprenant en particulier des moyens (2, 17) d'orientation automatique de la semelle, des capteurs (7, 8) d'inclinaison de la semelle, des capteurs de contact au sol (25) pour vérifier l'étendue de l'appui, des ressorts amortissants (14) de compression de l'armature (6) du pied pour n'appliquer l'effort que progressivement et éventuellement une bordure (21) latérale de détection d'obstacles. Tous ces moyens contribuent à exclure des appuis hasardeux.
摘要翻译： 步行机器人的脚部特别地包括用于鞋底自动定向的装置（2,17），用于感测鞋底倾斜的传感器（7,8），用于感测与地面接触的传感器（25），以便 检查支撑的程度，弹簧（14）用于阻止脚的框架（6）的压缩，以便逐渐施加负载，并且可能仅用于检测障碍物的侧向边缘（边界）（21）。 所有这些意味着有助于排除危险的立足点。
-
公开(公告)号：EP0488693A3
公开(公告)日：1993-03-03
申请号：EP91310964.1
申请日：1991-11-27
发明人： Takenaka, Toru, c/o KK Honda Gijyutsu Kenkyusho , Ozawa, Nobuaki, c/o KK Honda Gijyutsu Kenkyusho , Nishikawa, Masao, c/o KK Honda Gijyutsu Kenkyusho
IPC分类号： B62D57/02 , B62D57/032
CPC分类号： B62D57/032
摘要： A servo system for controlling locomotion of a biped walking robot, made up of a body link (24) and two leg linkages (27L,R) each connected to the body link by a first drive joint (10) and each including knee (16L,R) and ankle joints (18,20), to follow up a target angle for each drive joint predetermined in series with respect to time such that the robot walks. In order to stabilize robot posture when it could turn over, the drive speed of the joints are feedback controlled in response to the robot turnover probability. Moreover, the predetermined robot gait is modified at such instance, for example, in such a manner that robot leg lands at one of additionally preestablished candidate positions for robot leg landing.
摘要翻译： 一种用于控制双足步行机器人的运动的伺服系统，其由通过第一驱动关节（10）连接到身体连杆的身体连杆（24）和两个腿连杆（27L，R）构成，并且每个膝关节包括膝盖 ，R）和踝关节（18,20），以跟随针对每个驱动关节的目标角度，所述目标角度相对于时间串联预定，使得机器人行走。 为了在机器人翻转时稳定机器人姿态，根据机器人翻转概率反馈控制关节的驱动速度。 此外，在这种情况下，预定的机器人步态例如以这样的方式进行修改，即机器人腿着陆在另外预先建立的用于机器人腿着陆的候选位置之一处。
-
80.发明公开System for controlling locomotion of legged walking robot 失效系统zur Steuerung der Fortbewegung eines Schreitroboters mit Beinen。
公开(公告)号：EP0488693A2
公开(公告)日：1992-06-03
申请号：EP91310964.1
申请日：1991-11-27
发明人： Takenaka, Toru, c/o KK Honda Gijyutsu Kenkyusho , Ozawa, Nobuaki, c/o KK Honda Gijyutsu Kenkyusho , Nishikawa, Masao, c/o KK Honda Gijyutsu Kenkyusho
IPC分类号： B62D57/02 , B62D57/032
CPC分类号： B62D57/032
摘要： A servo system for controlling locomotion of a biped walking robot, made up of a body link (24) and two leg linkages (27L,R) each connected to the body link by a first drive joint (10) and each including knee (16L,R) and ankle joints (18,20), to follow up a target angle for each drive joint predetermined in series with respect to time such that the robot walks. In order to stabilize robot posture when it could turn over, the drive speed of the joints are feedback controlled in response to the robot turnover probability. Moreover, the predetermined robot gait is modified at such instance, for example, in such a manner that robot leg lands at one of additionally preestablished candidate positions for robot leg landing.
摘要翻译： 一种用于控制双足步行机器人的运动的伺服系统，其由主体连杆和两个腿部连杆构成，每个腿部连杆通过第一驱动关节连接到主体连接件，并且每个包括膝盖和踝关节，以跟随每个驱动器的目标角度 相对于机器人行进的时间而联合预定的关节。 为了稳定机器人的姿态，可以根据机器人的倒车概率对接头的驱动速度进行反馈控制。 此外，预定机器人步态在这种情况下被修改，例如，以这样的方式，即机器人手臂将机器人脚部着陆的附加预先建立的候选位置之一置于其中。
-
-
-
-
-
-
-
-
-
搜索结果
244 条记录 (耗时 0.013 秒)
