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公开(公告)号：EP2251156A1
公开(公告)日：2010-11-17
申请号：EP10008080.3
申请日：2002-04-25
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： 使用表示机器人动作和地面反应之间的关系的动态模型（逆全模型）100c2来计算模型的ZMP（全模型的ZMP），计算关于期望的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之间的差异（全模型ZMP误差）来确定，同时计算或确定校正的期望身体位置。 由于机器人姿势通过计算出的ZMP转换值和校正的期望身体位置进行校正，所以校正后的步态可以精确地满足动态平衡条件。
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2.发明公开
公开(公告)号：EP0850729A2
公开(公告)日：1998-07-01
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.
摘要翻译： 用于远程控制有腿运动机器人的遥控系统具有可由坐在其座椅组件（14）上的操作者（OP）操作的机器人操纵器（S），用于向腿式移动机器人施加操作命令，座椅组件具有 座椅靠背（23）或可倾斜的座椅（21）。 腿式移动机器人上的机器人控制单元根据来自机器人操纵器的操作命令自动地控制有腿的移动机器人，以稳定地实现目标取向。 定向检测器检测有腿运动的机器人的方向，并且倾斜机构（27）根据由取向检测器检测到的有腿的运动机器人的方向与目标方向的偏差而使座椅靠背或座椅倾斜。
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公开(公告)号：EP1459854B1
公开(公告)日：2009-03-18
申请号：EP02788801.5
申请日：2002-12-11
发明人： Takenaka, Toru , GOMI, Hiroshi , HAMAYA, Kazushi , TAKEMURA, Yoshinari , MATSUMOTO, Takashi , YOSHIIKE, Takahide , NISHIMURA, Yoichi , AKIMOTO, Kazushi , YOKOYAMA, Taro
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J19/0091 , F16F9/0481
摘要： A device (18) for absorbing floor-landing shock provided in a foot mechanism (6) of a leg of a robot. The device comprises an inflatable/ deflatable bag-like member (19) (variable volume body) on the ground contact surface side of the foot mechanism (6). The bag-like member (19) is formed of an elastic material such as rubber and has a restoration capability. The inside of the bag-like member (19) is open to the atmosphere through a passage (20). W hen the leg lands on the floor, the bag-like member (19) touches the ground and is compressed, causing air in the bag-like member to flow out into the atmosphere through the passage (20), which produces an outflow resistance. This reduces floor-landing shock. While the leg body is off the floor, the bag-like member (19) is inflated by the restoring capability of the member as air flows into it. The shock load in floor-landing of the leg body of a legged mobile robot can be reduced smoothly by a light-weighted structure.
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6.发明公开DEVICE FOR ABSORBING FLOOR-LANDING SHOCK FOR LEGGED MOBILE ROBOT 有权VORRICHTUNG ZUM ABSORBIEREN VONBODENAUFSCHLAGSTÖSSENFÜRMOBILEN ROBOTER MIT BEINEN
公开(公告)号：EP1459854A1
公开(公告)日：2004-09-22
申请号：EP02788801.5
申请日：2002-12-11
发明人： Takenaka, Toru , GOMI, Hiroshi , HAMAYA, Kazushi , TAKEMURA, Yoshinari , MATSUMOTO, Takashi , YOSHIIKE, Takahide , NISHIMURA, Yoichi , AKIMOTO, Kazushi , YOKOYAMA, Taro
IPC分类号： B25J5/00
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 类似构件19由诸如橡胶的弹性材料构成并且具有恢复力。 袋状构件19的内部通过流路20与大气侧连通。在腿部的着陆运动期间，袋状构件19与地面接触以被压缩，并且空气在 其内部通过流路20流入大气，从而产生其流出阻力。 因此，降落着陆冲击。 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被充气。 腿型移动式机器人的腿部着陆期间的冲击负荷可以在重量轻的结构中平滑地减少。
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公开(公告)号：EP1364863A1
公开(公告)日：2003-11-26
申请号：EP03019502.8
申请日：1997-07-25
发明人： Takenaka, Toru , Matsumoto, Takashi
IPC分类号： B62D57/032
CPC分类号： B62D57/032
摘要： A system for generating or determining a desired height of a biped mobile robot (1) having a body (24) and two articulated legs (2) each connected to the body (24) through a hip joint (10-14) and each including a knee joint (16), an ankle joint (18,20) and a foot (22). In the system, body trajectory of body displacement including desired horizontal body position and orientation, except for a desired body height in the direction of gravity, and leg trajectory of foot displacement including a desired position and orientation, are predetermined on an off-line computer. Based on the parameters, a body height in the direction of gravity is determined by solving an equation comprised of a continuous function of the body height. Then, desired angles of said hip joints (10-14), said knee joint (16) and said ankle joint (18,20) are determined, through an inverse kinematic solution, based on said determination body trajectory, said leg trajectory and said determined desired body height. With the arrangement, it becomes possible to determine a smooth body height trajectory appropriately reduced in vertical motion on a real time basis during robot locomotion.
摘要翻译： 一种用于产生或确定性采矿双足移动机器人（1）具有主体（24）和两个铰接腿的期望高度系统（2）的每个连接到所述主体（24）通过髋关节（10-14），并且每个包括 膝关节（16）上踝关节（18,20）和一个支脚（22）。 在该系统中，身体位移的身体轨迹包括期望水平体的位置和方向，除了在重力的方向上的期望的身体高度，脚位移的腿轨迹包括期望位置和取向，是预先确定的到脱机计算机 ， 基于所述参数，在重力的方向上的主体高度确定性通过求解方程由本体高度的连续函数的开采。 所述髋部关节然后，所需角度（10-14），所述膝关节（16）和所述踝关节（18,20）是确定性的开采，通过，逆向运动学解的所述腿部，基于确定所述体轨迹的轨迹和Said 确定性开采期望的身体高度。 根据上述结构，就能够确定矿光滑体高度轨迹在垂直运动机器人运动期间适当地降低在实时的基础上。
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9.发明公开System for estimating attitude of leg type moving robot itself 有权Selbstpositionsabschätzvorrichtungfürmobile Roboter mit Beinen
公开(公告)号：EP2110210A1
公开(公告)日：2009-10-21
申请号：EP09009477.2
申请日：2003-04-28
发明人： Takenaka, Toru , Matsumoto, Takashi
CPC分类号： B62D57/032 , B25J13/088 , B62D57/02 , G01C21/16
摘要： A system for estimating a posture angle of a predetermined part of a leg type moving robot (1), such as a body (3), including a posture angular velocity detecting means for detecting a posture angular velocity of the predetermined part of the robot (1), a drift correction value determining means for determining a drift correction value relative to a detected value of the posture angular velocity in a state in which a motion of the robot (1) is stopped, and an integrating means for integrating at least a posture angular velocity obtained by correcting a detected value of the posture angular velocity detecting means by the drift correction value while the robot (1) is in motion, so as to estimate a posture angle of the body (3) or other predetermined part.
摘要翻译： 一种用于估计诸如身体（3）的腿型移动机器人（1）的预定部分的姿势角的系统，包括用于检测机器人的预定部分的姿势角速度的姿势角速度检测装置（ 1），漂移校正值确定装置，用于在停止所述机器人（1）的运动的状态下确定相对于所述姿势角速度的检测值的漂移校正值，以及积分装置，用于将至少一个 通过在所述机器人（1）运动时通过所述漂移校正值校正所述姿势角速度检测装置的检测值而获得的姿势角速度，以估计所述主体（3）或其他预定部分的姿势角。
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10.发明授权Legged walking robot with landing / shock absorbing means to protect its knees 有权用于保护他的膝盖足步行机器人和冲击吸收设备
公开(公告)号：EP1081026B1
公开(公告)日：2006-05-31
申请号：EP00307458.0
申请日：2000-08-30
IPC分类号： B62D57/032 , B25J19/00
CPC分类号： B62D57/032 , B25J19/0091
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