公开(公告)号：EP1552909A1

公开(公告)日：2005-07-13

申请号：EP03736033.6

申请日：2003-06-04

申请人： Japan Science and Technology Agency

发明人： FURUTA, Takayuki ,  TAWARA, Tetsuo ,  OKUMURA, Yu ,  KITANO, Hiroaki ,  SHIMIZU, Masaharu

IPC分类号： B25J5/00

CPC分类号： B25J13/085 ,  B62D57/032

摘要： A walk controller (30) to drive-control drive means of respective joint portions (15L, 15R to 20L, 20R) of respective leg portions (13L, 13R) based on gait data comprises force sensors (23L, 23R) to detect forces applied to the soles of respective foot portions(14L, 14R), and a compensation part (32) to adjust the gait data from a gait forming part (24) based on horizontal floor reaction force among the forces detected by the force sensors, respective force sensor parts (23L, 23R) comprises 3-axis force sensors (36a to 36d) provided to respective parts of soles divided into a plurality at respective foot portions (14L, 14R), a contact detection part (32b) detects a contact of foot sides by the force sensors provided to regions next to end edges of respective soles, and the compensation part (32) adjusts the gait data from the gait forming part (24) referring to the contact of foot sides, and thereby the contact of foot sides to such a matter as an obstacle is detected, and a walk stability is realized.

摘要翻译： 基于步态数据的步行控制器（30），用于基于步态数据的各个腿部（13L，13R）的各个接合部（15L，15R〜20L，20R）的驱动控制驱动装置，包括力传感器（23L，23R） 和相应的脚部（14L，14R）的脚底和补偿部件（32），用于根据由力传感器检测到的力之间的水平地面反作用力来调整来自步态形成部件（24）的步态数据，相应的力 传感器部件（23L，23R）包括在相应的脚部分（14L，14R）上分成多个的鞋底的各部分设置的3轴力传感器（36a〜36d），接触检测部（32b）检测脚的接触 通过设置在相邻鞋底的端部边缘附近的区域的力传感器的侧面，并且补偿部件（32）参考脚侧的接触来调整来自步态形成部件（24）的步态数据，从而使脚侧 到这样一个障碍物被检测到，并且步行stabi 实现实现。

公开(公告)号：EP1440774B1

公开(公告)日：2007-02-14

申请号：EP02775212.0

申请日：2002-09-19

申请人： Japan Science and Technology Agency

发明人： FURUTA, Takayuki ,  OKUMURA, Yu ,  TAWARA, Tetsuo ,  KITANO, Hiroaki

IPC分类号： B62D57/032

CPC分类号： B62D57/032

摘要： A bipedal humanoid capable of easily performing a gross movement such as passive movement, rising movement, and turnover movement at the time of overturning, comprising a body part 11 having a lower waist part 11b, an upper chest part 11a installed on the waist part swingably in two axial directions, and drive means 11d, 11e for swinging the chest part in two axial directions, wherein the upper half of a body comprising the chest part and arm parts can be collectively moved by turning the upper part in longitudinal direction or turning in lateral direction, i.e., by the anteflexion and twist of a waist relative to the lower half of the body comprising a waist part 11b and a leg part 12 and, when a walking control device drives the arm parts 13 and the chest part 11a to allow these parts to perform the gross movement by utilizing the weights and inertia moments of the arm parts and chest part, the arm parts and the chest part are swung or turned relative to the waist part 11b to perform the three-dimensional compensation of the jumping and the movement utilizing the upper half of the body by utilizing the weights and inertia moments of the arm parts and the chest part applied to the waist part so that the movement can be performed while keeping a balance.

公开(公告)号：EP1464451A1

公开(公告)日：2004-10-06

申请号：EP02805016.9

申请日：2002-11-19

申请人： Japan Science and Technology Agency

发明人： KITANO, Hiroaki ,  FURUTA, Takayuki ,  OKUMURA, Yu ,  TAWARA, Tetsuo

IPC分类号： B25J5/00

CPC分类号： B25J13/085 ,  B62D57/032

摘要： The present invention provides a biped walking mobile apparatus, its walk controller, and walk controlling strategy therefor, which are to realize walk stability even under the road surface condition where the foot stance is unstable, for example, such as wet floor, ice, mud, or the carpet of long hair, or when only a part contacts with the floor surface due, for example, to its roughness. A walk controller (30) of the biped walking mobile apparatus comprises the force sensors (23L, 23R) for detecting the forces applied to soles of respective foot portions (14L, 14R) which drive-control the drive means of the respective joint portions (15L, 15R to 20L, 20R) of respective leg portions of the biped walking mobile apparatus based on gait data, and the compensation part (32) for correcting gait data from the gait forming part (24) based on horizontal floor reaction force among the forces detected by the force sensors, and it is constituted so that each force sensor (23L, 23R) comprises 3-axis force sensors set to each part of the soles of each foot portion (14L, 14R) divided in plurality.

摘要翻译： 本发明提供了一种两足动作的移动装置，其步行控制器和步行控制策略，即使在脚姿不稳定的路面状况下也能实现步行稳定，例如湿地板，冰，泥 或长头发的地毯，或者仅当一部分与地板表面接触时，例如由于它的粗糙度。 两足步行移动装置的行走控制器（30）包括用于检测施加到各个脚部（14L，14R）的鞋底的力的力传感器（23L，23R），该力传感器驱动控制各个接合部的驱动装置 基于步态数据的两足步行移动装置的各脚部的15L，15R〜20L，20R），以及用于根据步态数据中的水平地板反作用力来修正来自步态形成部（24）的步态数据的补偿部（32） 由力传感器检测到的力，并且构成为使得每个力传感器（23L，23R）包括设置在分割成多个的每个脚部（14L，14R）的每个鞋底部分的3轴力传感器。

公开(公告)号：EP1464451B1

公开(公告)日：2010-07-14

申请号：EP02805016.9

申请日：2002-11-19

申请人： Japan Science and Technology Agency

发明人： KITANO, Hiroaki ,  FURUTA, Takayuki ,  OKUMURA, Yu ,  TAWARA, Tetsuo

IPC分类号： B25J5/00

CPC分类号： B25J13/085 ,  B62D57/032

公开(公告)号：EP1477283A1

公开(公告)日：2004-11-17

申请号：EP03703262.0

申请日：2003-02-07

申请人： Japan Science and Technology Agency

发明人： FURUTA, Takayuki ,  TAWARA, Tetsuo ,  OKUMURA, Yu ,  KITANO, Hiroaki

IPC分类号： B25J5/00

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

摘要： A walk controller(30) for a biped (two-footed) walking mobile system, which drive-controls each joint drive motor (15L, 15R - 20L, 20R) of each leg portion (13L, 13R) of a biped walking mobile system based on gait data, includes a force detector (23L, 23R) to detect the force allied to a sole of each foot portion (14L, 14R), and a compensator (32) to modify the gait data from a gait former (24) based on the force detected by a force detector, and is constituted so that each force detector (23L, 23R) comprises at least three 3-axial force sensors (36a, 36b, 36c) allocated on a sole of each foot portion (14L, 14R), and a compensator (32) modifies gait data based on the detected signals from three 3-axial force sensors (36a, 36b, 36c) which detect effective force, thereby the walk stability of a robot is realized, even on the unstable road surface condition with complex roughness.

摘要翻译： 一种用于两足动物（两脚）步行移动系统的行走控制器（30），其驱动控制两足动作移动系统的每个腿部（13L，13R）的每个关节驱动马达（15L，15R-20L，20R） 基于步态数据，包括用于检测与每个脚部（14L，14R）的鞋底相关的力的力检测器（23L，23R）和用于修改来自步态成型器（24）的步态数据的补偿器（32） 基于由力检测器检测到的力，并且构造成使得每个力检测器（23L，23R）包括分配在每个脚部（14L，23R）的鞋底上的至少三个三轴力传感器（36a，36b，36c） 14R），补偿器（32）基于检测有效力的三个3轴力传感器（36a，36b，36c）的检测信号来修正步态数据，从而即使在不稳定的情况下也能够实现机器人的行走稳定性 道路表面状况复杂粗糙。

公开(公告)号：EP1477277A1

公开(公告)日：2004-11-17

申请号：EP03703264.6

申请日：2003-02-07

申请人： Japan Science and Technology Agency

发明人： FURUTA, Takayuki ,  TAWARA, Tetsuo ,  OKUMURA, Yu ,  KITANO, Hiroaki

IPC分类号： B25B5/00 ,  B25J13/00

CPC分类号： B62D57/032 ,  B62D57/02

摘要： It is a biped (two-footed) walking humanoid robot, which is provided with drive motors (11d, 11e, 18L, 18R - 24L, 24R, 28L, 28R - 33L, 33R, 35, 36) to pivotally move respective joint portions, and a motion control apparatus (40) to drive-control respective drive motors, and said motion control apparatus (40), together with a detector (45) to detect the robot's current posture and others, compares the robot's detected current posture and others with next motion command input from outside, and if next motion command is within the range of stability limit with respect to the robot's current posture and others, the complementary data with respect to intermediate motion from current posture till initial posture of next motion command and the motion data corresponding to next motion command are generated, each drive motor is drive-controlled based on said complementary and motion data, and thereby various motions are conducted smoothly and continually. It is preferably provided with a motion library (41a) storing time series data of basic motions as the elements of the robot's motions and posture data consisting of algorithm, reads out the corresponding posture data from said motion library, and generates complementary and motion data as the combined motion sequence.

摘要翻译： 它是一个双足（两脚）行人形机器人，它设有驱动电机（11d，11e，18L，18R-24L，24R，28L，28R-33L，33R，35,36），以使各个接合部 以及用于驱动控制各个驱动电机的运动控制装置（40），并且所述运动控制装置（40）与检测器（45）一起检测机器人的当前姿势等，比较机器人检测到的当前姿势和其他 从外部输入下一个运动命令，并且如果下一个运动命令在关于机器人的当前姿势等的稳定极限的范围内，则相对于从当前姿势到下一个运动命令的初始姿势的中间运动的补充数据和 生成与下一运动指令相对应的运动数据，基于所述补充运动数据对每个驱动马达进行驱动控制，从而平稳且持续地进行各种动作。 优选地，设置有运动库（41a），其存储基本动作的时间序列数据作为机器人运动的要素和由算法组成的姿势数据，从所述运动库中读出相应的姿势数据，并生成补充运动数据作为 组合运动顺序。

公开(公告)号：EP1454719A1

公开(公告)日：2004-09-08

申请号：EP02803520.2

申请日：2002-11-19

申请人： Japan Science and Technology Agency

发明人： FURUTA, Takayuki ,  OKUMURA, Yu ,  TAWARA, Tetsuo ,  KITANO, Hiroaki

IPC分类号： B25J5/00 ,  B25J13/00

CPC分类号： B62D57/032

摘要： The present invention provides a biped (two-footed) walking mobile system, its walk controller, and walk control method therefore, which are to realize enhancing an walk stability, as well as a consumed energy saving. A walk controller (30) of a biped walking mobile system forms a gait data by a gait forming part (33) based on parameters from a gait stabilizing part (32), and drive-controls drive means of respective joint portions (15L, 15R - 20L, 20R) of each leg portion based on said gait data. In this case, the walk controller (30) is so constituted as to selectively witch a powered mode to conduct ordinary drive-control and a passive mode to drive-control the drive means similarly with passive joints, whereby drive-controlling respective joint portions. The walk controller (30) preferably switches the drive and passive modes with respect to, for example, joint portions of knee and foot portions, or switches to the powered mode for kick-up and landing during walking motion, and to the passive mode for a free foot state.

摘要翻译： 本发明提供移动行走系统，其行走控制器双足（两脚）和步行控制方法，因此，这对实现提高行走稳定性，以及所消耗的节能。 一个双足步行移动系统的行走控制器（30）通过一个步态形成部（33）基于来自步态稳定部（32）的参数形成了步态数据，并驱动控制驱动respectivement关节部的手段（15L，15R - 20L，基于所述步态数据中的每个腿部的20R）。 在这种情况下，行走控制器（30）是如此构成的，以选择性地女巫动力模式进行普通驱动控制和被动模式进行驱动控制的驱动器与被动关节类似手段，由此驱动控制respectivement接合部。 行走控制器（30），优选地开关，例如，膝盖和脚部分，或者切换到用于弯和着陆的供电模式的关节部在行走运动相对于，驱动和被动模式，并为被动模式 自由脚的状态。

公开(公告)号：EP1454719B1

公开(公告)日：2008-03-19

申请号：EP02803520.2

申请日：2002-11-19

申请人： Japan Science and Technology Agency

发明人： FURUTA, Takayuki ,  OKUMURA, Yu ,  TAWARA, Tetsuo ,  KITANO, Hiroaki

IPC分类号： B25J5/00 ,  B25J13/00

CPC分类号： B62D57/032

摘要： A bipedal moving device having an increased walking stability and capable of walking with low energy consumption, and a device and a method for controlling the walking of the bipedal moving device, the walking control device 30 for the bipedal moving device wherein gait pattern data is generated by a gate pattern generating part 33 based on parameters from a gait pattern stabilizing part 32, the drive means of the joint parts 15L, 15R to 20L, 20R of leg parts is drivingly controlled based on the gait pattern data, and a control mode is selectively switched between a drive mode for performing a normal drive control and a passive mode for drivingly controlling the drive means as well as a passive joint to drivingly control the joint parts, and, desirably, the control mode is switched between the drive mode and the passive mode, for example, for the joint parts of knee parts and foot parts, or switched to the drive mode at the time of kick and landing during walking operation and to the passive mode when legs are swinging.

公开(公告)号：EP1440774A1

公开(公告)日：2004-07-28

申请号：EP02775212.0

申请日：2002-09-19

申请人： Japan Science and Technology Agency

发明人： FURUTA, Takayuki ,  OKUMURA, Yu ,  TAWARA, Tetsuo ,  KITANO, Hiroaki

IPC分类号： B25J5/00

CPC分类号： B62D57/032

摘要： The present invention provides a biped (two-footed) walking humanoid robot easily capable of such full body movement as, for example, protective action when tumbling down, arising action and rolling action. The body part (11) is configured with a waist part (11b) below, a breast part (11a) attached biaxially movably to said waist part, and a drive means (11d, 11e) to move said breast part biaxially, and a controller (50) makes full body movement performed by drive controlling each drive means in mutual coordination. A walk controller (50) drive controls each drive means in mutual coordination, whereby moving the breast part (11a) biaxially with respect to the waist part (11b), namely moving longitudinally or rotating horizontally, and thus makes it possible to move totally the upper part configured with the breast part and arm parts with respect to the lower part configured with the waist part (11b) and leg parts (12) by so-called stoop forward and twisting of a waist. Therefore, protective action when tumbling down, arising action, and rolling action are made possible. Also in case that full body movement is to be performed with the walk controller driving arm parts (13) and the breast part (11a) and utilizing the weight and the moment of inertia of these arm and a breast parts, a walk controller not only drives each part by each drive means, but also moves or rotates arm and a breast parts with respect to the waist part (11b), utilizes the weight and the moment of inertia of arm and a breast part with respect to the waist part, and thus makes it possible, for example, to jump. Further, balancing motion can be performed by utilizing such weight and moment of inertia of arm and breast parts, and by conducting three dimensional compensation of the motion utilizing the upper body.

摘要翻译： 本发明提供了一种两足动物（双足）步行类人形机器人，其容易地能够进行这样的全身运动，例如当翻滚时的保护作用，产生的动作和滚动动作。 主体部（11）在下方设置有腰部（11b），将乳房部（11a）双向移动到所述腰部，以及驱动装置（11d，11e），使所述乳房部双轴移动，控制器 （50）通过相互协调地驱动控制每个驱动装置进行全身运动。 步行控制器（50）驱动器相互协调地控制每个驱动装置，从而相对于腰部（11b）双轴移动乳房部分（11a），即纵向移动或水平旋转，从而可以完全移动 相对于通过所谓的腰部前后弯曲构成的腰部（11b）和腿部（12）的下部构成乳房部和臂部的上部。 因此，可以进行翻滚，产生动作和滚动动作时的保护动作。 此外，在行走控制器驱动臂部（13）和乳房部（11a）进行全身运动的情况下，利用这些臂和乳房部的重量和惯性矩，不仅可以使用步行控制 通过每个驱动装置驱动每个部件，而且相对于腰部（11b）移动或旋转臂和乳房部分，利用臂和乳房部分相对于腰部的重量和惯性矩，以及 从而使得例如跳跃成为可能。 此外，平衡运动可以通过利用臂和乳房部分的这种重量和惯性矩进行，并且通过利用上身体对运动进行三维补偿。