公开(公告)号：US06992456B2

公开(公告)日：2006-01-31

申请号：US10495652

申请日：2002-11-19

申请人： Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara ,  Hiroaki Kitano

发明人： Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara ,  Hiroaki Kitano

IPC分类号： B25J5/00 ,  G06F19/00

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： 本发明提供了一种两足动物（双脚）步行移动系统，其步行控制器和步行控制方法，其实现了步行稳定性的提高以及消耗的节能。 两足步行移动系统的行走控制器（30）基于来自步态稳定部件（32）的参数，通过步态形成部件（33）形成步态数据，并且驱动控制各个接合部分（15L， 15R-20L，20R）。 在这种情况下，步行控制器30构成为选择性地动力模式进行通常的驱动控制和被动模式，以类似于被动接头驱动控制驱动装置，由此驱动控制各个接合部分。 步行控制器（30）优选地将例如膝盖和脚部的关节部分的驱动和被动模式或者在步行运动期间切换到用于启动和着陆的动力模式，以及被动模式 一个自由的脚状态。

公开(公告)号：US20050088131A1

公开(公告)日：2005-04-28

申请号：US10504691

申请日：2003-02-07

申请人： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

发明人： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

IPC分类号： B25J5/00 ,  B25J13/08 ,  B62D57/02 ,  B62D57/032

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： 一种用于两脚架（两脚）行走移动系统的步行控制器（30），其驱动控制每个腿部（13L，13R）的每个关节驱动马达（15L，15R-20L，20R） 基于步态数据的双足步行移动系统包括用于检测与每个脚部（14L，14R）的鞋底相关联的力的力检测器（23L，23R）和用于修改的补偿器（32） 基于由力检测器检测到的力，来自步态成型器（24）的步态数据被构造成使得每个力检测器（23L，23R）包括至少三个三轴力传感器（36a，36b ，36c），分配在每个脚部（14L，14R）的鞋底上，补偿器（32）基于来自三个三轴力传感器（36a，36b，36c）的检测信号来修改步态数据 ），从而即使在具有复杂粗糙度的不稳定路面条件下也能够实现机器人的步行稳定性。

公开(公告)号：US06959776B2

公开(公告)日：2005-11-01

申请号：US10490483

申请日：2002-09-19

申请人： Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara ,  Hiroaki Kitano

发明人： Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara ,  Hiroaki Kitano

IPC分类号： A63H11/18 ,  B25J5/00 ,  B62D57/032 ,  B62J5/00

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，其容易地能够进行诸如当翻转下来的保护作用，产生动作和滚动动作时的全身运动。 身体部分（11）配置有下面的腰部部分（11b），双轴可移动地连接到所述腰部部分的乳房部分（11a）和驱动装置（11d，11e），以使所述乳房部分双轴向移动 ，并且控制器（50）通过相互协调地驱动控制每个驱动装置来进行全身运动。 行走控制器（50）驱动器相互协调地控制每个驱动装置，从而相对于腰部部分（11b）双轴移动乳房部分（11a），即纵向移动或水平旋转，从而使得移动 完全相对于构成腰部部分（11b）和腿部（12）的下部构成乳房部分和臂部分的上部，通过所谓的腰部向前和扭转。 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，在步行控制器驱动臂部分（13）和乳房部分（11a）进行全身运动的情况下，并且利用这些臂和乳房部分的重量和惯性矩，步行控制器不 仅通过每个驱动装置驱动每个部件，而且相对于腰部部分（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 ，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，并且通过利用上身对运动进行三维补偿来执行。

公开(公告)号：US07057367B2

公开(公告)日：2006-06-06

申请号：US10504693

申请日：2003-02-07

申请人： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

发明人： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

IPC分类号： 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）步行人形机器人，它设有驱动马达（11d，11e，18L，18R-24L，24R，28L，28R-33L，33R， 以及运动控制装置（40），用于驱动控制相应的驱动马达和所述运动控制装置（40）与检测器（45）一起检测机器人的当前姿势，以及 其他人通过从外部输入的下一个运动命令来比较机器人检测到的当前姿态和其他运动命令，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，则相对于来自当前的中间运动的补充数据 生成下一个运动命令的初始姿势和与下一个运动命令相对应的运动数据的姿势，基于所述互补运动数据驱动控制每个驱动马达，从而平稳且持续地进行各种运动。 优选地，设置有存储作为机器人运动的要素的基本运动的时间序列数据的运动库（41a）和由算法组成的姿势数据，从所述运动库读出相应的姿势数据，并且生成补充运动数据 作为组合运动序列。

公开(公告)号：US20050016778A1

公开(公告)日：2005-01-27

申请号：US10499306

申请日：2002-11-19

申请人： Hiroaki Kitano ,  Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara

发明人： Hiroaki Kitano ,  Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara

IPC分类号： B25J5/00 ,  B25J13/08 ,  B25J19/02 ,  B62D57/032 ,  B62D51/06

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： 本发明提供了一种双足步行移动装置，其步行控制器和步行控制策略，其即使在脚姿势不稳定的路面状况下也能实现步行稳定性，例如湿地板，冰，泥 或长头发的地毯，或当仅由一部分与地板表面接触时，例如由于其粗糙度。 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），其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），以及用于根据步行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：US20050151496A1

公开(公告)日：2005-07-14

申请号：US10504693

申请日：2003-02-07

申请人： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

发明人： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

IPC分类号： B25J5/00 ,  B25J13/00 ,  B62D57/02 ,  B62D57/032

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）步行人形机器人，它设有驱动马达（11d，11e，18L，18R-24L，24R，28L，28R-33L，33R， 以及运动控制装置（40），用于驱动控制相应的驱动马达和所述运动控制装置（40）与检测器（45）一起检测机器人的当前姿势，以及 其他人通过从外部输入的下一个运动命令来比较机器人检测到的当前姿态和其他运动命令，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，则相对于来自当前的中间运动的补充数据 生成下一个运动命令的初始姿势和与下一个运动命令相对应的运动数据的姿势，基于所述互补运动数据驱动控制每个驱动马达，从而平稳且持续地进行各种运动。 优选地，设置有存储作为机器人运动的要素的基本运动的时间序列数据的运动库（41a）和由算法组成的姿势数据，从所述运动库读出相应的姿势数据，并且生成补充运动数据 作为组合运动序列。

公开(公告)号：US20050001575A1

公开(公告)日：2005-01-06

申请号：US10495652

申请日：2002-11-19

申请人： Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara ,  Hiroaki Kitano

发明人： Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara ,  Hiroaki Kitano

IPC分类号： A63H11/18 ,  B25J5/00 ,  B25J13/00 ,  B62D57/032

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： 本发明提供了一种两足动物（双脚）步行移动系统，其步行控制器和步行控制方法，其实现了步行稳定性的提高以及消耗的节能。 两足步行移动系统的步行控制器（30）基于来自步态稳定部件（32）的参数，通过步态形成部件（33）形成步态数据，并驱动控制各接合部（15L，15R -20L，20R）基于所述步态数据。 在这种情况下，步行控制器30构成为选择性地动力模式进行通常的驱动控制和被动模式，以类似于被动接头驱动控制驱动装置，由此驱动控制各个接合部分。 步行控制器（30）优选地将例如膝盖和脚部的关节部分的驱动和被动模式或者在步行运动期间切换到用于启动和着陆的动力模式，以及被动模式 一个自由的脚状态。

公开(公告)号：US06992457B2

公开(公告)日：2006-01-31

申请号：US10504691

申请日：2003-02-07

申请人： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

发明人： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

IPC分类号： G06F19/00

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： 一种用于两脚架（两脚）行走移动系统的步行控制器（30），其驱动控制每个腿部（13L，13R）的每个关节驱动马达（15L，15R-20L，20R） 基于步态数据的双足步行移动系统包括用于检测与每个脚部（14L，14R）的鞋底相关联的力的力检测器（23L，23R）和用于修改的补偿器（32） 基于由力检测器检测到的力，来自步态成型器（24）的步态数据被构造成使得每个力检测器（23L，23R）包括至少三个三轴力传感器（36a，36b ，36c），分配在每个脚部（14L，14R）的鞋底上，补偿器（32）基于来自三个三轴力传感器（36a，36b，36c）的检测信号来修改步态数据 ），从而即使在具有复杂粗糙度的不稳定路面条件下也能够实现机器人的步行稳定性。

公开(公告)号：US20050171635A1

公开(公告)日：2005-08-04

申请号：US10517377

申请日：2003-06-04

申请人： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano ,  Masaharu Shimizu

发明人： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano ,  Masaharu Shimizu

IPC分类号： A63H11/18 ,  B25J5/00 ,  B25J13/08 ,  B62D57/032 ,  G06F19/00

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，用于基于步态数据的各个脚部（13L，13R）的各接合部（15L，15R〜20L，20R）的驱动控制驱动装置的行走控制器（30）包括力传感器 ，23R），用于检测施加到各脚部（14L，14R）的鞋底的力;以及补偿部（32），根据步行形成部（24）的步行数据， 由力传感器检测到的力，各自的力传感器部件（23L，23R）包括设置在各个脚部分（14L，23R）上的多个鞋底部分的三轴力传感器（36a至36d） 14R）中，接触检测部（32b）通过设置在各个鞋底的端部边缘附近的区域的力传感器检测脚侧的接触，补偿部（32）从步态形成部（32b） 24）指脚侧面的接触，从而使脚侧与诸如ob的接触 检测到突破，实现步行稳定。

公开(公告)号：US06902015B2

公开(公告)日：2005-06-07

申请号：US10466316

申请日：2002-06-03

申请人： Takayuki Furuta ,  Ken Tomiyama ,  Hiroaki Kitano

发明人： Takayuki Furuta ,  Ken Tomiyama ,  Hiroaki Kitano

IPC分类号： B25J5/00 ,  B25J13/00 ,  B25J13/08 ,  B25J19/00 ,  B25J19/06 ,  B62D57/02 ,  B62D57/032 ,  F16F7/00 ,  B62D51/06

CPC分类号： B62D57/032 ,  B25J13/081 ,  B25J19/0091

摘要： A biped walking humanoid robot is disclosed having an arrangement whereby shocks acting on various parts of the robot when it falls can be relieved and its state of fall can then be detected. The robot has a body (11) capable of bending forward, a pair of legs (12L, 12R) attached to a lower part of the body at a pair of opposite sides thereof, respectively, a pair of arms (13L, 13R) attached to an upper part of the body at a pair of opposite sides, respectively, and a head (14) attached to an upper end of the body, each of the legs having a upper leg (15L, 15R) attached to the body so as to be pivotally movable relative thereto triaxially, a lower leg (16L, 16R) attached to a lower end of the upper leg so as to be pivotally movable relative thereto monoaxially and a foot (17L, 17R) attached to a lower end of the lower leg so as to be pivotally movable relative thereto biaxially, each of the arms having an upper arm (25L, 25R) attached to the body so as to be pivotally movable relative thereto biaxially, a lower arm (26L, 26R) attached to the upper arm so as to be pivotally movable relative thereto monoaxially and a hand (27L, 27R) attached to the lower hand so as to be pivotally movable relative thereto biaxially, the robot also having drive means (23L, 23R, 24L, 24R; 21L, 21R; 19L, 19R, 20L, 20R, 18L, 18R; . . . ) associated with the feet, the lower legs and the upper legs of the legs, the hands, the lower arms and the upper arms of the arms and a body bending-forward region for pivotally moving them, respectively, a control stage (51) for controlling driving actions of the drive means, and a contact detector (40) mounted at each of an outer elbow surface area formed between the upper and lower arms, and an outer wrist surface area between the lower arm and the hand of each of the arms, and a lower toe surface area of the foot, a lower heal surface area of the foot, an outer knee surface area between the upper and lower legs of each of the legs, and a hip surface area and a back surface area of the body, the contact detector at each of these surface areas comprising a casing portion (41) made of a material forming an outer covering surface area of the robot, a pressure sensor (42) for sensing a pressure acting on the casing portion and a shock absorbing material (43) for absorbing a shock acting on the casing portion. Thus, when the biped walking humanoid robot is having a fall, the state or type of this fall can be determined by the control stage in response to a contact signal detected by the pressure sensor in the contact detector at a relevant part of the abovementioned robot parts which is brought into contact with the floor or ground. Then, on the basis of the type of the fall determined, the control stage is allowed to act on the drive means to move the arm and leg parts suitably so as to cause the robot to take a corrective falling action to have a safety fall and then to move to taking a rising action to get up on its feet.