公开(公告)号：US20050151496A1

公开(公告)日：2005-07-14

申请号：US10504693

申请日：2003-02-07

Applicant: Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

Inventor： Takayuki Furuta ,  Tetsuo Tawara ,  Yu Okumura ,  Hiroaki Kitano

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

CPC classification number: B62D57/032 ,  B62D57/02

Abstract: 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.

Abstract translation: 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

Applicant: Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara ,  Hiroaki Kitano

Inventor： Takayuki Furuta ,  Yu Okumura ,  Tetsuo Tawara ,  Hiroaki Kitano

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

CPC classification number: B62D57/032

Abstract: 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.

Abstract translation: 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：US5897628A

公开(公告)日：1999-04-27

申请号：US712996

申请日：1996-09-10

Applicant: Hiroaki Kitano

Inventor： Hiroaki Kitano

IPC: G06F15/18 ,  G06F17/50 ,  G06N3/00

CPC classification number: G06F17/5054

Abstract: A circuit designing method and apparatus for the design of a large-scale logic circuit. A circuit configuration for a Programmable Logic Device (PLD) is revised in response to a genetic algorithm and then a logic circuit for providing a target output is designed. A collection of grammar rules for feeding out the PLD circuit configuration is applied as a chromosome, and the chromosome (a collection of grammar rules) is revised to feed out the chromosome giving the most suitable circuit configuration. The chromosome length is proportional to the number of grammar rules and does not depend upon the scale of the PLD circuit. Consequently, even for a large PLD circuit, it is possible to design the circuit configuration within a suitable calculating time.

Abstract translation: 一种用于设计大规模逻辑电路的电路设计方法和装置。 可编程逻辑器件（PLD）的电路配置根据遗传算法进行修改，然后设计用于提供目标输出的逻辑电路。 将PLD电路配置的语法规则集合作为染色体应用，修改染色体（语法规则集合），以给出染色体以提供最合适的电路配置。 染色体长度与语法规则的数量成比例，不依赖于PLD电路的规模。 因此，即使对于大型PLD电路，也可以在合适的计算时间内设计电路配置。