公开(公告)号：US20140257519A1

公开(公告)日：2014-09-11

申请号：US14283323

申请日：2014-05-21

申请人： Massachusetts Institute of Technology

发明人： Hugh M. Herr ,  Kwok Wai Samuel Au ,  Daniel Joseph Paluska ,  Peter Dilworth

IPC分类号： A61F2/66

CPC分类号： A61F2/6607 ,  A61F2/60 ,  A61F2/605 ,  A61F2/64 ,  A61F2/68 ,  A61F2002/5004 ,  A61F2002/5006 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/5073 ,  A61F2002/5075 ,  A61F2002/5079 ,  A61F2002/509 ,  A61F2002/6657 ,  A61F2002/6678 ,  A61F2002/6818 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/763 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  B25J19/0008 ,  B62D57/032

摘要： An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent.

摘要翻译： 人造足部和踝关节由具有脚跟末端和脚趾末端的弯曲的板簧构件组成，以及弹性弹性脚踝构件，其连接足部件以在踝关节处转动。 致动器马达向脚踝接头施加扭矩，当脚不与支撑表面接触时将脚定向，并且将能量存储在与储存在板簧中的能量一起释放的弹射弹簧中以推动佩戴者前进。 带状离合器防止脚构件在一个方向上旋转超过预定极限位置。 采用可控阻尼器来锁定踝关节或根据需要吸收机械能。 控制器和感应机构在行走阶梯，楼梯上升和楼梯下降的步行循环期间的不同时间控制致动器电动机和可控制的阻尼器。

公开(公告)号：US08793019B2

公开(公告)日：2014-07-29

申请号：US13154040

申请日：2011-06-06

申请人： Takahide Yoshiike ,  Masanori Takeda ,  Shinya Shirokura ,  Hiroyuki Kaneko ,  Tomoki Watabe

发明人： Takahide Yoshiike ,  Masanori Takeda ,  Shinya Shirokura ,  Hiroyuki Kaneko ,  Tomoki Watabe

IPC分类号： G05B19/00 ,  B25J9/00 ,  B62D57/032 ,  G06N3/00 ,  B25J13/08 ,  G05B19/4093

CPC分类号： B25J9/0006 ,  B25J13/085 ,  B25J13/088 ,  B62D57/032 ,  G05B19/40931 ,  G06N3/008

摘要： In a legged mobile robot 1 having legs 2, a first landing permissible region and a second landing permissible region for a desired landing position of a distal end portion (a foot 22) of a free leg are determined, and the desired landing position of the free leg foot is determined in a region where the first and second landing permissible regions overlap each other, to thereby generate a desired gait of the robot. The first landing permissible region is determined so as to satisfy a geometric leg motion requisite condition. The second landing permissible region is determined such that a motion continuity requisite condition and a floor reaction force element permissible range requisite condition that are related to a prescribed floor reaction force element as a constituent element of the floor reaction force can be satisfied.

摘要翻译： 在具有腿部2的有腿的可移动机器人1中，确定用于期望的自由腿的远端部分（脚部22）的着陆位置的第一着陆允许区域和第二着陆允许区域，并且所需的着陆位置 在第一和第二着陆允许区域彼此重叠的区域中确定自由腿脚，从而产生机器人的期望步态。 确定第一着陆允许区域以满足几何腿运动必要条件。 确定第二着陆允许区域，使得能够满足作为地板反作用力的构成要素的与规定的地板反作用力元件相关的运动连续性必要条件和地板反作用力元件允许范围要求条件。

公开(公告)号：US08789630B2

公开(公告)日：2014-07-29

申请号：US13196001

申请日：2011-08-02

申请人： Kevin C. Galloway ,  Jonathan E. Clark ,  Daniel E. Koditschek

发明人： Kevin C. Galloway ,  Jonathan E. Clark ,  Daniel E. Koditschek

IPC分类号： B62D57/00

CPC分类号： B62D57/032 ,  Y10T74/20305 ,  Y10T74/20317 ,  Y10T74/20323

摘要： According to one aspect, this invention provides an apparatus for varying the stiffness of a leg of a robotic system. The apparatus includes a compliant spine assembly including a compliant spine mounted for movement adjacent the leg and a rack coupled to the compliant spine. It also includes a motor assembly positioned to move the compliant spine of the compliant spine assembly with respect to the leg, the motor assembly including a gear engaging the rack of the compliant spine assembly and a motor coupled to drive the gear. The compliant spine of the compliant spine assembly is configured to vary the stiffness of the leg of the robotic system as it is moved by the motor assembly with respect to the leg.

摘要翻译： 根据一个方面，本发明提供一种用于改变机器人系统的腿的刚度的装置。 该装置包括顺应性脊柱组件，其包括安装成用于邻近腿部移动的顺应性脊柱和连接到顺应性脊柱的齿条。 它还包括一个电动机组件，其定位成相对于腿部移动顺应性脊柱组件的顺应性脊柱，电动机组件包括接合顺应性脊柱组件的齿条的齿轮和联接以驱动齿轮的马达。 柔性脊柱组件的柔性脊柱被构造成随着电动机组件相对于腿移动而改变机器人系统的腿的刚度。

公开(公告)号：US20140161581A1

公开(公告)日：2014-06-12

申请号：US14028111

申请日：2013-09-16

申请人： Entro Industries, Inc.

发明人： Shawn R. SMITH ,  Harlan B. Smith

IPC分类号： B62D57/02

CPC分类号： B62D57/02 ,  B62D57/032 ,  E21B15/003

摘要： Embodiments of the present invention are directed to a load transporting apparatus that is capable of being steered while transporting a load across a base surface. In particular, the load transporting apparatus includes a roller track configured to support movement of a roller assembly, and a support foot that is connected to the roller track with a pin connector. During load transport, the support foot can be maintained in a substantially similar position relative to a frame structure supporting the load even when the transport movement is not in a parallel direction to the orientation of the support foot.

摘要翻译： 本发明的实施例涉及一种能够在跨越基面传送负载的同时转向的负载传送装置。 特别地，负载传送装置包括一个滚轮轨道，该滚轮轨道构造成支撑滚子组件的运动，以及支撑脚，该支撑脚用一个针连接器连接到滚子轨道。 在负载运输期间，即使当运输运动不在与支撑脚的取向平行的方向上时，支撑脚可以相对于支撑负载的框架结构保持在基本相似的位置。

公开(公告)号：US08738178B2

公开(公告)日：2014-05-27

申请号：US12090350

申请日：2005-10-24

申请人： Young Jin Choi ,  Do Ik Kim ,  Yong Hwan Oh ,  Chang Hwan Kim ,  Bum Jae You ,  Jung San Cho

发明人： Young Jin Choi ,  Do Ik Kim ,  Yong Hwan Oh ,  Chang Hwan Kim ,  Bum Jae You ,  Jung San Cho

IPC分类号： G05B19/18

CPC分类号： B62D57/032

摘要： The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.

摘要翻译： 本发明涉及一种用于控制人形二足步行机器人步行的方法。 更具体地，本发明包括设计用于地面（a）的机器人的零动量位置（ZMP）的步骤。 计算机器人的重心（COG）轨迹与ZMP（b）的轨迹的轨迹; 计算具有根据ZMP（c）的轨迹的机器人行走的两英尺的驱动电动机的角速度; 以及通过根据上述计算的驱动马达的角速度驱动驱动马达来控制机器人的行走。 根据本发明的机器人步行控制方法具有抗干扰的稳定性。

公开(公告)号：US20140100697A1

公开(公告)日：2014-04-10

申请号：US14097893

申请日：2013-12-05

申请人： John R. Goulding

发明人： John R. Goulding

IPC分类号： B25J9/16 ,  B25J5/00

CPC分类号： G05D1/0891 ,  B25J5/00 ,  B25J9/1633 ,  B25J9/1674 ,  B62D57/00 ,  B62D57/02 ,  B62D57/024 ,  B62D57/032 ,  G01C21/26 ,  G05D1/0088 ,  G06F19/00 ,  Y10S901/01

摘要： A single track legged vehicle having a body and at least three in-line legs aligned one behind the other is operated by controlling each in-line leg to develop a desired ballistic flight trajectory, by controlling foot force and torque during a first phase that produces thrust; controlling foot movement during a second phase that transitions from thrusting to flight, controlling in-line leg movement during a third phase characterized by flight; controlling foot positioning during a fourth phase characterized by a transition from flight to landing; and controlling foot force and torque during a fifth phase characterized by landing of the foot of the corresponding in-line leg. Each in-line leg is transitioned through the first phase, the second phase the third phase, the fourth phase and the fifth phase to propel and torque the body along three axes according to the desired ballistic flight trajectory.

摘要翻译： 具有主体和至少三个在一对彼此对齐的直线腿对齐的单轨道腿式车辆通过控制每个在线腿以产生期望的弹道飞行轨迹来操作，通过在产生第一阶段期间控制脚力和扭矩 推力; 在从推力向飞行转变的第二阶段期间控制脚运动，在以飞行为特征的第三阶段期间控制直线腿运动; 在第四阶段控制脚部定位，其特征在于从飞行到着陆的过渡; 并且在第五阶段期间控制脚力和扭矩，其特征在于相应的直线腿的脚的着陆。 每个在线支路通过第一阶段，第二阶段，第三阶段，第四阶段和第五阶段转变，以根据期望的弹道飞行轨迹推动并扭转主体沿着三个轴。

公开(公告)号：US20140031986A1

公开(公告)日：2014-01-30

申请号：US13734982

申请日：2013-01-06

申请人： Jonathan Spitz ,  Miriam Zacksenhouse

发明人： Jonathan Spitz ,  Miriam Zacksenhouse

IPC分类号： B25J9/16 ,  B62D57/032

CPC分类号： B25J9/1633 ,  B25J9/0006 ,  B25J9/16 ,  B62D57/02 ,  B62D57/032 ,  Y10S901/01

摘要： A robot, a method and a device for controlling a movement of a robot are provided. The method can include controlling multiple steps of the robot. Thus, the method can include multiple iterations of: (i) calculating or receiving a first slope attribute indicative of a slope of a first area of a terrain on which a first leg of the robot steps; (ii) feeding the first slope attribute to a central pattern generator (CPG); and (iii) generating, by the CPG and in response to the slope attribute, at least one control pulse for controlling a torque characteristic of a torque applied by at least one leg of the robot.

摘要翻译： 提供了一种用于控制机器人的运动的机器人，方法和装置。 该方法可以包括控制机器人的多个步骤。 因此，该方法可以包括以下的多次迭代：（i）计算或接收指示机器人的第一腿步进的地形的第一区域的斜率的第一斜率属性; （ii）将第一斜率属性馈送到中央模式发生器（CPG）; 和（iii）由CPG生成并且响应于斜率属性，产生用于控制由机器人的至少一个腿施加的转矩的转矩特性的至少一个控制脉冲。

公开(公告)号：US08612052B2

公开(公告)日：2013-12-17

申请号：US12883615

申请日：2010-09-16

申请人： Kenichiro Nagasaka ,  Jinichi Yamaguchi ,  Satoru Shimizu ,  Yoshihiro Kuroki

发明人： Kenichiro Nagasaka ,  Jinichi Yamaguchi ,  Satoru Shimizu ,  Yoshihiro Kuroki

IPC分类号： G05B15/00 ,  G05B19/00

CPC分类号： B62D57/02 ,  B25J13/085 ,  B25J13/088 ,  B62D57/032

摘要： The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.

摘要翻译： 作为局部坐标的原点的机器人作为受控对象点的腰部被设定为局部坐标的原点，加速度传感器设置在受控对象点处，以直接测量姿态和加速度 该位置控制机器人在ZMP的基础上采取稳定的姿势。 此外，在接触步行面的每个脚处，设置有地板反作用力传感器和加速度传感器，以直接测量ZMP和力，并且ZMP方程式直接配制在最靠近ZMP位置的脚处。 因此，可以实现对于稳定姿态的机器人的更严格和快速的控制。

公开(公告)号：US20130310981A1

公开(公告)日：2013-11-21

申请号：US13688107

申请日：2012-11-28

申请人： HYUNDAI MOTOR COMPANY

发明人： Woo Sung Yang

IPC分类号： B25J13/08

CPC分类号： B25J13/085 ,  B25J9/1633 ,  B62D57/032 ,  Y10S901/01

摘要： Disclosed herein is a system and method of controlling one or more ankles of a walking robot. In the above system and method, an input torque u to be applied to an ankle of a robot is obtained by compensating a target torque τd with an acting torque τc measured using a sensor and applied by a support surface and then an actual torque τ applied by the ankle of a foot is instead fed back into the control system. Therefore, proper balance of the walking robot is ensured.

摘要翻译： 这里公开了一种控制步行机器人的一个或多个脚踝的系统和方法。 在上述系统和方法中，通过用使用传感器测量并由支撑表面施加的作用扭矩tauc补偿目标扭矩taud，然后施加实际扭矩τ，获得施加到机器人脚踝的输入扭矩u 脚踝被反馈回控制系统。 因此，确保了行走机器人的适当平衡。

公开(公告)号：US20130277124A1

公开(公告)日：2013-10-24

申请号：US13917531

申请日：2013-06-13

申请人： Shawn R. SMITH ,  Harlan B. SMITH

发明人： Shawn R. SMITH ,  Harlan B. SMITH

IPC分类号： B62D57/02

CPC分类号： B62D57/02 ,  B62D57/032 ,  E21B15/003

摘要： Embodiments of the present invention are directed to a load transporting apparatus that automatically centers a support foot of the apparatus about a roller assembly during a recovery phase of an incremental walking movement. In particular, the load transporting apparatus includes guide devices positioned adjacent to a roller assembly that deflect a biasing device during non-linear load transporting movements, where the biasing device acts to automatically return the support foot to a centered position relative to the roller assembly after a non-linear movement has been completed and the support foot is raised above a ground surface.

摘要翻译： 本发明的实施例涉及一种负载传送装置，其在增量步行运动的恢复阶段期间使装置的支撑脚围绕辊组件自动居中。 特别地，负载传送装置包括邻近滚子组件定位的引导装置，该引导装置在非线性负载传送运动期间使偏置装置偏转，其中偏置装置用于相对于辊组件自动将支撑脚自动地返回到居中位置， 已经完成非线性移动，并且支撑脚在地面上升高。