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公开(公告)号：US07238079B2
公开(公告)日：2007-07-03
申请号：US10757797
申请日：2004-01-14
IPC分类号： A63H7/00
CPC分类号： A63H11/00 , B62D57/028 , B62D57/032
摘要： In one aspect, a supported walking system is disclosed, comprising a robotic walking figure and a wheeled support that at least partially supports the robotic walking figure. The supported walking system may be driven and controlled by a human operator. Computer algorithms automatically control the robot's walking functions so that it may step forwards, backwards, and sideways in synchronicity with the movements of the cart while driving and turning at varying speeds.
摘要翻译： 一方面，公开了一种支撑的行走系统，其包括机器人步行图和至少部分地支撑机器人步行图的轮式支撑件。 支持的行走系统可以由人操作者来驱动和控制。 计算机算法自动控制机器人的行走功能，使其可以在以不同的速度驾驶和转动时与车的移动同步地前进，后退和侧向。
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公开(公告)号：US08761927B2
公开(公告)日：2014-06-24
申请号：US12971995
申请日：2010-12-17
申请人： Steven A. Johnson , Akhil Jiten Madhani , Joel F. Jensen , Daniel R. Bauen , Troy A. Carter , Cassilyn Bair
发明人： Steven A. Johnson , Akhil Jiten Madhani , Joel F. Jensen , Daniel R. Bauen , Troy A. Carter , Cassilyn Bair
CPC分类号： B25J17/0266 , Y10S901/15 , Y10S901/23 , Y10S901/28 , Y10T74/20305 , Y10T74/20323 , Y10T74/20329 , Y10T74/20335
摘要： A system for externally actuating an animatronic figure. The system including a first robotic mechanism configured as a remote center mechanism for rotating a first rod about a first remote center point. The first rod is attached to a first driven part of the figure with the first remote center point spaced apart from the figure. The system includes a second robotic mechanism rotating a second rod about a second remote center point. The second rod is attached to the second driven part of the animatronic figure, and the second remote center point is spaced apart from the animatronic figure. The system includes a third robotic mechanism rotating a third rod about a remote center point, with the third rod attached to a third driven part of the figure, and the three robotic mechanisms are concurrently operable via a computer-based controller to provide the figure with twenty-one degrees of freedom.
摘要翻译： 用于外部致动一个动画人物的系统。 该系统包括构造为用于围绕第一远程中心点旋转第一杆的远程中心机构的第一机器人机构。 第一杆被附接到图的第一被驱动部分，其中第一远离中心点与图形间隔开。 该系统包括使第二杆围绕第二远程中心点旋转的第二机器人机构。 第二杆连接到动画图形的第二被驱动部分，并且第二远程中心点与动画图形间隔开。 该系统包括第三机器人机构，使第三杆围绕远程中心点旋转，第三杆连接到图的第三被驱动部分，并且三个机器人机构可以经由基于计算机的控制器同时操作以向该图提供 二十一个自由度。
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公开(公告)号：US20090012534A1
公开(公告)日：2009-01-08
申请号：US12187023
申请日：2008-08-06
IPC分类号： A61B17/00
摘要： A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
摘要翻译： 机器人装置具有致动端部执行器的八个致动器（M0-M7）和连杆（LINK 0-LINK 5）。 三个串行宏自由具有大范围的运动和惯性。 四个串联微自由具有小范围的运动和惯性。 末端执行器沿y方向的平移由至少一个微关节和至少一个宏观接头致动。 该装置可以是主从组合的一部分，提供力反馈而没有任何明显的力传感器。 从机由一个反向雅可比控制器控制，而该控制器由雅可比转置控制器控制。 可以控制具有比主机更高自由度（DOF）的从动机。 可移动的效应器单元用电缆致动其DOF。 殴打心脏手术可以通过命令奴隶以跳动的心脏移动，并在主人感觉到的动作中取消任何这样的动作来实现。
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公开(公告)号：US06786896B1
公开(公告)日：2004-09-07
申请号：US09508871
申请日：2000-07-17
IPC分类号： A61B1900
CPC分类号： B25J3/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B34/77 , A61B2017/00477 , A61B2017/00703 , A61B2034/305 , A61B2034/715 , A61B2090/506 , B25J9/1615 , Y10S901/10 , Y10S901/29
摘要： A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any direction is actuated by at least one micro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the master with a Jacobian Transpose controller. A slave having more degrees-of-freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart, and cancelling out any such motion in the motions perceived by the master.
摘要翻译： 机器人装置具有致动端部执行器的八个致动器（M0-M7）和连杆（LINK 0-LINK 5）。 三个串行宏自由具有大范围的运动和惯性。 四个串联微自由具有小范围的运动和惯性。 末端执行器在任何方向的平移由至少一个微关节致动。 该装置可以是主从组合的一部分，提供力反馈而没有任何明显的力传感器。 从机由一个逆雅可比控制器控制，主机由雅可比转移控制器控制。 可以控制具有比主机更多自由度（DOF）的从机。 可移动的效应器单元用电缆致动其DOF。 殴打心脏手术可以通过指挥奴隶与跳动的心脏一起移动，并在主人感觉到的动作中取消任何这样的动作来实现。
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公开(公告)号：US20120152051A1
公开(公告)日：2012-06-21
申请号：US12971995
申请日：2010-12-17
申请人： STEVEN A. JOHNSON , AKHIL JITEN MADHANI , JOEL F. JENSEN , DANIEL R. BAUEN , TROY A. CARTER , CASSILYN BAIR
发明人： STEVEN A. JOHNSON , AKHIL JITEN MADHANI , JOEL F. JENSEN , DANIEL R. BAUEN , TROY A. CARTER , CASSILYN BAIR
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , Y10S901/15 , Y10S901/23 , Y10S901/28 , Y10T74/20305 , Y10T74/20323 , Y10T74/20329 , Y10T74/20335
摘要： A system for externally actuating an animatronic figure. The system including a first robotic mechanism configured as a remote center mechanism for rotating a first rod about a first remote center point. The first rod is attached to a first driven part of the figure with the first remote center point spaced apart from the figure. The system includes a second robotic mechanism rotating a second rod about a second remote center point. The second rod is attached to the second driven part of the animatronic figure, and the second remote center point is spaced apart from the animatronic figure. The system includes a third robotic mechanism rotating a third rod about a remote center point, with the third rod attached to a third driven part of the figure, and the three robotic mechanisms are concurrently operable via a computer-based controller to provide the figure with twenty-one degrees of freedom.
摘要翻译： 用于外部致动一个动画人物的系统。 该系统包括构造为用于围绕第一远程中心点旋转第一杆的远程中心机构的第一机器人机构。 第一杆被附接到图的第一驱动部分，其中第一远程中心点与图形间隔开。 该系统包括使第二杆围绕第二远程中心点旋转的第二机器人机构。 第二杆连接到动画图形的第二被驱动部分，并且第二远程中心点与动画图形间隔开。 该系统包括第三机器人机构，使第三杆围绕远程中心点旋转，第三杆连接到图的第三被驱动部分，并且三个机器人机构可以经由基于计算机的控制器同时操作以向该图提供 二十一个自由度。
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6.发明授权公开(公告)号：US08374724B2
公开(公告)日：2013-02-12
申请号：US10917044
申请日：2004-08-12
CPC分类号： A63H11/00 , B62D57/028 , B62D57/032
摘要： A system for producing motions for an animatronic figure is disclosed. The system is configured to produce different types of motions in real-time and in a life-like manner. The motion software module forms a composite motion by combining the user-inputted motion with user-selected fixed sequences and/or with algorithmically calculated motion. The motions of the animatronic figure can further be filtered to produce motions that are life-like. Combined motions are formed by superimposing, modulating, or modifying component motions. Motions are filtered based on user-inputted commands and commands determined from a stimulus and filtered to create a life-like motion.
摘要翻译： 公开了一种用于产生动画人物运动的系统。 该系统被配置为实时地和以类似生活的方式产生不同类型的运动。 运动软件模块通过将用户输入的运动与用户选择的固定序列和/或与算法计算的运动组合来形成复合运动。 动画人物的动作可以进一步过滤，以产生类似生命的动作。 组合运动通过叠加，调制或修改分量运动形成。 运动根据用户输入的命令和从刺激确定的命令进行过滤，并被过滤以产生类似生命的运动。
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公开(公告)号：US20120143212A1
公开(公告)日：2012-06-07
申请号：US13365086
申请日：2012-02-02
IPC分类号： A61B19/00
摘要： A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
摘要翻译： 机器人装置具有致动端部执行器的八个致动器（M0-M7）和连杆（LINK 0-LINK 5）。 三个串行宏自由具有大范围的运动和惯性。 四个串联微自由具有小范围的运动和惯性。 末端执行器沿y方向的平移由至少一个微关节和至少一个宏观接头致动。 该装置可以是主从组合的一部分，提供力反馈而没有任何明显的力传感器。 从机由一个反向雅可比控制器控制，而该控制器由雅可比转置控制器控制。 可以控制具有比主机更高自由度（DOF）的从动机。 可移动的效应器单元用电缆致动其DOF。 殴打心脏手术可以通过命令奴隶以跳动的心脏移动，并在主人感觉到的动作中取消任何这样的动作来实现。
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