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公开(公告)号：US08474893B2
公开(公告)日：2013-07-02
申请号：US12899025
申请日：2010-10-06
IPC分类号： B66C1/42
CPC分类号： B25J15/0213
摘要： A grasping apparatus includes a base unit, left and right parallel links, and a driving unit that is housed in the base unit and drives the first link of the right parallel link and the first link of the left parallel link in the open/close direction. Each of the left and right parallel links has a first link attached pivotably in an open/close direction about a base shaft of the base unit, a second link attached pivotably in the open/close direction about an auxiliary shaft located on an outer side in the open/close direction, a finger unit supported pivotably at an end of the first link and an end of the second link, and a claw projecting toward the inner side in the open/close direction and disposed along an end face of the grasping surface of the finger unit of each of the left and right parallel links.
摘要翻译： 夹持装置包括基座单元，左右平行连杆和驱动单元，该驱动单元容纳在基座单元中，并且驱动左右平行连杆的第一连杆和左平行连杆的第一连杆沿开闭方向 。 左右平行连杆中的每一个具有围绕基座单元的基轴以开闭方式可枢转地附接的第一连杆，第二连杆以围绕位于外侧的辅助轴的打开/关闭方向可枢转地附接 打开/关闭方向，可旋转地支撑在第一连杆的端部和第二连杆的端部处的手指单元，以及沿着打开/关闭方向朝向内侧突出的爪，沿着抓握表面的端面设置 的左右平行链接中的每一个的手指单元。
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公开(公告)号：US08185265B2
公开(公告)日：2012-05-22
申请号：US12645841
申请日：2009-12-23
申请人： Masakuni Nagano
发明人： Masakuni Nagano
IPC分类号： G05D1/00
CPC分类号： B25J9/1666
摘要： A path planning device includes: an initial position and posture path acquiring unit which acquires an initial position and posture path including a plurality of nodes connecting present position and posture of a control target to target position and posture and which configures a rigid body corresponding to the control target in each node in the position and posture path; an interference detector which detects interference with the control target by an obstruction; an external force calculator which calculates an external force for each rigid body; and a multi rigid body system dynamics simulation unit which performs a multi rigid body system dynamics simulation on a plurality of equations of rigid body motion and which acquires positions and postures of the control target at times corresponding to the nodes in the position and posture path.
摘要翻译： 路径规划装置包括：初始位置和姿势路径获取单元，其获取包括将目标位置和控制目标的姿势与目标位置和姿势相连接的多个节点的初始位置和姿势路径，并且构成对应于 控制每个节点的目标位置和姿势路径; 干扰检测器，其通过障碍物检测对所述控制目标的干扰; 外力计算器，用于计算每个刚体的外力; 以及多刚体系动力学模拟单元，其对刚体动作的多个方程执行多刚体系统动力学模拟，并且在对应于位置和姿势路径中的节点的时间获取控制目标的位置和姿势。
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3.发明授权Sound effects generation device, sound effects generation method, and computer program product 失效音效生成装置，声音效果生成方法和计算机程序产品公开(公告)号：US08036395B2
公开(公告)日：2011-10-11
申请号：US11634989
申请日：2006-12-07
IPC分类号： H03G3/00
摘要： A sound effect generation device for generating a sound effect corresponding to a physical interaction between objects in a virtual space in which a plurality of virtual objects coexists, includes interaction detection means for detecting an object on which the physical interaction occurs in the virtual space, mechanical quantity calculation means for calculating mechanical quantity acting on the object in accordance with the interaction using a mechanical model for determining, based on physics, behavior between the objects on which the physical interaction acts, and sound effect generation means for generating the sound effect caused in the object by the interaction using the calculated mechanical quantity.
摘要翻译： 一种用于生成与多个虚拟对象共存的虚拟空间中的对象之间的物理交互相对应的声音效果的声音效果生成装置，包括用于检测虚拟空间中物理交互发生的对象的交互检测装置，机械 数量计算装置，用于根据所述交互使用机械模型来计算作用在所述物体上的机械量，所述机械模型基于物理学来确定物理相互作用所执行的物体之间的行为，以及用于产生在 对象通过交互使用计算的机械量。
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4.发明授权Robot device, method of controlling the same, and program for controlling the same 有权机器人装置，其控制方法及其控制程序公开(公告)号：US09579795B2
公开(公告)日：2017-02-28
申请号：US13456489
申请日：2012-04-26
CPC分类号： B25J9/1666 , G05B2219/40298 , G05B2219/40475
摘要： Provided is a robot device including a drive unit including a plurality of links and joints connecting the links, a task instruction input unit for inputting an instruction of a task, a drive control unit for controlling an operation of the drive unit on the basis of the input task and determining a restricted area including a space necessary for the operation of the drive unit, and an area display unit for displaying the restricted area.
摘要翻译： 本发明提供一种机器人装置，其具备包括多个链接部和连接部的接合部的驱动部，用于输入任务指示的任务指示输入部，基于该任务的驱动单元来控制驱动部的动作的驱动控制部 输入任务和确定包括驱动单元的操作所需的空间的限制区域以及用于显示受限制区域的区域显示单元。
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5.发明授权Robot apparatus, information providing method carried out by the robot apparatus and computer storage media 有权机器人装置，由机器人装置和计算机存储介质执行的信息提供方法公开(公告)号：US08972054B2
公开(公告)日：2015-03-03
申请号：US13070138
申请日：2011-03-23
CPC分类号： G05D1/0274 , A61B5/1112 , A61B5/1113 , A61H3/06 , B25J11/009 , G01S19/14 , G05D1/0238 , G05D1/0246 , G05D2201/0206 , G06K9/00335 , G06K9/00771
摘要： A robot apparatus, method and computer program storage device use a memory that stores cueing point information and user information to assist a user in an external environment. The cueing points are distributed within an environmental map held by the robot apparatus, and when the user is detected by the robot apparatus as approaching a predetermined region within the external environment classified as a cueing point, the robot apparatus reacts by providing a cue to the user. The cue may user-specific, or optionally provided based on a level of care required by the user.
摘要翻译： 机器人装置，方法和计算机程序存储装置使用存储提示点信息和用户信息以在外部环境中帮助用户的存储器。 提示点分布在由机器人装置保持的环境地图中，并且当机器人装置检测到用户接近分类为提示点的外部环境中的预定区域时，机器人装置通过向机器人装置提供提示来进行反应 用户。 提示可以是用户特定的，或者可选地基于用户所要求的关注级别来提供。
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6.发明授权公开(公告)号：US08160744B2
公开(公告)日：2012-04-17
申请号：US11528476
申请日：2006-09-28
IPC分类号： G06F19/00
CPC分类号： G06T19/00 , G06T17/10 , G06T2210/21 , G06T2219/008
摘要： A contact shape computing apparatus for detecting contact between a plurality of three-dimensional solid models and computing a contact shape between two solid bodies in contact with each other includes the following elements: a collision detector operable to detect a collision or contact between the two solid bodies; a contact plane setting unit operable to define a contact plane that passes through a common region of the two solid bodies; a contact problem solving unit operable to individually solve contact states of the solid bodies with the contact plane as half-contact problems; and a contact shape computing unit operable to compute the contact shape between the two solid bodies by uniting solutions of the half-contact problems for the associated solid bodies, the solutions being obtained by the contact problem solving unit.
摘要翻译： 用于检测多个三维实体模型之间的接触并计算彼此接触的两个实体之间的接触形状的接触形状计算装置包括以下元件：碰撞检测器，其可操作以检测两个固体之间的碰撞或接触 身体; 接触平面设置单元，其可操作以限定通过所述两个固体的公共区域的接触平面; 接触问题求解单元可操作以单独地解决具有接触平面的固体的接触状态作为半接触问题; 以及接触形状计算单元，其可操作以通过将所述相关联的固体的半接触问题的解的结合来计算所述两个固体之间的接触形状，所述解决方案由所述接触问题求解单元获得。
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公开(公告)号：US20110156416A1
公开(公告)日：2011-06-30
申请号：US12899025
申请日：2010-10-06
IPC分类号： B25J15/08
CPC分类号： B25J15/0213
摘要： A grasping apparatus includes a base unit, left and right parallel links, and a driving unit that is housed in the base unit and drives the first link of the right parallel link and the first link of the left parallel link in the open/close direction. Each of the left and right parallel links has a first link attached pivotably in an open/close direction about a base shaft of the base unit, a second link attached pivotably in the open/close direction about an auxiliary shaft located on an outer side in the open/close direction, a finger unit supported pivotably at an end of the first link and an end of the second link, and a claw projecting toward the inner side in the open/close direction and disposed along an end face of the grasping surface of the finger unit of each of the left and right parallel links.
摘要翻译： 夹持装置包括基座单元，左右平行连杆和驱动单元，该驱动单元容纳在基座单元中，并且驱动左右平行连杆的第一连杆和左平行连杆的第一连杆沿开闭方向 。 左右平行连杆中的每一个具有围绕基座单元的基轴以开闭方式可枢转地附接的第一连杆，第二连杆以围绕位于外侧的辅助轴的打开/关闭方向可枢转地附接 打开/关闭方向，可旋转地支撑在第一连杆的端部和第二连杆的端部处的手指单元，以及沿着打开/关闭方向朝向内侧突出的爪，沿着抓握表面的端面设置 的左右平行链接中的每一个的手指单元。
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公开(公告)号：US20100168950A1
公开(公告)日：2010-07-01
申请号：US12645841
申请日：2009-12-23
申请人： Masakuni NAGANO
发明人： Masakuni NAGANO
IPC分类号： G06F19/00
CPC分类号： B25J9/1666
摘要： A path planning device includes: an initial position and posture path acquiring unit which acquires an initial position and posture path including a plurality of nodes connecting present position and posture of a control target to target position and posture and which configures a rigid body corresponding to the control target in each node in the position and posture path; an interference detector which detects interference with the control target by an obstruction; an external force calculator which calculates an external force for each rigid body; and a multi rigid body system dynamics simulation unit which performs a multi rigid body system dynamics simulation on a plurality of equations of rigid body motion and which acquires positions and postures of the control target at times corresponding to the nodes in the position and posture path.
摘要翻译： 路径规划装置包括：初始位置和姿势路径获取单元，其获取包括将目标位置和控制目标的姿势与目标位置和姿势相连接的多个节点的初始位置和姿势路径，并且构成对应于 控制每个节点的目标位置和姿势路径; 干扰检测器，其通过障碍物检测对所述控制目标的干扰; 外力计算器，用于计算每个刚体的外力; 以及多刚体系动力学模拟单元，其对刚体动作的多个方程执行多刚体系统动力学模拟，并且在对应于位置和姿势路径中的节点的时间获取控制目标的位置和姿势。
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9.发明授权Leg device for leg type movable robot, and method of controlling leg type movable robot 有权腿式活动机器人的腿部装置以及腿型可移动机器人的控制方法公开(公告)号：US06992455B2
公开(公告)日：2006-01-31
申请号：US10474636
申请日：2003-02-14
申请人： Keisuke Kato , Goushi Koike , Susumu Tosaka , Hiroaki Morikawa , Jinichi Yamaguchi , Kenichiro Nagasaka , Masakuni Nagano
发明人： Keisuke Kato , Goushi Koike , Susumu Tosaka , Hiroaki Morikawa , Jinichi Yamaguchi , Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： B25J5/00
CPC分类号： B25J19/0091 , B62D57/02 , B62D57/032
摘要： In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.
摘要翻译： 在脚踏式移动机器人的脚下，脚的变形被第一凹部吸收，接地部的位置和形状几乎不变化。 因此，可以减小抵抗绕偏转轴线的力矩的阻力的变化，并且可以防止旋转运动。 此外，当脚放置在凸块或台阶上时，柔性部分变形并接收它，并且在柔性部分和凸起之间产生摩擦保持力。 因此，脚可以柔性地适应于路面，并且防止由碰撞和过快运动引起的滑动。 因此，脚可以适应各种路面，例如具有凸起和凹陷的表面，并且可以提高姿态稳定性。
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10.发明申请Leg device for leg type movable robot, and method of controlling leg type movable robot 有权腿式活动机器人的腿部装置以及腿型可移动机器人的控制方法公开(公告)号：US20050067993A1
公开(公告)日：2005-03-31
申请号：US10474636
申请日：2003-02-14
申请人： Keisuke Kato , Goushi Koike , Susumu Tosaka , Hiroaki Morikawa , Jinichi Yamaguchi , Kenichiro Nagasaka , Masakuni Nagano
发明人： Keisuke Kato , Goushi Koike , Susumu Tosaka , Hiroaki Morikawa , Jinichi Yamaguchi , Kenichiro Nagasaka , Masakuni Nagano
IPC分类号： B25J19/00 , B62D57/02 , B62D57/032 , B25J5/00
CPC分类号： B25J19/0091 , B62D57/02 , B62D57/032
摘要： In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.
摘要翻译： 在脚踏式移动机器人的脚下，脚的变形被第一凹部吸收，接地部的位置和形状几乎不变化。 因此，可以减小抵抗绕偏转轴线的力矩的阻力的变化，并且可以防止旋转运动。 此外，当脚放置在凸块或台阶上时，柔性部分变形并接收它，并且在柔性部分和凸起之间产生摩擦保持力。 因此，脚可以柔性地适应于路面，并且防止由碰撞和过快运动引起的滑动。 因此，脚可以适应各种路面，例如具有凸起和凹陷的表面，并且可以提高姿态稳定性。
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