公开(公告)号：US08352077B2

公开(公告)日：2013-01-08

申请号：US12610872

申请日：2009-11-02

申请人： Ambarish Goswami ,  Seung-kook Yun ,  Kangkang Yin ,  Yoshiaki Sakagami

发明人： Ambarish Goswami ,  Seung-kook Yun ,  Kangkang Yin ,  Yoshiaki Sakagami

IPC分类号： G05B19/402

CPC分类号： B62D57/032

摘要： A system and method is disclosed for controlling a robot that is falling down from an upright posture. Inertia shaping is performed on the robot to avoid an object during the fall. A desired overall toppling angular velocity of the robot is determined. The direction of this velocity is based on the direction from the center of pressure of the robot to the object. A desired composite rigid body inertia of the robot is determined based on the desired overall toppling angular velocity. A desired joint velocity of the robot is determined based on the desired composite rigid body inertia. The desired joint velocity is also determined based on a composite rigid body inertia Jacobian of the robot. An actuator at a joint of the robot is then controlled to implement the desired joint velocity.

摘要翻译： 公开了一种用于控制从直立姿势落下的机器人的系统和方法。 在机器人上进行惯性整形，以避免坠落期间的物体。 确定机器人的期望的整体倾倒角速度。 该速度的方向基于从机器人的压力中心到物体的方向。 基于期望的整体倾倒角速度来确定机器人的期望的复合刚体惯性。 基于期望的复合刚体惯性来确定机器人的期望接合速度。 所需的接合速度也是基于机器人的复合刚体惯性雅可比确定的。 然后控制机器人的接头处的致动器以实现所需的接合速度。

公开(公告)号：US20100161131A1

公开(公告)日：2010-06-24

申请号：US12610872

申请日：2009-11-02

申请人： Ambarish Goswami ,  Seung-kook Yun ,  Kangkang Yin ,  Yoshiaki Sakagami

发明人： Ambarish Goswami ,  Seung-kook Yun ,  Kangkang Yin ,  Yoshiaki Sakagami

IPC分类号： G06F19/00 ,  G06F17/11

CPC分类号： B62D57/032

摘要： A system and method is disclosed for controlling a robot that is falling down from an upright posture. Inertia shaping is performed on the robot to avoid an object during the fall. A desired overall toppling angular velocity of the robot is determined. The direction of this velocity is based on the direction from the center of pressure of the robot to the object. A desired composite rigid body inertia of the robot is determined based on the desired overall toppling angular velocity. A desired joint velocity of the robot is determined based on the desired composite rigid body inertia. The desired joint velocity is also determined based on a composite rigid body inertia Jacobian of the robot. An actuator at a joint of the robot is then controlled to implement the desired joint velocity.

摘要翻译： 公开了一种用于控制从直立姿势落下的机器人的系统和方法。 在机器人上进行惯性整形，以避免坠落期间的物体。 确定机器人的期望的整体倾倒角速度。 该速度的方向基于从机器人的压力中心到物体的方向。 基于期望的整体倾倒角速度来确定机器人的期望的复合刚体惯性。 基于期望的复合刚体惯性来确定机器人的期望接合速度。 所需的接合速度也是基于机器人的复合刚体惯性雅可比确定的。 然后控制机器人的接头处的致动器以实现所需的接合速度。

公开(公告)号：US20100192719A1

公开(公告)日：2010-08-05

申请号：US12439938

申请日：2006-12-07

申请人： Sung Chul Kang ,  Munsang Kim ,  Seung Jong Kim ,  Seung Kook Yun ,  Jeonghoon Yoo

发明人： Sung Chul Kang ,  Munsang Kim ,  Seung Jong Kim ,  Seung Kook Yun ,  Jeonghoon Yoo

IPC分类号： B25J17/00 ,  H02P6/08 ,  H02K49/10

CPC分类号： B25J19/0004 ,  Y10T74/20329

摘要： The present invention provides a device for generating and varying stiffness, which may be applied to a joint of a robot manipulator. The stiffness generating device of the present invention, comprises: a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.

摘要翻译： 本发明提供一种用于产生和改变刚度的装置，其可以应用于机器人操纵器的接头。 本发明的刚度产生装置包括：连接到从动构件的旋转轴; 固定在旋转轴上并具有包括磁性元件的臂的转子; 定子，其被布置成围绕所述转子在所述臂外围并连接到驱动电动机; 电磁体固定在定子的内周并且围绕旋转轴彼此相对，每个具有缠绕在芯上的芯和线圈; 以及用于向线圈施加电流的装置。 电磁体的一半在其内端具有N极，另一半的电磁体在其内端具有S极。 电流调节装置调节施加到线圈的电流。

公开(公告)号：US20100161120A1

公开(公告)日：2010-06-24

申请号：US12610865

申请日：2009-11-02

申请人： Ambarish Goswami ,  Seung-kook Yun ,  Yoshiaki Sakagami

发明人： Ambarish Goswami ,  Seung-kook Yun ,  Yoshiaki Sakagami

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： A system and method is disclosed for controlling a robot having at least two legs that is falling down from an upright posture. An allowable stepping zone where the robot is able to step while falling is determined. The allowable stepping zone may be determined based on leg Jacobians of the robot and maximum joint velocities of the robot. A stepping location within the allowable stepping zone for avoiding an object is determined. The determined stepping location maximizes an avoidance angle comprising an angle formed by the object to be avoided, a center of pressure of the robot upon stepping to the stepping location, and a reference point of the robot upon stepping to the stepping location. The reference point, which may be a capture point of the robot, indicates the direction of fall of the robot. The robot is controlled to take a step toward the stepping location.

摘要翻译： 公开了一种用于控制具有从直立姿势落下的至少两条腿的机器人的系统和方法。 确定机器人能够在跌落时踏步的允许步进区域。 可以根据机器人的腿部Jacobians和机器人的最大联合速度来确定允许的步进区域。 确定允许的步进区域内用于避免物体的步进位置。 所确定的步进位置最大化包括由待避免的物体形成的角度，步进到步进位置时机器人的压力中心和步进到步进位置时的机器人的参考点的回避角度。 可以是机器人的捕获点的参考点表示机器人的下落方向。 控制机器人向步进位置迈出一步。

公开(公告)号：US08332068B2

公开(公告)日：2012-12-11

申请号：US12610865

申请日：2009-11-02

申请人： Ambarish Goswami ,  Seung-kook Yun ,  Yoshiaki Sakagami

发明人： Ambarish Goswami ,  Seung-kook Yun ,  Yoshiaki Sakagami

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： A system and method is disclosed for controlling a robot having at least two legs that is falling down from an upright posture. An allowable stepping zone where the robot is able to step while falling is determined. The allowable stepping zone may be determined based on leg Jacobians of the robot and maximum joint velocities of the robot. A stepping location within the allowable stepping zone for avoiding an object is determined. The determined stepping location maximizes an avoidance angle comprising an angle formed by the object to be avoided, a center of pressure of the robot upon stepping to the stepping location, and a reference point of the robot upon stepping to the stepping location. The reference point, which may be a capture point of the robot, indicates the direction of fall of the robot. The robot is controlled to take a step toward the stepping location.

摘要翻译： 公开了一种用于控制具有从直立姿势落下的至少两条腿的机器人的系统和方法。 确定机器人能够在跌落时踏步的允许步进区域。 可以根据机器人的腿部Jacobians和机器人的最大联合速度来确定允许的步进区域。 确定允许的步进区域内用于避免物体的步进位置。 所确定的步进位置最大化包括由待避免的物体形成的角度，步进到步进位置时机器人的压力中心和步进到步进位置时的机器人的参考点的回避角度。 可以是机器人的捕获点的参考点表示机器人的下落方向。 控制机器人向步进位置迈出一步。

公开(公告)号：US07965006B2

公开(公告)日：2011-06-21

申请号：US12439938

申请日：2006-12-07

申请人： Sung Chul Kang ,  Munsang Kim ,  Seung Jong Kim ,  Seung Kook Yun ,  Jeonghoon Yoo

发明人： Sung Chul Kang ,  Munsang Kim ,  Seung Jong Kim ,  Seung Kook Yun ,  Jeonghoon Yoo

IPC分类号： H02K49/00

CPC分类号： B25J19/0004 ,  Y10T74/20329

摘要： A device for generating and varying stiffness, which may be applied to a joint of a robot manipulator, the stiffness generating device having a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.

摘要翻译： 一种用于产生和变化刚度的装置，其可以应用于机器人操纵器的接头，所述刚度产生装置具有连接到从动构件的旋转轴; 固定在旋转轴上并具有包括磁性元件的臂的转子; 定子，其被布置成围绕所述转子在所述臂外围并连接到驱动电动机; 电磁体固定在定子的内周并且围绕旋转轴彼此相对，每个具有缠绕在芯上的芯和线圈; 以及用于向线圈施加电流的装置。 电磁体的一半在其内端具有N极，另一半的电磁体在其内端具有S极。 电流调节装置调节施加到线圈的电流。