公开(公告)号：US20140330477A1

公开(公告)日：2014-11-06

申请号：US14125483

申请日：2012-06-11

申请人： Anick Abourachid ,  Ludovic Maes ,  Lionel Reveret ,  Vincent Hugel

发明人： Anick Abourachid ,  Ludovic Maes ,  Lionel Reveret ,  Vincent Hugel

IPC分类号： G05D1/02

CPC分类号： G05D1/021 ,  B25J9/161 ,  B62D57/032 ,  G05D1/0223 ,  G05D2201/0214

摘要： The invention relates to a method for generating control commands for coordinating displacement members of a moving platform, so as to make said moving platform progress between an initial speed and a final speed according to at least two locomotive situations. The method of the invention is characterized in that each locomotive situation is associated with an elementary module corresponding thereto for generating commands for controlling coordination between a predetermined module start speed and a predetermined module end speed, and in that domains of application of these elementary modules are represented in the form of a predetermined charts for concatenating adjoining modules, covering at least partially, by juxtaposition of their start and end speeds, the spectrum of possible initial and final speeds of displacement of the platform, so as to allow determination of a series of elementary modules to be concatenated to pass from the initial speed to the final speed and the concatenation of the modules of this series so as to derive therefrom a series of corresponding control commands for the displacement members of the moving platform.

摘要翻译： 本发明涉及一种用于生成用于协调移动平台的位移构件的控制命令的方法，以使得所述移动平台根据至少两个机车情况在初始速度和最终速度之间进行。 本发明的方法的特征在于，每个机车情况与其对应的基本模块相关联，用于产生用于控制预定模块起始速度和预定模块结束速度之间的协调的命令，并且这些基本模块的应用领域是 以用于连接相邻模块的预定图表的形式表示，至少部分地覆盖其起始和结束速度，平台的可能的初始和最终位移速度的频谱，以便确定一系列 要从串联的初级速度到最终速度的基本模块和该系列的模块的级联，从而为移动平台的位移构件提供一系列对应的控制命令。

公开(公告)号：US09471061B2

公开(公告)日：2016-10-18

申请号：US14125483

申请日：2012-06-11

申请人： Anick Abourachid ,  Ludovic Maes ,  Lionel Reveret ,  Vincent Hugel

发明人： Anick Abourachid ,  Ludovic Maes ,  Lionel Reveret ,  Vincent Hugel

IPC分类号： G05D1/02 ,  B25J9/16 ,  B62D57/032

CPC分类号： G05D1/021 ,  B25J9/161 ,  B62D57/032 ,  G05D1/0223 ,  G05D2201/0214

摘要： The invention relates to a method for generating control commands for coordinating displacement members of a moving platform, so as to make said moving platform progress between an initial speed and a final speed according to at least two locomotive situations. The method of the invention is characterized in that each locomotive situation is associated with an elementary module corresponding thereto for generating commands for controlling coordination between a predetermined module start speed and a predetermined module end speed, and in that domains of application of these elementary modules are represented in the form of a predetermined charts for concatenating adjoining modules, covering at least partially, by juxtaposition of their start and end speeds, the spectrum of possible initial and final speeds of displacement of the platform, so as to allow determination of a series of elementary modules to be concatenated to pass from the initial speed to the final speed and the concatenation of the modules of this series so as to derive therefrom a series of corresponding control commands for the displacement members of the moving platform.

摘要翻译： 本发明涉及一种用于生成用于协调移动平台的位移构件的控制命令的方法，以使得所述移动平台根据至少两个机车情况在初始速度和最终速度之间进行。 本发明的方法的特征在于，每个机车情况与其对应的基本模块相关联，用于产生用于控制预定模块起始速度和预定模块结束速度之间的协调的命令，并且这些基本模块的应用领域是 以用于连接相邻模块的预定图表的形式表示，至少部分地覆盖其起始和结束速度，平台的可能的初始和最终位移速度的频谱，以便确定一系列 要从串联的初级速度到最终速度的基本模块和该系列的模块的级联，从而为移动平台的位移构件提供一系列对应的控制命令。

公开(公告)号：US06865446B2

公开(公告)日：2005-03-08

申请号：US10258152

申请日：2002-02-21

申请人： Jun Yokono ,  Masahiro Fujita ,  Vincent Hugel

发明人： Jun Yokono ,  Masahiro Fujita ,  Vincent Hugel

IPC分类号： A63H11/00 ,  B25J5/00 ,  B25J9/16 ,  B25J13/00 ,  B25J13/08 ,  G01L5/00 ,  G05B19/00

CPC分类号： B25J9/1633

摘要： A robot apparatus is provided which includes body portions such as a head block (4), leg blocks (3A to 3D), an actuator (25) to actuate the body portions and a CPU (10) to supply a control signal to the actuator (25). In this apparatus, information about an external force applied to the apparatus, such as the position, magnitude, direction, etc. of the external force, is computed on the basis of changes of the control signal supplied from the CPU (10) to drive the actuator (25) and a signal supplied as a response to the CPU (10) when the actuator (25) is driven. The external force information is supplied to the CPU (10) and used as information for selection of a behavior and emotion of the robot apparatus and the next behavior of the apparatus. Thus, in the robot apparatus, since the external force information is computed on the basis of an output from the CPU (10) and outputs from the actuator (25) and a potentiometer (26), so an external force can be detected by the use of existing devices and no dedicated sensors have to be additionally provided.

摘要翻译： 提供了一种机器人装置，其包括主体部分，例如头部块（4），腿部块（3A至3D），用于致动主体部分的致动器（25）和用于向致动器提供控制信号的CPU（10） （25）。 在该装置中，基于从CPU（10）提供到驱动器的控制信号的变化来计算关于施加到装置的外力（例如外力的位置，大小，方向等）的信息 致动器（25）和当致动器（25）被驱动时作为对CPU（10）的响应而提供的信号。 外部力信息被提供给CPU（10）并且用作用于选择机器人装置的行为和情感的信息以及装置的下一个行为。 因此，在机器人装置中，由于基于来自CPU（10）的输出并且从致动器（25）和电位计（26）输出的外力信息被计算，所以可以通过 必须另外提供现有设备的使用和专用的传感器。