公开(公告)号：US07330775B2

公开(公告)日：2008-02-12

申请号：US11636465

申请日：2006-12-11

申请人： Atsuo Orita ,  Tadaaki Hasegawa ,  Kenichiro Sugiyama

发明人： Atsuo Orita ,  Tadaaki Hasegawa ,  Kenichiro Sugiyama

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： A legged mobile robot, a legged mobile robot controller and a legged mobile robot control method are provided to perform a loading operation to load a gripped object in parallel on a target place having a height where a stretchable range of arm portions of the legged mobile robot is enhanced with no operator's handling. The legged mobile robot includes the arm portions having links for gripping an object, and leg portions having links for moving, and the arm and the leg portions are joined to a body thereof. The legged mobile robot controller includes a data acquisition unit, a whole-body cooperative motion control unit and a loading detection unit, and controls motions of the legged mobile robot based on posture/position data regarding a posture/position of each link of the legged mobile robot and on an external force data regarding an external force affecting the arm portions.

摘要翻译： 提供有腿的移动机器人，有腿的移动机器人控制器和有腿的移动机器人控制方法来执行加载操作，以将被夹持物体平行地装载在具有高度的目标位置上，腿的可移动机器人的臂部分的可伸缩范围 增强了操作员的操作。 有腿可动机器人包括具有用于夹持物体的连杆的臂部和具有用于移动的连杆的腿部，并且臂和腿部与其主体接合。 有腿的移动机器人控制器包括数据采集单元，全身协作运动控制单元和装载检测单元，并且基于关于腿的每个链节的姿势/位置的姿势/位置数据来控制有腿的移动机器人的运动 移动机器人和关于影响臂部分的外力的外力数据。

公开(公告)号：US20070150105A1

公开(公告)日：2007-06-28

申请号：US11636465

申请日：2006-12-11

申请人： Atsuo Orita ,  Tadaaki Hasegawa ,  Kenichiro Sugiyama

发明人： Atsuo Orita ,  Tadaaki Hasegawa ,  Kenichiro Sugiyama

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： A legged mobile robot, a legged mobile robot controller and a legged mobile robot control method are provided to perform a loading operation to load a gripped object in parallel on a target place having a height where a stretchable range of arm portions of the legged mobile robot is enhanced with no operator's handling. The legged mobile robot includes the arm portions having links for gripping an object, and leg portions having links for moving, and the arm and the leg portions are joined to a body thereof. The legged mobile robot controller includes a data acquisition unit, a whole-body cooperative motion control unit and a loading detection unit, and controls motions of the legged mobile robot based on posture/position data regarding a posture/position of each link of the legged mobile robot and on an external force data regarding an external force affecting the arm portions.

摘要翻译： 提供有腿的移动机器人，有腿的移动机器人控制器和有腿的移动机器人控制方法来执行加载操作，以将被夹持物体平行地装载在具有高度的目标位置上，腿的可移动机器人的臂部分的可伸缩范围 增强了操作员的操作。 有腿可动机器人包括具有用于夹持物体的连杆的臂部和具有用于移动的连杆的腿部，并且臂和腿部与其主体接合。 有腿的移动机器人控制器包括数据采集单元，全身协作运动控制单元和装载检测单元，并且基于关于腿的每个链节的姿势/位置的姿势/位置数据来控制有腿的移动机器人的运动 移动机器人和关于影响臂部分的外力的外力数据。

公开(公告)号：US09242375B2

公开(公告)日：2016-01-26

申请号：US13512944

申请日：2010-09-22

申请人： Atsuo Orita ,  Yoshinari Takemura

发明人： Atsuo Orita ,  Yoshinari Takemura

IPC分类号： B25J9/18 ,  B25J9/16 ,  B25J13/08 ,  B25J9/00

CPC分类号： B25J9/1641 ,  B25J9/0015 ,  B25J9/1633 ,  B25J13/088 ,  G05B2219/41251

摘要： A power device 1 has a speed reducer 3 and a spring member 4 provided in a power transmission system between an actuator 2 and a driven element 5, an operation target of the actuator 2 is determined according to a linear combination of values that are obtained by passing through low-pass filters, a deviation Δω12 between an estimated value ω1—e of a velocity of an input unit 4a of the spring member 4 and an estimated value ω2—e of a velocity of the driven element 5, and a deviation Δθdef between a value θdef—s of a deviation between the input unit 4a of the spring member 4 and the driven element 5, and a target value θdef_cmd of the displacement difference corresponding to a target driving force τref of the driven element 5.

摘要翻译： 功率器件1具有减速器3和设置在致动器2和从动元件5之间的动力传递系统中的弹簧部件4，致动器2的操作目标根据由 通过低通滤波器，弹簧构件4的输入单元4a的速度的估计值ω1-e与从动元件5的速度的估计值ω2-e之间的偏差＆Dgr;ω12，以及 偏差＆DGR;＆θ驱动; DEF一个值θ驱动之间;弹簧部件4和从动元件5，和一个目标值和θ驱动的输入部4a之间的偏差的DEF-S;对应于目标驱动力的位移差的def_cmd 被驱动元件5的τref。

公开(公告)号：US20120303161A1

公开(公告)日：2012-11-29

申请号：US13479885

申请日：2012-05-24

申请人： Atsuo Orita

发明人： Atsuo Orita

IPC分类号： G05B15/00

CPC分类号： B25J9/1607

摘要： An element 22 which determines a manipulation amount for controlling a motion state of each joint 4 of a robot 1 calculates a pseudo inverse matrix A* used for calculating the manipulation amount, using a value of an adjustment parameter k determined so that an absolute value of a determinant DET is equal to or more than a predetermined threshold. Setting a provisional value of the adjustment parameter k by gradually increasing the provisional value from a predetermined initial value, calculating the determinant DET using the set provisional value, and determining whether the absolute value of the calculated determinant DET is equal to or more than the predetermined threshold is repeated, and the provisional value of the adjustment parameter k when the determination result is true is determined as the value of the adjustment parameter k used for the calculation of the pseudo inverse matrix A*.

摘要翻译： 确定用于控制机器人1的每个关节4的运动状态的操作量的元件22使用确定的调整参数k的值来计算用于计算操作量的伪逆矩阵A *，使得绝对值 行列式DET等于或大于预定阈值。 通过从预定的初始值逐渐增加临时值来设定调整参数k的临时值，使用设定的临时值计算行列式DET，并且确定所计算的行列式DET的绝对值是否等于或大于预定值 阈值被重复，并且当确定结果为真时，调整参数k的临时值被确定为用于计算伪逆矩阵A *的调整参数k的值。

公开(公告)号：US20120259463A1

公开(公告)日：2012-10-11

申请号：US13516921

申请日：2010-09-13

申请人： Atsuo Orita

发明人： Atsuo Orita

IPC分类号： G06F19/00

CPC分类号： B25J9/1648 ,  B62D57/00 ,  Y10S901/01

摘要： Disclosed is a robot control device including a means for determining control inputs classified by state quantity for achieving respective target values of a plurality of types of state quantities of a robot, and a means for determining a synthesized control input by synthesizing control inputs classified by frequency region while determining control inputs classified by frequency region in a plurality of respective frequency regions, according to control inputs classified by state quantity. The means determines a control input classified by frequency region corresponding to any one of the frequency regions by synthesizing the plurality of control inputs classified by state quantity in a mutually non-interfering manner. The operation of the robot is controlled so that, under a variety of operating conditions of the robot, a plurality of types of state quantities are efficiently controlled to target values which correspond to the respective types of state quantities.

摘要翻译： 公开了一种机器人控制装置，其包括用于确定通过状态量分类的控制输入以实现机器人的多种状态量的各自的目标值的装置，以及用于通过合成按频率分类的控制输入来确定合成控制输入的装置 区域，同时根据由状态量分类的控制输入来确定在多个各个频率区域中按频率区域分类的控制输入。 通过以相互非干扰的方式合成由状态量分类的多个控制输入，该装置通过对应于任一个频率区域的频率区域来确定分类的控制输入。 控制机器人的操作，使得在机器人的各种操作条件下，将多种类型的状态量有效地控制为对应于各种类型的状态量的目标值。

公开(公告)号：US20120239198A1

公开(公告)日：2012-09-20

申请号：US13512944

申请日：2010-09-22

申请人： Atsuo Orita ,  Yoshinari Takemura

发明人： Atsuo Orita ,  Yoshinari Takemura

IPC分类号： B25J13/00

CPC分类号： B25J9/1641 ,  B25J9/0015 ,  B25J9/1633 ,  B25J13/088 ,  G05B2219/41251

摘要： In a power device 1 having a speed reducer 3 and a spring member 4 having elastic characteristics to a power transmission system between an actuator 2 and a driven element 5, an operation target of the actuator 2 is determined according to a linear coupling value of values that are obtained by passing through low-pass filters, a deviation Δω12 between an estimated value ω1_e of a displacement velocity of an input unit 4a of the spring member 4 and an estimated value ω2_e of a displacement velocity of the driven element 5, and a deviation Δθdef between a measured value θdef_s of a deviation difference between the input unit 4a of the spring member 4 and the driven element 5, and a target value θdef_cmd of the displacement difference corresponding to a target driving force τref of the driven element 5.

摘要翻译： 在具有减速器3的动力装置1和具有对致动器2和从动元件5之间的动力传递系统的弹性特性的弹簧构件4的情况下，根据值的线性耦合值来确定致动器2的操作对象 通过低通滤波器获得，弹簧构件4的输入单元4a的位移速度的估计值ω1_e与从动元件5的位移速度的估计值ω2_e之间的偏差＆Dgr;ω12， 以及弹簧构件4的输入单元4a与被驱动元件5之间的偏差的测量值和曲线之间的偏差＆Dgr; def;与目标值相对应的位移差的目标值＆thetas; def_cmd 从动元件5的驱动力τref。

公开(公告)号：US07765028B2

公开(公告)日：2010-07-27

申请号：US11108723

申请日：2005-04-19

申请人： Atsuo Orita

发明人： Atsuo Orita

IPC分类号： G05B19/418 ,  G06F19/00 ,  G05B19/00

CPC分类号： G05D1/0251 ,  G05D1/0088 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0207 ,  G05D2201/0217

摘要： The robot control apparatus has an input-output section, a control section including a priority data generation section, a schedule data generation section, an execution command generation section, and a task data dividing section, a map information database, individual information database, a robot information database, and a task information database. The priority data generation section generates priority data for task data, stored in a task control database that that has not been executed. The schedule data generation section generates schedule data by assigning tasks to the robots on the basis of the priority data to generate schedule data. The execution command generation section generates execution commands for causing the robots to execute the tasks.

摘要翻译： 机器人控制装置具有输入输出部，包括优先数据生成部，调度数据生成部，执行命令生成部和任务数据分割部的控制部，地图信息数据库，个人信息数据库， 机器人信息数据库和任务信息数据库。 优先级数据生成部生成存储在未被执行的任务控制数据库中的任务数据的优先级数据。 调度数据生成部通过基于优先级数据向机器人分配任务来生成调度数据，生成调度数据。 执行命令生成部生成使机器人执行任务的执行命令。

公开(公告)号：US20050240323A1

公开(公告)日：2005-10-27

申请号：US11006302

申请日：2004-12-07

申请人： Atsuo Orita

发明人： Atsuo Orita

IPC分类号： E04H6/42 ,  B60R21/00 ,  B62D15/02 ,  G05D1/00

CPC分类号： B62D15/027

摘要： A parking lot attendant robot is provided with a camera for capturing an image of an vehicle and a parking space, and a receiver from receiving vehicle information such as the steering angle, shift position and vehicle speed from the vehicle. Based on the knowledge of the position of the vehicle with respect to the parking space gained from the camera and the vehicle information received from the vehicle, the robot computes the optimum parking path which the vehicle should follow. The robot signals the motorist by a visual and/or auditory display and/or a hand signal as to how the steering wheel should be turned and which way the vehicle should move or stop for the vehicle to follow this parking path and to be successfully parked in the prescribed parking space.

摘要翻译： 停车场服务机器人设置有用于捕获车辆和停车位的图像的照相机，以及从车辆接收诸如转向角，换档位置和车辆速度的车辆信息的接收器。 基于车辆相对于从摄像机获得的停车空间的位置以及从车辆接收到的车辆信息的知识，机器人计算车辆应遵循的最佳停车路径。 机器人通过视觉和/或听觉显示和/或手指信号来指示驾驶者关于方向盘应该如何转动以及车辆应该如何移动或停止以便车辆跟随该停车路径并且被成功停车的手信号 在规定的停车位。

公开(公告)号：US08818553B2

公开(公告)日：2014-08-26

申请号：US13516921

申请日：2010-09-13

申请人： Atsuo Orita

发明人： Atsuo Orita

IPC分类号： B25J9/00 ,  B62D57/00 ,  B25J9/16

CPC分类号： B25J9/1648 ,  B62D57/00 ,  Y10S901/01

摘要： Disclosed is a robot control device including a means for determining control inputs classified by state quantity for achieving respective target values of a plurality of types of state quantities of a robot, and a means for determining a synthesized control input by synthesizing control inputs classified by frequency region while determining control inputs classified by frequency region in a plurality of respective frequency regions, according to control inputs classified by state quantity. The means determines a control input classified by frequency region corresponding to any one of the frequency regions by synthesizing the plurality of control inputs classified by state quantity in a mutually non-interfering manner. The operation of the robot is controlled so that, under a variety of operating conditions of the robot, a plurality of types of state quantities are efficiently controlled to target values which correspond to the respective types of state quantities.

摘要翻译： 公开了一种机器人控制装置，其包括用于确定通过状态量分类的控制输入以实现机器人的多种状态量的各自的目标值的装置，以及用于通过合成按频率分类的控制输入来确定合成控制输入的装置 区域，同时根据由状态量分类的控制输入来确定在多个各个频率区域中按频率区域分类的控制输入。 通过以相互非干扰的方式合成由状态量分类的多个控制输入，该装置通过对应于任一个频率区域的频率区域来确定分类的控制输入。 控制机器人的操作，使得在机器人的各种操作条件下，将多种类型的状态量有效地控制为对应于各种类型的状态量的目标值。

公开(公告)号：US08612053B2

公开(公告)日：2013-12-17

申请号：US12978905

申请日：2010-12-27

申请人： Atsuo Orita ,  Masao Kanazawa

发明人： Atsuo Orita ,  Masao Kanazawa

IPC分类号： G05B19/04 ,  G05B19/18 ,  G05B15/00

CPC分类号： B62D57/032

摘要： A control device for a mobile robot, in which the desired value of a motion state amount of a mobile robot includes at least the desired value of a vertical component of a first-order differential value of the translational momentum of the entire mobile robot. The desired value is determined by a state amount desired value determiner such that the observed value of the vertical position of an overall center-of-gravity point of the mobile robot is converged to a predetermined desired value according to a feedback control law. A control input determiner carries out the processing of inverse dynamics calculation, using the desired value of the motion state amount thereby to determine the desired driving force for each joint. The operation of an actuator is controlled on the basis of the determined desired driving force.

摘要翻译： 一种用于移动机器人的控制装置，其中移动机器人的运动状态量的期望值至少包括整个移动机器人的平移动量的一阶微分值的垂直分量的期望值。 期望值由状态量期望值确定器确定，使得根据反馈控制律将移动机器人的整个重心点的垂直位置的观测值收敛到预定的期望值。 控制输入​​确定器使用运动状态量的期望值来执行逆动力学计算的处理，从而确定每个关节的期望的驱动力。 基于确定的期望驱动力来控制致动器的操作。