公开(公告)号：US20180107175A1

公开(公告)日：2018-04-19

申请号：US15292525

申请日：2016-10-13

申请人： DISNEY ENTERPRISES, INC.

发明人： SEHOON HA ,  ALEXANDER NICHOLAS ALSPACH ,  JOOHYUNG KIM ,  KATSU YAMANE ,  STELIAN COROS

IPC分类号： G05B13/02 ,  G05B11/01

CPC分类号： G05B13/0255 ,  B25J9/1656 ,  B62D57/032 ,  G05B11/01 ,  G05B2219/34348 ,  G05B2219/39408 ,  G05B2219/39409 ,  G05B2219/40099

摘要： A robot design system, and associated method, that is particularly well-suited for legged robots (e.g., monopods, bipeds, and quadrupeds). The system implements three stages or modules: (a) a motion optimization module; (b) a morphology optimization module; and (c) a link length optimization module. The motion optimization module outputs motion trajectories of the robot's center of mass (COM) and force effectors. The morphology optimization module uses as input the optimized motion trajectories and a library of modular robot components and outputs an optimized robot morphology, e.g., a parameterized mechanical design in which the number of links in each of the legs and other parameters are optimized. The link length optimization module takes this as input and outputs optimal link lengths for a particular task such that the design of a robot is more efficient. The system solves the problem of automatically designing legged robots for given locomotion tasks by numerical optimization.

公开(公告)号：US20170317571A1

公开(公告)日：2017-11-02

申请号：US15141449

申请日：2016-04-28

申请人： DISNEY ENTERPRISES, INC.

发明人： JOOHYUNG KIM ,  KATSU YAMANE ,  ZACHARY BATTS

IPC分类号： H02K41/035 ,  H02P7/025 ,  H02K7/08

CPC分类号： H02K41/0356 ,  H02K7/08 ,  H02P7/025 ,  Y10S901/01

摘要： A prismatic actuator for imparting a hopping motion to a supported load such as a leg of robot. The apparatus includes a direct drive motor, such as a voice coil, operable to provide translational motion. The apparatus includes a spring element and a prismatic guide assembly. The guide assembly is configured to support the direct drive motor to constrain the translational motion to be along a drive axis and support the spring element to constrain compression and expansion of the spring element along a longitudinal axis parallel to the drive axis. The apparatus includes a controller that: (1) first controls the direct drive motor to compress the spring element during a first time period beginning when the apparatus initially contacts a surface; and (2) second controls the direct drive motor to expand the spring element when the apparatus has zero velocity while contacting the surface.

公开(公告)号：US20170095925A1

公开(公告)日：2017-04-06

申请号：US15047820

申请日：2016-02-19

申请人： DISNEY ENTERPRISES, INC.

发明人： KATSU YAMANE ,  JOOHYUNG KIM ,  ALEXANDER NICHOLAS ALSPACH

IPC分类号： B25J9/16

CPC分类号： B25J9/1633 ,  B25J9/1676 ,  G05B2219/37399 ,  G05B2219/39319 ,  G05B2219/39325 ,  G05B2219/40199 ,  G05B2219/40201 ,  G05B2219/40202 ,  G05B2219/40253

摘要： A robot designed for reducing collision impacts during human interaction. The robot includes a robot controller including a joint control module. The robot includes a link including a rigid support element and a soft body segment coupled to the rigid support element, and the body segment includes a deformable outer sidewall enclosing an interior space. The robot includes a pressure sensor sensing pressure in the interior space of the link. A joint is coupled to the rigid support element to rotate or position the link. During operations, the robot controller operates the joint based on the pressure sensed by the pressure sensor. The robot controller modifies operation of the joint from a first operating state with a servo moving or positioning the joint to a second operating state with the servo operating to allow the joint to be moved or positioned in response to outside forces applied to the link.

公开(公告)号：US20160243699A1

公开(公告)日：2016-08-25

申请号：US14629556

申请日：2015-02-24

申请人： DISNEY ENTERPRISES, INC.

发明人： JOOHYUNG KIM ,  KATSU YAMANE ,  SEUNGMOON SONG

IPC分类号： B25J9/16 ,  G06N3/00 ,  B62D57/032

CPC分类号： B25J9/1605 ,  B62D57/032 ,  Y10S901/01

摘要： A robot having the motion style of a character defined by animation data obtained from an animation movie or computer animation data files. The robot is generated using a robot development method that obtains animation data for a character walking or performing other movements. The character may be humanoid, and the method includes developing a bipedal robot with a lower portion having a kinematic structure matching the kinematic structure of the lower portion of the animation character as defined in the animation data. A control program is generated for the robot such as by using trajectory optimization. The control program may include an open-loop walking trajectory that mimics the character's walking motion provided in the animation data. The open-loop walking trajectory may be generated by modifying the motion of the character from the animation data such that the Zero Moment Point (ZMP) stays in the contact convex hull.

摘要翻译： 具有由从动画电影或计算机动画数据文件获得的动画数据定义的角色的运动风格的机器人。 使用机器人开发方法生成机器人，该方法获取用于步行或执行其他运动的角色的动画数据。 该角色可以是人形的，并且该方法包括开发具有与动画数据中定义的动画角色的下部的运动学结构匹配的运动学结构的下部的双足机器人。 为机器人生成控制程序，例如通过使用轨迹优化。 控制程序可以包括模拟动画数据中提供的角色的步行运动的开环步行轨迹。 可以通过从动画数据修改角色的运动使得零点动点（ZMP）停留在接触凸包中来产生开环步行轨迹。