公开(公告)号：US5416393A

公开(公告)日：1995-05-16

申请号：US65124

申请日：1993-05-20

申请人： Hiroshi Gomi ,  Masao Nishikawa ,  Masato Hirose ,  Hideaki Takahashi ,  Takashi Matsumoto ,  Akira Takeno

发明人： Hiroshi Gomi ,  Masao Nishikawa ,  Masato Hirose ,  Hideaki Takahashi ,  Takashi Matsumoto ,  Akira Takeno

IPC分类号： B62D57/032 ,  G05B19/00

CPC分类号： B62D57/032

摘要： A foot structure of a biped waling mobile robot having a body and two articulated legs each having a foot at its distal end. In the foot structure, a movable foot piece is housed in each foot which is driven by an actuator to be swung out to enlarge the ground contact surface. A controller provided for the actuator and based on a condition of walking such as stair descending, it controls the operation of the actuator such that the foot's ground contact surface is enlarged. The structure has another aspect in which a ratio between distances from a point at which the foot is connected to the leg to the foot ends can also be adjusted in response to the walking condition. Moreover, the foot can be arranged such that the foot is configured to have portions to be contact with the ground at its four corners and the movable foot pieces have additional contact portion enlarging or reducing the ground contact portions.

摘要翻译： 具有身体的两足动物移动机器人的脚部结构和两个铰接腿，每个脚在其远端具有脚。 在脚结构中，每个脚中容纳有可动脚部，由致动器驱动以摆动以扩大接地面。 为执行器提供的控制器，并且基于诸如楼梯下降的行走状态，其控制致动器的操作，使得脚的接地面增大。 该结构还具有另外一个方面，其中从脚部连接到腿部到脚部的点之间的距离之间的比率也可以响应于行走状况来调节。 此外，脚可以布置成使得脚被配置为具有在其四个角处与地面接触的部分，并且可动脚部具有扩大或减小接地部分的附加接触部分。

公开(公告)号：US5445235A

公开(公告)日：1995-08-29

申请号：US67314

申请日：1993-05-26

申请人： Hiroshi Gomi ,  Masao Nishikawa ,  Masato Hirose ,  Hideaki Takahashi ,  Takashi Matsumoto

发明人： Hiroshi Gomi ,  Masao Nishikawa ,  Masato Hirose ,  Hideaki Takahashi ,  Takashi Matsumoto

IPC分类号： B25J19/00 ,  B25J19/06 ,  B60R21/34 ,  B62D57/02

CPC分类号： B60R21/34 ,  B25J19/0075 ,  B25J19/06 ,  B62D57/02

摘要： An impact absorber for a legged mobile robot having a body and two legs each connected to the body for absorbing impact arising when the robot collides with pipes or other objects in its walking environment so as to protect both the robot and the object. In a first embodiment, the impact absorber comprises a balloon disposed around the body and filled with air. When the balloon comes into contact with the object, it is deflated so as to absorb impact arising from the contact. In a second embodiment, the impact absorber comprises a cylinder fixed to the robot leg and a piston slidably disposed in the cylinder so as to define a chamber filled with an oil. A flat member is fixed to the rod of the piston and when it comes into contact with the object, the piston is thrust into the cylinder so as to absorb the impact. The impact absorber may be a resilient material coating on the robot to cushion the impact when the robot comes into contact with the object, or it may include air bags.

摘要翻译： 一种用于腿式移动机器人的冲击吸收器，其具有主体和两个腿，每个腿连接到主体，用于吸收机器人在其行走环境中与管道或其他物体碰撞时产生的冲击，以保护机器人和物体。 在第一实施例中，冲击吸收器包括设置在身体周围并充满空气的球囊。 当气球与物体接触时，它被放气以吸收由接触引起的冲击。 在第二实施例中，冲击吸收器包括固定到机器人腿部的圆柱体和可滑动地设置在气缸中以便限定填充有油的腔室的活塞。 平面构件固定在活塞杆上，当与物体接触时，活塞被推入气缸中以吸收冲击。 冲击吸收器可以是机器人上的弹性材料涂层，以在机器人与物体接触时缓冲冲击，或者其可以包括气囊。

公开(公告)号：US5455497A

公开(公告)日：1995-10-03

申请号：US49494

申请日：1993-04-19

申请人： Masato Hirose ,  Hiroshi Gomi ,  Hideaki Takahashi ,  Toru Takenaka ,  Masao Nishikawa ,  Tadanobu Takahashi

发明人： Masato Hirose ,  Hiroshi Gomi ,  Hideaki Takahashi ,  Toru Takenaka ,  Masao Nishikawa ,  Tadanobu Takahashi

IPC分类号： B62D57/032 ,  B25J11/00 ,  G05B19/00

CPC分类号： B62D57/032

摘要： A legged mobile robot having a body and two legs each connected to the body. The robot is quipped with a mechanism for absorbing and moderating impacts produced by external forces during footfall or the like. The mechanism includes an elastic member interposed between the body and legs, or interposed between the leg links, or interposed between the distal end of the legs and foot portions. The robot further has a foot structure for enhancing the ground gripping force and absorbs the impacts. For enhancing the gripping force, the foot sole is provided, for example, with a first elastic member and second elastic member sandwiching a plate spring therebetween. The first elastic member absorbs the impacts, while the second elastic member enhancing the gripping force. The plate spring restrict the deformation of the elastic members in the direction vertical to the foot sole. The invention further includes a locomotion control system using one shock absorbing mechanism.

摘要翻译： 具有身体和腿部的腿式移动机器人各自连接到身体。 机器人用于吸收和调节在脚步等期间由外力产生的冲击的机构。 该机构包括插入在主体和腿部之间或插入在腿部连杆之间或插入在腿部和脚部的远端之间的弹性构件。 机器人还具有用于增强地面夹持力并吸收冲击的脚结构。 为了增强夹持力，鞋底例如由第一弹性构件和夹在其间的板簧的第二弹性构件设置。 第一弹性构件吸收冲击，而第二弹性构件增强夹紧力。 板簧限制弹性构件在与鞋底垂直的方向上的变形。 本发明还包括使用一个减震机构的运动控制系统。

公开(公告)号：US5151859A

公开(公告)日：1992-09-29

申请号：US545282

申请日：1990-06-27

申请人： Ryutaro Yoshino ,  Hiroshi Gomi ,  Masao Nishikawa ,  Masato Hirose

发明人： Ryutaro Yoshino ,  Hiroshi Gomi ,  Masao Nishikawa ,  Masato Hirose

IPC分类号： B25J13/08 ,  B25J5/00 ,  B25J9/18 ,  B62D57/032

CPC分类号： B62D57/032

摘要： A biped walking robot and system for controlling the robot. The system provides smooth posture control by eliminating interference arising between the frictional force of the ground acting on the legs of the robot and the driving force of the leg joints. A six-dimensional force and torque sensor is provided to detect six force or moment components and based thereon, an angular command to joint motors is corrected. A joint structure of the robot is described, wherein the axes of the drive joints are arranged at right-angles to one another to thereby enable accurate positional control to be effected using Cartesian coordinates.

公开(公告)号：US5159988A

公开(公告)日：1992-11-03

申请号：US627638

申请日：1990-12-14

申请人： Hiroshi Gomi ,  Tomoharu Kumagai ,  Masato Hirose ,  Masao Nishikawa

发明人： Hiroshi Gomi ,  Tomoharu Kumagai ,  Masato Hirose ,  Masao Nishikawa

IPC分类号： B25J5/00 ,  B25J9/06 ,  B25J9/10 ,  B25J17/02 ,  B62D57/02

CPC分类号： B62D57/02 ,  B25J17/0241 ,  B25J17/0275 ,  B25J9/06 ,  B25J9/1025

摘要： A legged walking robot such as a two-legged walking robot, for example, has an articulated structure with at least two degrees of freedom, one of which is a degree of freedom for angularly moving a leg in a pitch direction about a first axis of a hip joint assembly, comprising an electric motor for angularly moving the leg in the pitch direction. The electric motor has an output shaft which is axially aligned with the first axis about which the leg is angularly movable in the pitch direction. The articulated structure also has a speed reducer having an input shaft which coaxial with the output shaft of the electric motor. The other degree of freedom is a degree of freedom for angularly moving the leg in a roll direction normal to the pitch direction. The articulated structure also includes a second electric motor for angularly moving the leg in the roll direction and a second speed reducer having an output shaft which is coaxial with a second axis about which the leg is angularly movable in the roll direction.

公开(公告)号：US5258680A

公开(公告)日：1993-11-02

申请号：US897106

申请日：1992-06-11

申请人： Tadanobu Takahashi ,  Hiroshi Gomi ,  Masato Hirose ,  Masao Nishikawa ,  Masaru Ozawa ,  Takashi Hotta

发明人： Tadanobu Takahashi ,  Hiroshi Gomi ,  Masato Hirose ,  Masao Nishikawa ,  Masaru Ozawa ,  Takashi Hotta

IPC分类号： H02K3/04 ,  H02K3/28 ,  H02K15/04 ,  H02K23/26 ,  H02K3/14

CPC分类号： H02K3/04 ,  H02K15/0478

摘要： An armature winding structure for use in an electric motor includes a web-shaped strand bundle composed of a plurality of parallel strands. The strand bundle has a plurality of longitudinally spaced bends and a plurality of straight strand bundle segments. Adjacent ones of the strand bundle segments are positioned one on each side of one of the bends. The strand bundle segments are transversely staggered on one side of the strand bundle successively from one end to the other of the strand bundle, by intervals each substantially equal to the width of the strand bundle. The strand bundle segments thus staggered are longitudinally folded over along fold lines extending respectively across or near the bends transversely of the strand bundle, thereby providing a plate-like winding in which the strand bundle segments lie adjacent to one another.

公开(公告)号：US5255753A

公开(公告)日：1993-10-26

申请号：US887240

申请日：1992-05-19

申请人： Masao Nishikawa ,  Tomoharu Kumagai ,  Shoei Abe ,  Masato Hirose ,  Mitsuaki Hirakawa ,  Hiroshi Gomi

发明人： Masao Nishikawa ,  Tomoharu Kumagai ,  Shoei Abe ,  Masato Hirose ,  Mitsuaki Hirakawa ,  Hiroshi Gomi

IPC分类号： B62D57/02 ,  B62D57/032

CPC分类号： B62D57/02

摘要： A legged walking robot such as a two-legged walking robot has a plurality of movable legs and a plurality of foot soles mounted respectively on distal ends of the movable legs by respective foot joints. Each of the foot soles has a curved surface disposed on at least a portion of a peripheral edge thereof. The curved surface is shaped such that the foot joint follows a predetermined curved path along a forward direction in which the legged walking robot walks. The foot sole also includes at least one projection on one or each of leading and trailing ends of the foot sole in the forward direction. The projection is movable into and out of a projecting position from the foot sole, but is normally urged into the projecting position to support the foot sole stably on the terrain.

摘要翻译： 诸如双腿行走机器人的腿式步行机器人具有多个可移动的腿和分别通过各自的脚关节安装在可动腿的远端上的多个脚底。 每个脚底具有设置在其周缘的至少一部分上的曲面。 弯曲表面被成形为使得脚部接合沿着腿式步行机器人行走的向前方向沿着预定的弯曲路径。 足底还包括在脚前沿的前后方向的前端和后端的一个或每个上的至少一个突起。 突起可以从脚底移动进出突出位置，但是通常被推入突出位置以稳定地支撑脚踏板在地形上。

公开(公告)号：US06332372B1

公开(公告)日：2001-12-25

申请号：US09581220

申请日：2000-06-22

申请人： Toru Takenaka ,  Takayuki Kawai ,  Tadaaki Hasegawa ,  Takashi Matsumoto ,  Hiroshi Gomi ,  Hideaki Takahashi

发明人： Toru Takenaka ,  Takayuki Kawai ,  Tadaaki Hasegawa ,  Takashi Matsumoto ,  Hiroshi Gomi ,  Hideaki Takahashi

IPC分类号： B25J906

CPC分类号： B25J9/06 ,  B25J17/025 ,  Y10T74/20329

摘要： An arm structure for anthropomorphic robots minimizes the occurrence of a singularity state of a shoulder joint assembly while the arm of the anthropomorphic robot is normally working, for thereby allowing the arm to operate smoothly. The position and posture of first through third joints (11), (13), (15) of a shoulder joint assembly (5) and the position of an elbow joint assembly (6) with respect to the third joint (15) are established such that the elbow joint assembly (6) is located above a horizontal plane lying through the point of intersection of the axes (10), (12), (14) of the first through third joints (11), (13), (15), while the shoulder joint assembly (5) is operated into a singularity state wherein the first axis (10) of the first joint (11) and the third axis (14) of the third joint (15) are aligned with each other and the elbow joint assembly (6) is positioned laterally of a torso (1).

摘要翻译： 用于拟人机器人的臂结构使人形机器人的臂正常工作时，使肩关节组件的奇点状态的发生最小化，从而允许手臂平稳地操作。 建立肩关节组件（5）的第一至第三关节（11），（13），（15）和肘关节组件（6）相对于第三关节（15）的位置和姿势 使得肘关节组件（6）位于通过第一至第三关节（11），（13），（13），（13）的轴线（10），（12），（14） 15），而肩关节组件（5）被操作成其中第一关节（11）的第一轴线（10）和第三关节（15）的第三轴线（14）彼此对准的奇点状态 并且肘关节组件（6）位于躯干（1）的侧面。

公开(公告)号：US07756605B2

公开(公告)日：2010-07-13

申请号：US10487892

申请日：2002-08-15

申请人： Masato Hirose ,  Hiroshi Gomi

发明人： Masato Hirose ,  Hiroshi Gomi

IPC分类号： G06F19/00

CPC分类号： B62D57/032 ,  B25J13/085 ,  B25J19/0091

摘要： In a legged mobile robot having at least a body and a plurality of legs each connected to the body through a first joint and a foot each connected to a distal end of each of the legs through a second joint, a floor reaction force detector is installed between the second joint and a contact end of the foot. More specifically, an upper portion of the floor reaction force detector is connected at a location near the second joint, and the contact end of the foot or thereabout is constituted by a spring mechanism that is lower in rigidity than a member constituting the second joint or thereabout such that a lower portion of the floor reaction force detector is connected to the contact end through the spring mechanism. With this, it becomes possible to provide the floor reaction force detector that can improve detection accuracy of the floor reaction force and prevent the performance of control from being degraded, while enabling to maintain a stable posture during standing and to decrease the impact at foot landing.

摘要翻译： 在具有至少一个主体和多个腿的有腿移动机器人中，每个脚通过第一接头和脚连接到主体，每个脚通过第二关节连接到每个腿的远端，安装地板反作用力检测器 在第二关节和脚的接触端之间。 更具体地说，地板反作用力检测器的上部连接在靠近第二关节的位置处，并且其脚的接触端由刚性低于构成第二关节的构件的弹簧机构构成，或者 使得地板反作用力检测器的下部通过弹簧机构连接到接触端。 由此，能够提供能够提高地板反作用力的检测精度并防止控制性能劣化的地板反作用力检测器，同时能够在站立期间保持稳定的姿势并且降低脚踏板的冲击 。

公开(公告)号：US07409265B2

公开(公告)日：2008-08-05

申请号：US10500117

申请日：2002-12-19

申请人： Toru Takenaka ,  Hiroshi Gomi ,  Satoshi Shigemi ,  Takashi Matsumoto

发明人： Toru Takenaka ,  Hiroshi Gomi ,  Satoshi Shigemi ,  Takashi Matsumoto

IPC分类号： G06F19/00

CPC分类号： B25J13/085 ,  B25J19/0091 ,  B62D57/02 ,  B62D57/032

摘要： It is arranged such that displacement sensors (70) are installed at a position in or vicinity of elastic members (382), to generate outputs indicating a displacement of the floor contact end of a foot (22) relative to a second joint (18, 20), and a floor reaction force acting on the foot is calculated based on the outputs of the displacement sensors by using a model describing a relationship between the displacement and stress generated in the elastic members in response to the displacement, thereby enabling to achieve accurate calculation of the floor reaction force and more stable walking of a legged mobile robot (1). Further, a dual sensory system is constituted by combining different types of detectors, thereby enabling to enhance the detection accuracy. Furthermore, since it self-diagnoses whether abnormality or degradation occurs in the displacement sensors etc. and performs temperature compensation without using a temperature sensor, the detection accuracy can be further enhanced.

摘要翻译： 布置成使得位移传感器（70）安装在弹性构件（382）附近的位置处，以产生指示脚（22）的地板接触端相对于第二接头（18）的位移的输出， 20），并且通过使用描述弹性构件中产生的位移和应力之间的关系的模型，基于位移传感器的输出来计算作用在脚上的地板反作用力，从而能够实现准确 计算地板反作用力和更稳定的步行式移动机器人（1）。 此外，通过组合不同类型的检测器来构成双重感觉系统，从而能够提高检测精度。 此外，由于能够自动诊断位移传感器等是否发生异常或劣化，而是不使用温度传感器进行温度补偿，因此能够进一步提高检测精度。