公开(公告)号：US20090009124A1

公开(公告)日：2009-01-08

申请号：US12280361

申请日：2007-02-20

申请人： Keisuke Suga ,  Masaaki Yamaoka

发明人： Keisuke Suga ,  Masaaki Yamaoka

IPC分类号： B25J5/00

CPC分类号： B62D57/032

摘要： A legged robot that can ensure a large step length while keeping the height of a body trunk at a low position without increasing a moment that is generated due to the gravitational force acting on the trunk and acting on roll joints of legs when standing on one leg is realized. In the legged robot, a pair of legs is connected so as to be able to rotate around a pitch axis (Y-axis) at lateral surfaces of a trunk. Thereby, it is possible to make the height H1 high while keeping the height of the trunk low. It is possible to ensure a large step length while keeping the height of the trunk at a low position. Legs have a structure in which roll joints are positioned below a bottom surface. Thereby, the length L1 in the pitch axis direction between the rotation axis C1 of these joints and the center of mass G of the trunk is limited. The moment acting on the roll joints of the grounding leg when standing on one leg is not increased.

摘要翻译： 一种腿式机器人，可以确保大的步长，同时将身体躯干的高度保持在低位置，而不会增加由于作用在躯干上的重力而产生的时刻，并且当站立在一条腿上时作用于腿的侧倾关节 实现了。 在腿式机器人中，一对腿连接成能够围绕躯干侧表面的俯仰轴线（Y轴）旋转。 由此，能够使高度H1变高，同时保持躯干的高度较低。 可以确保大的踏板长度，同时保持行李箱的高度在低位置。 腿具有辊接头位于底面下方的结构。 因此，这些接头的旋转轴线C1与躯干的质心G之间的俯仰轴方向上的长度L1受到限制。 当站立在一条腿上时，作用在接地腿的滚动接头上的力矩不增加。

公开(公告)号：US07984775B2

公开(公告)日：2011-07-26

申请号：US12280361

申请日：2007-02-20

申请人： Keisuke Suga ,  Masaaki Yamaoka

发明人： Keisuke Suga ,  Masaaki Yamaoka

IPC分类号： B25J19/00

CPC分类号： B62D57/032

摘要： A legged robot that can ensure a large step length while keeping the height of a body trunk at a low position without increasing a moment that is generated due to the gravitational force acting on the trunk and acting on roll joints of legs when standing on one leg is realized. In the legged robot, a pair of legs is connected so as to be able to rotate around a pitch axis (Y-axis) at lateral surfaces of a trunk. Thereby, it is possible to make the height H1 high while keeping the height of the trunk low. It is possible to ensure a large step length while keeping the height of the trunk at a low position. Legs have a structure in which roll joints are positioned below a bottom surface. Thereby, the length L1 in the pitch axis direction between the rotation axis C1 of these joints and the center of mass G of the trunk is limited. The moment acting on the roll joints of the grounding leg when standing on one leg is not increased.

摘要翻译： 一种腿式机器人，可以确保大的步长，同时将身体躯干的高度保持在低位置，而不会增加由于作用在躯干上的重力而产生的时刻，并且当站立在一条腿上时作用于腿的侧倾关节 实现了。 在腿式机器人中，一对腿连接成能够围绕躯干侧表面的俯仰轴线（Y轴）旋转。 由此，能够使高度H1变高，同时保持躯干的高度较低。 可以确保大的踏板长度，同时保持行李箱的高度在低位置。 腿具有辊接头位于底面下方的结构。 因此，这些接头的旋转轴线C1与躯干的质心G之间的俯仰轴方向上的长度L1受到限制。 当站立在一条腿上时，作用在接地腿的滚动接头上的力矩不增加。

公开(公告)号：US20090187275A1

公开(公告)日：2009-07-23

申请号：US11794496

申请日：2006-02-03

申请人： Keisuke Suga ,  Ryosuke Tajima

发明人： Keisuke Suga ,  Ryosuke Tajima

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： Technology is provided that can compute a center of gravity pathway for a robot in which the ZMP matches the target ZMP, even if the robot is caused to perform a crouching movement during a single leg ground phase. The robot of the present invention is a legged robot that moves the center of gravity in the vertical direction when one leg link is grounded by changing joint angles, and comprises means for generating the vertical pathway of the center of gravity, means for computing the horizontal pathway of the center of gravity, based upon the generated vertical pathway of the center of gravity, a tridiagonal equation which is a discretization of a ZMP equation, a target ZMP, and horizontal speeds of the center of gravity at the beginning and the completion of the vertical pathway, means for computing chronological data of target values of the joint angles, based upon the generated vertical pathway and the computed horizontal pathway of the center of gravity, and means for rotating the joints based upon the computed chronological data of the target values of the joint angles.

摘要翻译： 提供了能够计算ZMP与目标ZMP匹配的机器人的重心路径的技术，即使机器人在单腿接地阶段期间执行蹲动运动。 本发明的机器人是一种腿式机器人，当一条腿连杆通过改变关节角度而接地时，它使垂直方向的重心移动，并且包括用于产生重心的垂直路径的装置，用于计算水平面的装置 重心的路径，基于所产生的垂直重心的垂直路径，三对角方程是ZMP方程的离散化，目标ZMP和开始时的重心的水平速度，并且完成 垂直路径，用于基于生成的垂直路径和所计算的重心的水平路径来计算关节角度的目标值的时间顺序数据的装置，以及用于基于所计算的目标值的时间顺序数据来旋转关节的装置 的关节角度。

公开(公告)号：US20090069941A1

公开(公告)日：2009-03-12

申请号：US12209444

申请日：2008-09-12

申请人： Daisaku Honda ,  Keisuke Suga ,  Ryosuke Tajima

发明人： Daisaku Honda ,  Keisuke Suga ,  Ryosuke Tajima

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： There is provided a legged robot that performs motion by changing a joint angle, which includes a trajectory generating section to calculate a center-of-gravity trajectory in designated stepping motion from the stepping motion including at least one of walking motion, running motion and stopping motion, and generate a center-of-gravity trajectory by superimposing a designated travel velocity onto a travel velocity of a center of gravity in the calculated center-of-gravity trajectory in stepping motion, and a trajectory updating section to store the generated center-of-gravity trajectory and update all the stored center-of-gravity trajectories so as to be continuous, and a trajectory reproducing section to calculate time-varying data of a target value of the joint angle based on the updated center-of-gravity trajectory, and a joint driving section to rotate a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle.

摘要翻译： 提供了一种通过改变关节角度来执行运动的腿式机器人，其包括轨迹生成部分，用于根据包括步行运动，跑步运动和停止中的至少一个的步进运动来计算指定的步进运动中的重心轨迹 并且通过在指定的行进速度中叠加指定的行进速度到步进运动中所计算的重心轨迹中的重心的行进速度而产生重心轨迹;以及轨迹更新部， 并且更新所有存储的重心轨迹以便连续;以及轨迹再现部分，用于基于更新的重心轨迹计算关节角度的目标值的时变数据 以及联接驱动部，其基于所计算的关节角度的目标值的时变数据来旋转所述腿式机器人的接合部。

公开(公告)号：US07378812B2

公开(公告)日：2008-05-27

申请号：US10587544

申请日：2005-01-26

申请人： Takashi Yamamoto ,  Hisayoshi Sugihara ,  Keisuke Suga ,  Yuji Tsusaka ,  Ryosuke Tajima

发明人： Takashi Yamamoto ,  Hisayoshi Sugihara ,  Keisuke Suga ,  Yuji Tsusaka ,  Ryosuke Tajima

IPC分类号： B25J5/00

CPC分类号： B62D57/032

摘要： A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means 210 for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means 210 for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means 218, 220 for detecting an actual torso motion, deviation calculation means 312 for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means 308 for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means 306 for correcting the target torso gait data based on the determined correction quantity.

摘要翻译： 公开了一种腿式机器人和腿式机器人步行控制方法，其能够在腿尖处没有力传感器的情况下稳定行走。 本发明的腿式机器人包括躯干，腿部连杆，其可摆动地连接到躯干上;存储装置210，用于存储描述目标腿尖运动的时间序列变化的腿尖步态数据;存储装置210，用于存储 描述目标躯干运动的时间序列变化的躯干步态数据，其实现了目标腿尖运动变化之后的目标ZMP，用于检测实际躯干运动的躯干运动检测装置218,220，用于计算的偏差计算装置312 实际的躯干运动与目标躯干运动的偏差，用于基于规定的传递函数从计算出的偏差确定校正量的校正量计算装置308以及基于所确定的校正来校正目标躯干步态数据的校正装置306 数量。

公开(公告)号：US20070241713A1

公开(公告)日：2007-10-18

申请号：US10587544

申请日：2005-01-26

申请人： Takashi Yamamoto ,  Hisayoshi Sugihara ,  Keisuke Suga ,  Yuji Tsusaka ,  Ryosuke Tajima

发明人： Takashi Yamamoto ,  Hisayoshi Sugihara ,  Keisuke Suga ,  Yuji Tsusaka ,  Ryosuke Tajima

IPC分类号： B25J5/00 ,  G06F19/00

CPC分类号： B62D57/032

摘要： A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means 210 for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means 210 for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means 218, 220 for detecting an actual torso motion, deviation calculation means 312 for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means 308 for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means 306 for correcting the target torso gait data based on the determined correction quantity.

摘要翻译： 公开了一种腿式机器人和腿式机器人步行控制方法，其能够在腿尖处没有力传感器的情况下稳定行走。 本发明的腿式机器人包括躯干，腿部连杆，其可摆动地连接到躯干上;存储装置210，用于存储描述目标腿尖运动的时间序列变化的腿尖步态数据;存储装置210，用于存储 描述目标躯干运动的时间序列变化的躯干步态数据，其实现了目标腿尖运动变化之后的目标ZMP，用于检测实际躯干运动的躯干运动检测装置218,220，用于计算的偏差计算装置312 实际的躯干运动与目标躯干运动的偏差，用于基于规定的传递函数从计算出的偏差确定校正量的校正量计算装置308以及基于所确定的校正来校正目标躯干步态数据的校正装置306 数量。

公开(公告)号：US08386076B2

公开(公告)日：2013-02-26

申请号：US12209444

申请日：2008-09-12

申请人： Daisaku Honda ,  Keisuke Suga ,  Ryosuke Tajima

发明人： Daisaku Honda ,  Keisuke Suga ,  Ryosuke Tajima

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： There is provided a legged robot that performs motion by changing a joint angle, which includes a trajectory generating section to calculate a center-of-gravity trajectory in designated stepping motion from the stepping motion including at least one of walking motion, running motion and stopping motion, and generate a center-of-gravity trajectory by superimposing a designated travel velocity onto a travel velocity of a center of gravity in the calculated center-of-gravity trajectory in stepping motion, and a trajectory updating section to store the generated center-of-gravity trajectory and update all the stored center-of-gravity trajectories so as to be continuous, and a trajectory reproducing section to calculate time-varying data of a target value of the joint angle based on the updated center-of-gravity trajectory, and a joint driving section to rotate a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle.

摘要翻译： 提供了一种通过改变关节角度来执行运动的腿式机器人，其包括轨迹生成部分，用于根据包括步行运动，跑步运动和停止中的至少一个的步进运动来计算指定的步进运动中的重心轨迹 并且通过在指定的行进速度中叠加指定的行进速度到步进运动中所计算的重心轨迹中的重心的行进速度而产生重心轨迹;以及轨迹更新部， 并且更新所有存储的重心轨迹以便连续;以及轨迹再现部分，用于基于更新的重心轨迹计算关节角度的目标值的时变数据 以及联接驱动部，其基于所计算的关节角度的目标值的时变数据来旋转所述腿式机器人的接合部。

公开(公告)号：US08150550B2

公开(公告)日：2012-04-03

申请号：US12439195

申请日：2007-09-06

申请人： Keisuke Suga ,  Daisaku Honda ,  Toru Miyagawa ,  Ryosuke Tajima

发明人： Keisuke Suga ,  Daisaku Honda ,  Toru Miyagawa ,  Ryosuke Tajima

IPC分类号： G05B19/18 ,  G05B15/00 ,  G05B19/00 ,  G06F19/00

CPC分类号： B62D57/032

摘要： A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff and an aerial phase from a takeoff to a landing is provided. The legged robot adjusts the landing timing after a jump in accordance with a planned timing, thereby attaining a smooth landing. A measuring unit of the legged robot measures an actual aerial phase period in a k-th jump cycle. A subtractor calculates a time difference between a target aerial phase period and the actual aerial phase period in the k-th jump cycle. A target velocity determining unit calculates a target vertical velocity of a center of gravity on a takeoff timing in a (k+1)-th jump cycle so as to eliminate the time difference. Motors in respective joints are controlled so as to realize the calculated target vertical velocity in the (k+1)-th jump cycle. As a result, the time difference generated in the k-th jump cycle in the (k+1)-th jump cycle can be compensated, thereby adjusting the landing timing with the planned landing timing, resulting in the jump motion with smooth landing.

摘要翻译： 提供了一种腿式机器人，其重复跳跃循环，包括从起落架到起飞的地面接触阶段，以及从起飞到着陆的空中阶段。 腿式机器人根据计划的时间调整跳跃之后的着陆时间，从而实现平稳的着陆。 腿式机器人的测量单元在第k个跳跃循环中测量实际的空中相位周期。 减法器计算第k个跳跃周期中的目标空中相位周期和实际空中相位周期之间的时间差。 目标速度确定单元计算第（k + 1）个跳跃周期中的起飞时刻的重心的目标垂直速度，以消除时差。 控制各个关节中的电动机，以便在第（k + 1）个跳跃循环中实现所计算的目标垂直速度。 结果，可以补偿在第（k + 1）个跳跃周期中的第k个跳跃周期中产生的时间差，从而利用计划的着陆定时调整着陆时间，导致具有平滑着陆的跳跃运动。

公开(公告)号：US07957835B2

公开(公告)日：2011-06-07

申请号：US11794496

申请日：2006-02-03

申请人： Keisuke Suga ,  Ryosuke Tajima

发明人： Keisuke Suga ,  Ryosuke Tajima

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： Technology is provided that can compute a center of gravity pathway for a robot in which the ZMP matches the target ZMP, even if the robot is caused to perform a crouching movement during a single leg ground phase. The robot of the present invention is a legged robot that moves the center of gravity in the vertical direction when one leg link is grounded by changing joint angles, and comprises means for generating the vertical pathway of the center of gravity, means for computing the horizontal pathway of the center of gravity, based upon the generated vertical pathway of the center of gravity, a tridiagonal equation which is a discretization of a ZMP equation, a target ZMP, and horizontal speeds of the center of gravity at the beginning and the completion of the vertical pathway, means for computing chronological data of target values of the joint angles, based upon the generated vertical pathway and the computed horizontal pathway of the center of gravity, and means for rotating the joints based upon the computed chronological data of the target values of the joint angles.

摘要翻译： 提供了能够计算ZMP与目标ZMP匹配的机器人的重心路径的技术，即使机器人在单腿接地阶段期间执行蹲动运动。 本发明的机器人是一种腿式机器人，当一条腿连杆通过改变关节角度而接地时，它使垂直方向的重心移动，并且包括用于产生重心的垂直路径的装置，用于计算水平面的装置 重心的路径，基于所产生的垂直重心的垂直路径，三对角方程是ZMP方程的离散化，目标ZMP和开始时的重心的水平速度，并且完成 垂直路径，用于基于生成的垂直路径和所计算的重心的水平路径来计算关节角度的目标值的时间顺序数据的装置，以及用于基于所计算的目标值的时间顺序数据来旋转关节的装置 的关节角度。

公开(公告)号：US20100017028A1

公开(公告)日：2010-01-21

申请号：US12439195

申请日：2007-09-06

申请人： Keisuke Suga ,  Daisaku Honda ,  Toru Miyagawa ,  Ryosuke Tajima

发明人： Keisuke Suga ,  Daisaku Honda ,  Toru Miyagawa ,  Ryosuke Tajima

IPC分类号： B25J5/00 ,  B25J13/00

CPC分类号： B62D57/032

摘要： A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff and an aerial phase from a takeoff to a landing is provided. The legged robot adjusts the landing timing after a jump in accordance with a planned timing, thereby attaining a smooth landing. A measuring unit of the legged robot measures an actual aerial phase period in a k-th jump cycle. A subtractor calculates a time difference between a target aerial phase period and the actual aerial phase period in the k-th jump cycle. A target velocity determining unit calculates a target vertical velocity of a center of gravity on a takeoff timing in a (k+1)-th jump cycle so as to eliminate the time difference. Motors in respective joints are controlled so as to realize the calculated target vertical velocity in the (k+1)-th jump cycle. As a result, the time difference generated in the k-th jump cycle in the (k+1)-th jump cycle can be compensated, thereby adjusting the landing timing with the planned landing timing, resulting in the jump motion with smooth landing.

摘要翻译： 提供了一种腿式机器人，其重复跳跃循环，包括从起落架到起飞的地面接触阶段，以及从起飞到着陆的空中阶段。 腿式机器人根据计划的时间调整跳跃之后的着陆时间，从而实现平稳的着陆。 腿式机器人的测量单元在第k个跳跃循环中测量实际的空中相位周期。 减法器计算第k个跳跃周期中的目标空中相位周期和实际空中相位周期之间的时间差。 目标速度确定单元计算第（k + 1）个跳跃周期中的起飞时刻的重心的目标垂直速度，以消除时差。 控制各个关节中的电动机，以便在第（k + 1）个跳跃循环中实现所计算的目标垂直速度。 结果，可以补偿在第（k + 1）个跳跃周期中的第k个跳跃周期中产生的时间差，由此通过计划的着陆定时调整着陆时间，导致具有平滑着陆的跳跃运动。