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公开(公告)号：US20070152619A1
公开(公告)日：2007-07-05
申请号：US11636597
申请日：2006-12-11
CPC分类号： B25J9/1612 , B25J9/1641 , G05B2219/39005 , G05B2219/39195 , G05B2219/39241 , G05B2219/39473 , G05B2219/39484 , G05B2219/40014 , G05B2219/40042 , G05B2219/40073 , G05B2219/40571
摘要： The autonomous mobile robot having an openable and closable gripper for gripping goods, cameras, an autonomous mobile means, and a control means for making the robot carry the goods to a destination from an acquisition source, the control means comprising: a grip position recognition means configured to recognize a predetermined position suitable for gripping a carrier container of a predetermined specification configured to place the goods to carry, based on an image of the acquisition source taken by the cameras; a grip control means configured to drive the gripper to the predetermined position of the carrier container and to control gripping the predetermined position; and a grip-success-or-not determination means configured to determine whether or not the gripping is successful, based on an external force acting on the gripper.
摘要翻译： 自主移动机器人具有用于夹持货物的可开闭的夹具，照相机，自主移动装置和用于使机器人将货物从采集源运送到目的地的控制装置，所述控制装置包括：握持位置识别装置 被配置为基于由所述摄像机拍摄的所述采集源的图像来识别适合于抓住具有预定规格的载体容器的预定位置，所述预定规格被配置为放置所述货物以携带; 夹持控制装置，其构造成将夹持器驱动到载体容器的预定位置并控制夹持预定位置; 以及构造成基于作用在所述夹持器上的外力来确定所述夹持是否成功的抓握成功或不确定装置。
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公开(公告)号：US07822508B2
公开(公告)日：2010-10-26
申请号：US11636597
申请日：2006-12-11
IPC分类号： G06F19/00
CPC分类号： B25J9/1612 , B25J9/1641 , G05B2219/39005 , G05B2219/39195 , G05B2219/39241 , G05B2219/39473 , G05B2219/39484 , G05B2219/40014 , G05B2219/40042 , G05B2219/40073 , G05B2219/40571
摘要： The autonomous mobile robot having an openable and closable gripper for gripping goods, cameras, an autonomous mobile means, and a control means for making the robot carry the goods to a destination from an acquisition source, the control means comprising: a grip position recognition means configured to recognize a predetermined position suitable for gripping a carrier container of a predetermined specification configured to place the goods to carry, based on an image of the acquisition source taken by the cameras; a grip control means configured to drive the gripper to the predetermined position of the carrier container and to control gripping the predetermined position; and a grip-success-or-not determination means configured to determine whether or not the gripping is successful, based on an external force acting on the gripper.
摘要翻译： 自主移动机器人具有用于夹持货物的可开闭的夹具，照相机，自主移动装置和用于使机器人将货物从采集源运送到目的地的控制装置，所述控制装置包括：握持位置识别装置 被配置为基于由所述摄像机拍摄的所述采集源的图像来识别适合于抓住具有预定规格的载体容器的预定位置，所述预定规格被配置为放置所述货物以携带; 夹持控制装置，其构造成将夹持器驱动到载体容器的预定位置并控制夹持预定位置; 以及构造成基于作用在所述夹持器上的外力来确定所述夹持是否成功的抓握成功或不确定装置。
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公开(公告)号：US20090081004A1
公开(公告)日：2009-03-26
申请号：US11912962
申请日：2006-11-15
CPC分类号： B25J15/0009 , B25J13/085 , B25J15/103
摘要： A hand device (1) of the present invention includes a palm (10) and a plurality of finger mechanisms (11-15). The palm (10) is provided with a palm protruding portion (101-103) that protrudes upward from a palm surface region (100) when the palm surface region (100) faces upward. Accordingly, a reaction force against the force acting on an object to be grasped from an inner side of part or all of the finger mechanisms (11-15) can be exerted on the object from the protruding portion (101-103).
摘要翻译： 本发明的手动装置（1）包括手掌（10）和多个手指机构（11-15）。 手掌（10）设置有当手掌表面区域（100）朝上时从手掌表面区域（100）向上突出的手掌突出部分（101-103）。 因此，可以从突出部（101-103）向物体施加抵抗作用在从部分或全部指状机构（11-15）的内侧被吸附的物体上的力的反作用力。
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4.发明申请Legged mobile robot controller, legged mobile robot and legged mobile robot control method 有权腿式移动机器人控制器，有腿移动机器人和腿式移动机器人控制方法公开(公告)号：US20070150105A1
公开(公告)日：2007-06-28
申请号：US11636465
申请日：2006-12-11
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。
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公开(公告)号：US20060142896A1
公开(公告)日：2006-06-29
申请号：US11301099
申请日：2005-12-13
申请人： Taro Yokoyama , Kenichiro Sugiyama
发明人： Taro Yokoyama , Kenichiro Sugiyama
IPC分类号： G06F19/00
CPC分类号： B25J13/082 , B25J9/1612 , Y10S414/136
摘要： The present invention aims to provide an item-carrying system in which a robot can perform an item-receiving motion without giving the human a sense of discomfort when receiving it from the human. The item-carrying system comprises: a robot comprising: a gripping portion for gripping an item and can open/close; external force detecting means for detecting an external force applied to the gripping portion; opening-degree detecting means for detecting an opening-degree of the gripping portion; and autonomous movement means; and receiving/passing motion deciding means 240 for deciding a motion of the robot in an item receiving/passing operation, the system receiving/passing the item with the gripping portion, wherein the receiving/passing motion deciding means 240 comprises: means for determining to start receiving an item 243 that causes the gripping portion to start a receiving motion if the external force detecting means has detected an external force not less than a first predetermined value, when the gripping portion is not gripping an item; and means for determining the completion of a receiving motion that determines the completion of an item-receiving motion on the basis of at least one of an external force detected by the external force detecting means and an opening-degree detected by the opening-degree detecting means, during the receiving motion.
摘要翻译： 本发明的目的在于提供一种携带物品的系统，其中机器人可以执行物品接收运动，而不会给人类从人体接收到不适感。 所述物品承载系统包括：机器人，其包括：用于夹紧物品并可以打开/关闭的夹持部分; 外力检测装置，用于检测施加到抓握部分的外力; 开度检测装置，用于检测抓握部的开度; 自主运动手段; 以及接收/通过运动决定装置240，用于在项目接收/通过操作中决定机器人的运动，系统通过抓握部分接收/通过该项目，其中接收/通过运动决定装置240包括：用于确定 如果外力检测装置已经检测到不小于第一预定值的外力，则当夹紧部分不夹持物品时，开始接收使夹持部分开始接收运动的物品243; 以及用于基于由外力检测装置检测到的外力和由开度检测检测到的开度确定接收运动的完成来确定物品接收运动的完成的装置， 意味着在接收动议期间。
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公开(公告)号：US20060129278A1
公开(公告)日：2006-06-15
申请号：US11297363
申请日：2005-12-09
申请人： Kenichiro Sugiyama , Taro Yokoyama , Koji Maki , Naohide Ogawa
发明人： Kenichiro Sugiyama , Taro Yokoyama , Koji Maki , Naohide Ogawa
IPC分类号： G06F19/00
CPC分类号： B62D57/032 , B25J13/085
摘要： In a legged mobile robot control system having leg actuators each driving the individual legs and arm actuators each driving the individual arms, an external force acting on the right arm is detected, operation of the right arm actuators is controlled to produces a handshake posture, and operation of the leg actuators is controlled based on the detected external force acting on the right hand during handshaking, thereby improving communication capability by enabling it to shake hands with humans and to maintain a stable posture during the handshaking.
摘要翻译： 在具有腿部致动器的腿式移动机器人控制系统中，每个驱动单独的腿和臂致动器驱动各个臂，检测作用在右臂上的外力，控制右臂致动器的操作以产生握手姿势，并且 基于在握手期间作用在右手上的检测到的外力来控制腿致动器的操作，从而通过使其能够与人握手并且在握手期间保持稳定的姿势来改善通信能力。
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公开(公告)号：US07938038B2
公开(公告)日：2011-05-10
申请号：US10585000
申请日：2005-11-15
CPC分类号： B25J17/0258 , Y10T74/20317 , Y10T74/20323 , Y10T74/20335
摘要： A joint structure of a robot for moving an assembly 51 to be connected to a robot link with respect to the robot link, the joint structure includes a first motor 10 for causing the assembly a longitudinal swing motion, a second motor 20 for causing the assembly a lateral swing motion, and a third motor 30 for causing the assembly a rotary motion, wherein the first motor 10 and the second motor 20 are disposed so that the output shaft of the first motor 10 and the output shaft of the second motor 20 are in parallel with each other and are orthogonal to the robot link, and the third motor 30 is disposed so that the output shaft of the third motor 30 is shifted with respect to the central axis of the rotary motion of the assembly 51.
摘要翻译： 一种机器人的联接结构，用于移动组件51以相对于机器人连接件连接到机器人连杆，该接头结构包括用于使组件进行纵向摆动的第一电动机10，用于引起组件的第二电动机20 横向摆动运动，以及用于使组件旋转运动的第三电动机30，其中第一电动机10和第二电动机20被布置成使得第一电动机10的输出轴和第二电动机20的输出轴为 彼此平行并且与机器人连杆正交，并且第三电动机30被设置成使得第三电动机30的输出轴相对于组件51的旋转运动的中心轴线移动。
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公开(公告)号：US07636045B2
公开(公告)日：2009-12-22
申请号：US11167215
申请日：2005-06-28
CPC分类号： G06Q30/06 , G06Q30/02 , Y02P90/265
摘要： A product presentation biped robot implementing presentation of products such as vehicles through explanation of at least one among performance, specifications and operation of the products, is provided. The robot has a communication unit being capable of communicating with a database located externally of the robot and storing information including at least data needed for implementing the presentation of the products, a data acquirer accessing the database through the communication unit to acquire the data needed for implementing the presentation of one from among the products interested by a customer, and a product presentation implementor implementing the presentation of the one from among the products to the customer based on the acquired data presentation robot that implements product presentation, thereby enabling to ease the work of a salesperson.
摘要翻译： 提供了通过对产品的性能，规格和操作中的至少一个进行说明来实现诸如车辆的产品的呈现的产品介绍双足机器人。 机器人具有能够与位于机器人外部的数据库进行通信的通信单元，并且存储至少包括实现产品呈现所需的数据的信息，数据获取器通过通信单元访问数据库以获取所需数据 实施由客户感兴趣的产品中的一个的呈现，以及基于所获取的实现产品呈现的数据呈现机器人，从产品到客户实现一个呈现的产品呈现实现者，从而使工作变得简单 的销售人员。
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公开(公告)号：US20090015026A1
公开(公告)日：2009-01-15
申请号：US10576347
申请日：2005-09-29
IPC分类号： B25J15/08
CPC分类号： B25J15/0009
摘要： A robot hand apparatus (1) includes four of finger mechanisms (20) each elongates from a base (10), a motor (30) actuating each finger mechanism (20), four of rotation rollers (50) each connects with corresponding finger mechanism (20) for actuating each finger mechanism (20), and a power transmission mechanism (60) transmitting a power from the motor (30) to each rotation roller (50) at different timing.
摘要翻译： 机器人手动装置（1）包括从基座（10）延伸的四个指状机构（20），致动每个指状机构（20）的马达（30），四个旋转滚子（50）各自与相应的手指机构 （20），用于致动每个指状机构（20）;以及动力传递机构（60），其在不同的定时将来自所述马达（30）的动力传递到每个旋转辊（50）。
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公开(公告)号：US07271725B2
公开(公告)日：2007-09-18
申请号：US11167209
申请日：2005-06-28
申请人： Kenichiro Sugiyama
发明人： Kenichiro Sugiyama
CPC分类号： B60R25/257 , B60R2325/105 , Y10T70/625
摘要： A customer robot enabling a customer service including key management with respect to a plurality of lock-equipped objects in an environment such as vehicles in a parking lot is provided. The robot has an unlock/lock signal database storing unlock/lock signals respectively set for the objects, an object identification implementor recognizing an instruction of a customer and identifying one from among the objects which the customer wants unlocked/locked, an unlock/lock signal retriever retrieving one from among the unlock/lock signals, stored in the unlock/lock signal database, that is corresponding to the one from among the objects which the customer wants unlocked/locked, and an unlock/lock signal transmitter transmitting the retrieved signal to unlock/lock the identified object, thereby reducing the burden of the person responsible for key management.
摘要翻译： 提供了一种客户机器人，其能够实现客户服务，包括关于在诸如停车场中的车辆的环境中的多个锁定装置的物体的密钥管理。 机器人具有解锁/锁定信号数据库，其存储分别针对对象设置的解锁/锁定信号，对象识别实现者识别客户的指令并从客户想要解锁/锁定的对象中识别出一个解锁/锁定信号 检索器从存储在解锁/锁定信号数据库中的解锁/锁定信号中检索出与客户想要解锁/锁定的对象中的一个相对应的解锁/锁定信号，解锁/锁定信号发送器将检索到的信号发送到 解锁/锁定识别的对象，从而减轻负责密钥管理的人员的负担。
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