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公开(公告)号：US08849452B2
公开(公告)日：2014-09-30
申请号：US12999791
申请日：2010-05-25
IPC分类号： G05B19/18 , B62D57/032
CPC分类号： B62D57/032 , B25J9/1679 , G05B2219/40496
摘要： A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form.Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.
摘要翻译： 考虑到受控对象的作用目的以任意形式的干扰，能够使受控对象以适当的形式起作用的控制系统等。 根据频带的级别分层组织的多个模块modi中的每一个都搜索作为与主要目的和子目的匹配的机器人R的动作形式的候选的动作候选，同时优先考虑 一个主要目的主要是负责模块的子目的，主要由任何其他模块负责。 机器人R的动作被控制为以高频率的第j模块搜索的机器人R的动作候选优先于由（j）搜索的机器人R的动作候选的形式来进行控制 +1）的低频模块。
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公开(公告)号：US20110231017A1
公开(公告)日：2011-09-22
申请号：US12999791
申请日：2010-05-25
IPC分类号： G05B19/04
CPC分类号： B62D57/032 , B25J9/1679 , G05B2219/40496
摘要： A control system or the like capable of causing a controlled object to act in an appropriate form in view of an action purpose of the controlled object to a disturbance in an arbitrary form.Each of a plurality of modules modi, which are hierarchically organized according to the level of a frequency band, searches for action candidates which are candidates for an action form of a robot R matching with a main purpose and a sub-purpose while giving priority to a main purpose mainly under the charge of the module over a sub-purpose mainly under the charge of any other module. The actions of the robot R is controlled in a form in which the action candidates of the robot R searched for by a j-th module of a high frequency are reflected in preference to the action candidates of the robot R searched for by a (j+1)th module of a low frequency.
摘要翻译： 考虑到受控对象的作用目的以任意形式的干扰，能够使受控对象以适当的形式起作用的控制系统等。 根据频带的级别分层组织的多个模块modi中的每一个都搜索作为与主要目的和子目的匹配的机器人R的动作形式的候选的动作候选，同时优先考虑 一个主要目的主要是负责模块的子目的，主要由任何其他模块负责。 机器人R的动作被控制为以高频率的第j模块搜索的机器人R的动作候选优先于由（j）搜索的机器人R的动作候选的形式来进行控制 +1）的低频模块。
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公开(公告)号：US08805580B2
公开(公告)日：2014-08-12
申请号：US13084961
申请日：2011-04-12
IPC分类号： G06F19/00 , B62D57/032 , B25J9/16
CPC分类号： B62D57/032 , B25J9/1602 , Y10S901/01
摘要： Provided is a control system and the like capable of deriving at high speed a solution to the optimization problem of combinations of continuous state variable and discrete state variables. According to the control system, by setting a search range (first search range) of internal action candidates ai1 for an internal module mod1 smaller than a search range (second search range) of external action candidates ai2 for a low-frequency external module mod2, the arithmetic computing speed is accelerated accordingly. Thereby, when it is necessary for a robot R to cope with a disturbance emergently on the basis of measured state values of the robot R, the operation of robot R can be controlled according to the arithmetic computing result from the high-frequency internal module mod1 without waiting for the arithmetic computing result form the low-frequency external module mod2.
摘要翻译： 提供了能够高速推导连续状态变量和离散状态变量的组合的优化问题的控制系统等。 根据控制系统，通过设定小于低频外部模块mod2的外部动作候选ai2的搜索范围（第二搜索范围）的内部模块mod1的内部动作候补ai1的搜索范围（第一搜索范围） 算术运算速度相应加快。 因此，当机器人R需要基于机器人R的测量状态值紧急地应对干扰时，可以根据来自高频内部模块mod1的运算结果来控制机器人R的操作 无需等待低频外部模块mod2的算术运算结果。
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公开(公告)号：US20110264263A1
公开(公告)日：2011-10-27
申请号：US13084961
申请日：2011-04-12
CPC分类号： B62D57/032 , B25J9/1602 , Y10S901/01
摘要： Provided is a control system and the like capable of deriving at high speed a solution to the optimization problem of combinations of continuous state variable and discrete state variables. According to the control system, by setting a search range (first search range) of internal action candidates ai1 for an internal module mod1 smaller than a search range (second search range) of external action candidates ai2 for a low-frequency external module mod2, the arithmetic computing speed is accelerated accordingly. Thereby, when it is necessary for a robot R to cope with a disturbance emergently on the basis of measured state values of the robot R, the operation of robot R can be controlled according to the arithmetic computing result from the high-frequency internal module mod1 without waiting for the arithmetic computing result form the low-frequency external module mod2.
摘要翻译： 提供了能够高速推导连续状态变量和离散状态变量的组合的优化问题的控制系统等。 根据控制系统，通过设定小于低频外部模块mod2的外部动作候选ai2的搜索范围（第二搜索范围）的内部模块mod1的内部动作候补ai1的搜索范围（第一搜索范围） 算术运算速度相应加快。 因此，当机器人R需要基于机器人R的测量状态值紧急地应对干扰时，可以根据来自高频内部模块mod1的运算结果来控制机器人R的操作 无需等待低频外部模块mod2的算术运算结果。
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公开(公告)号：US08732099B2
公开(公告)日：2014-05-20
申请号：US13421206
申请日：2012-03-15
IPC分类号： G06N7/00
CPC分类号： G06N7/005 , G05B13/024 , G06F17/11
摘要： Provided is an optimization control system in an attempt to improve searching accuracy of an optimal solution defining a behavior mode for a control subject. A plan storing element 120 is configured to obtain a current update result of a joint probability distribution p(u, x) on the basis of a current update result of a probability distribution p(x) from a state estimating element 110 and a current update result of the conditional probability distribution p(u|x) from a behavior searching element 200. The behavior searching element 200 is configured to determine the conditional probability distribution p(u|x) as a current basis for obtaining the current update result of the conditional probability distribution p(u|x) on the basis of the current update result of the probability distribution p(x) from the state estimating element 110 and a previous update result of the joint probability distribution p(u, x) from the plan storing element 120.
摘要翻译： 提供了一种优化控制系统，其尝试提高定义用于控制对象的行为模式的最优解的搜索精度。 计划存储元件120被配置为基于来自状态估计元件110的概率分布p（x）的当前更新结果和当前更新来获得联合概率分布p（u，x）的当前更新结果 行为搜索元素200被配置为将条件概率分布p（u | x）确定为用于获得当前更新结果的当前基础的条件概率分布p（u | x） 基于来自状态估计元素110的概率分布p（x）的当前更新结果和来自该计划的联合概率分布p（u，x）的先前更新结果的条件概率分布p（u | x） 存储元件120。
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公开(公告)号：US20120254081A1
公开(公告)日：2012-10-04
申请号：US13421206
申请日：2012-03-15
IPC分类号： G06F15/18
CPC分类号： G06N7/005 , G05B13/024 , G06F17/11
摘要： Provided is an optimization control system in an attempt to improve searching accuracy of an optimal solution defining a behavior mode for a control subject. A plan storing element 120 is configured to obtain a current update result of a joint probability distribution p(u, x) on the basis of a current update result of a probability distribution p(x) from a state estimating element 110 and a current update result of the conditional probability distribution p(u|x) from a behavior searching element 200. The behavior searching element 200 is configured to determine the conditional probability distribution p(u|x) as a current basis for obtaining the current update result of the conditional probability distribution p(u|x) on the basis of the current update result of the probability distribution p(x) from the state estimating element 110 and a previous update result of the joint probability distribution p(u, x) from the plan storing element 120.
摘要翻译： 提供了一种优化控制系统，其尝试提高定义用于控制对象的行为模式的最优解的搜索精度。 计划存储元件120被配置为基于来自状态估计元件110的概率分布p（x）的当前更新结果和当前更新来获得联合概率分布p（u，x）的当前更新结果 行为搜索元素200被配置为将条件概率分布p（u | x）确定为用于获得当前更新结果的当前基础的条件概率分布p（u | x） 基于来自状态估计元素110的概率分布p（x）的当前更新结果和来自该计划的联合概率分布p（u，x）的先前更新结果的条件概率分布p（u | x） 存储元件120。
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公开(公告)号：US08417382B2
公开(公告)日：2013-04-09
申请号：US12913075
申请日：2010-10-27
CPC分类号： B62D57/032
摘要： A desired motion determiner of a control unit of a legged mobile robot determines a leg motion parameter specifying the motion trajectory of a distal end of a leg of the robot on the basis of the information on a floor geometry of an environment in which the robot travels and a requirement related to a travel route of the robot, thereby sequentially determining the desired motion of the robot. A floor geometry information output unit which outputs floor geometry information to the desired motion determiner outputs floor geometry information in which a rising surface of a stepped portion of a predetermined type, the contact thereof with a leg of the robot should be avoided, has been shaped into a surface having a gentler slope than an actual rising surface. The desired motion determiner determines the leg motion parameter such that the leg will not come in contact with the stepped portion having the shaped rising surface.
摘要翻译： 腿式移动机器人的控制单元的期望的运动确定器基于关于机器人行进的环境的地板几何形状的信息来确定指定机器人腿的远端的运动轨迹的腿运动参数 以及与机器人的行进路线相关的要求，从而顺序地确定机器人的期望运动。 将地板几何信息输出到期望的运动确定器的地板几何信息输出单元输出地板几何信息，其中应避免预定类型的台阶部分的上升表面与其与机器人腿部的接触， 进入具有比实际上升表面更平缓的斜率的表面。 期望的运动确定器确定腿运动参数，使得腿不会与具有成形的上升表面的阶梯部分接触。
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公开(公告)号：US20110098857A1
公开(公告)日：2011-04-28
申请号：US12913075
申请日：2010-10-27
IPC分类号： B25J9/18
CPC分类号： B62D57/032
摘要： A desired motion determiner of a control unit of a legged mobile robot determines a leg motion parameter specifying the motion trajectory of a distal end of a leg of the robot on the basis of the information on a floor geometry of an environment in which the robot travels and a requirement related to a travel route of the robot, thereby sequentially determining the desired motion of the robot. A floor geometry information output unit which outputs floor geometry information to the desired motion determiner outputs floor geometry information in which a rising surface of a stepped portion of a predetermined type, the contact thereof with a leg of the robot should be avoided, has been shaped into a surface having a gentler slope than an actual rising surface. The desired motion determiner determines the leg motion parameter such that the leg will not come in contact with the stepped portion having the shaped rising surface.
摘要翻译： 腿式移动机器人的控制单元的期望的运动确定器基于关于机器人行进的环境的地板几何形状的信息来确定指定机器人腿的远端的运动轨迹的腿运动参数 以及与机器人的行进路线相关的要求，从而顺序地确定机器人的期望运动。 将地板几何信息输出到期望的运动确定器的地板几何信息输出单元输出地板几何信息，其中应避免预定类型的台阶部分的上升表面与其与机器人腿部的接触， 进入具有比实际上升表面更平缓的斜率的表面。 期望的运动确定器确定腿运动参数，使得腿不会与具有成形的上升表面的阶梯部分接触。
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公开(公告)号：US08793019B2
公开(公告)日：2014-07-29
申请号：US13154040
申请日：2011-06-06
IPC分类号： G05B19/00 , B25J9/00 , B62D57/032 , G06N3/00 , B25J13/08 , G05B19/4093
CPC分类号： B25J9/0006 , B25J13/085 , B25J13/088 , B62D57/032 , G05B19/40931 , G06N3/008
摘要： In a legged mobile robot 1 having legs 2, a first landing permissible region and a second landing permissible region for a desired landing position of a distal end portion (a foot 22) of a free leg are determined, and the desired landing position of the free leg foot is determined in a region where the first and second landing permissible regions overlap each other, to thereby generate a desired gait of the robot. The first landing permissible region is determined so as to satisfy a geometric leg motion requisite condition. The second landing permissible region is determined such that a motion continuity requisite condition and a floor reaction force element permissible range requisite condition that are related to a prescribed floor reaction force element as a constituent element of the floor reaction force can be satisfied.
摘要翻译： 在具有腿部2的有腿的可移动机器人1中，确定用于期望的自由腿的远端部分（脚部22）的着陆位置的第一着陆允许区域和第二着陆允许区域，并且所需的着陆位置 在第一和第二着陆允许区域彼此重叠的区域中确定自由腿脚，从而产生机器人的期望步态。 确定第一着陆允许区域以满足几何腿运动必要条件。 确定第二着陆允许区域，使得能够满足作为地板反作用力的构成要素的与规定的地板反作用力元件相关的运动连续性必要条件和地板反作用力元件允许范围要求条件。
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公开(公告)号：US20110301756A1
公开(公告)日：2011-12-08
申请号：US13154040
申请日：2011-06-06
IPC分类号： B25J13/08
CPC分类号： B25J9/0006 , B25J13/085 , B25J13/088 , B62D57/032 , G05B19/40931 , G06N3/008
摘要： In a legged mobile robot 1 having legs 2, a first landing permissible region and a second landing permissible region for a desired landing position of a distal end portion (a foot 22) of a free leg are determined, and the desired landing position of the free leg foot is determined in a region where the first and second landing permissible regions overlap each other, to thereby generate a desired gait of the robot. The first landing permissible region is determined so as to satisfy a geometric leg motion requisite condition. The second landing permissible region is determined such that a motion continuity requisite condition and a floor reaction force element permissible range requisite condition that are related to a prescribed floor reaction force element as a constituent element of the floor reaction force can be satisfied.
摘要翻译： 在具有腿部2的有腿的可移动机器人1中，确定用于期望的自由腿的远端部分（脚部22）的着陆位置的第一着陆允许区域和第二着陆允许区域，并且所需的着陆位置 在第一和第二着陆允许区域彼此重叠的区域中确定自由腿脚，从而产生机器人的期望步态。 确定第一着陆允许区域以满足几何腿运动必要条件。 确定第二着陆允许区域，使得能够满足作为地板反作用力的构成要素的与规定的地板反作用力元件相关的运动连续性必要条件和地板反作用力元件允许范围要求条件。
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